Multi-axis cooperative separated flexible detection machine
Patent Information
- Application Number
- CN202522551508.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-01
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-12-01
AI Technical Summary
[0002]现在的坐标检测机大多功能相对单一，只能完成检测任务，且受精度、结构功能限制（如横梁承重、传动系统精度、控制系统算力）与成本控制，现有坐标检测机的传感器带载轴数量普遍不超过2个，且各轴的功能定位仅为“检测方法叠加”，缺乏多轴协同作业能力：轴数不足导致多特征检测效率低下：例如检测一个兼具“轴径尺寸”、“端面平面度”、“表面划痕” 的复杂工件时，需在单轴上频繁切换“接触式测针”与“视觉传感器”，或通过人工调整工件姿态适配不同检测需求，不仅耗时久（单工件切换时间通常需3-5分钟），还易因传感器切换/工件移动引入定位误差，无法满足精密零件的高精度检测要求
1、多轴协同组件采用多根独立动作的检测轴，采用同侧或对称两侧布置，使多根检测轴之间能够协同工作，共同完成工件的拆垛、检测、码垛等操作，提高了检测效率，同时能有效避免偏载对精度轴的影响，保证高精度检测。
Smart Images
Figure CN224838838U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of collaborative processing technology, specifically a multi-axis collaborative split flexible inspection machine. Background Technology
[0002] Most current coordinate measuring machines have relatively limited functions, only capable of performing inspection tasks. Due to limitations in accuracy, structural functionality (such as beam load-bearing capacity, transmission system accuracy, and control system computing power) and cost control, the number of sensor-loaded axes in existing coordinate measuring machines generally does not exceed two, and the functional positioning of each axis is only "superposition of inspection methods," lacking the ability for multi-axis collaborative operation. The insufficient number of axes leads to low efficiency in multi-feature inspection: for example, when inspecting a complex workpiece that has "shaft diameter," "end face flatness," and "surface scratches," it is necessary to frequently switch between "contact probes" and "vision sensors" on a single axis, or manually adjust the workpiece posture to adapt to different inspection requirements. This is not only time-consuming (single workpiece switching time is usually 3-5 minutes), but also prone to introducing positioning errors due to sensor switching / workpiece movement, failing to meet the high-precision inspection requirements of precision parts. Utility Model Content
[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-axis collaborative split flexible inspection machine to solve the deficiencies of the prior art.
[0004] The purpose of this utility model is achieved through the following technical solution: a multi-axis collaborative split flexible inspection machine, including a multi-axis collaborative assembly installed on the original axis of the inspection machine and a material tray assembly installed on the worktable of the inspection machine. The multi-axis collaborative assembly includes multiple inspection axes, which are arranged on one side of the original axis or symmetrically arranged on both sides. The multiple inspection axes include an inspection axis carrying a rotary joint seat, an inspection axis carrying a contact inspection probe, an inspection axis carrying a large-range visual inspection device, and an inspection axis carrying a gripper. A quick-change mechanism is installed on the rotary joint seat, and the quick-change mechanism configures other functional components through quick-change. The material tray includes an incoming tray and an outgoing tray. A workpiece fixture is set on the worktable of the inspection machine. Workpieces are loaded onto the workpiece fixture, and the workpieces on the workpiece fixture are subjected to quality inspection by the inspection machine.
[0005] Furthermore, the quick-change mechanism includes a quick-change base, a quick-change seat, and a quick-change frame. The quick-change base is mounted on a rotary joint seat, and the quick-change frame is mounted on the worktable of the inspection machine. The quick-change frame has multiple tooling slots for placing functional components. The functional components include a rotary gripper with a quick-change seat, a small-range visual inspection device with a quick-change seat, a large-range visual inspection device with a quick-change seat, and a gripper mechanism with a quick-change seat. The quick-change seat cooperates with the quick-change base.
[0006] Furthermore, the gripper mechanism includes a rotary gripper, a rotary joint, a pitch seat, and a rotary seat. The quick-change seat is mounted on the rotary joint, the pitch seat is rotatably mounted on the rotary joint, the rotation axis of the pitch seat is horizontally set, the rotary seat is rotatably mounted on the pitch seat, and the rotary gripper is mounted on the rotary seat.
[0007] Furthermore, the top of the incoming material tray is provided with several positioning slots for accommodating workpieces along its own length direction. The structure of the unloading tray is the same as that of the incoming material tray. The workpiece clamp includes two support columns spaced apart, and the top of the support columns is provided with support slots.
[0008] The beneficial effects of this utility model are: 1. The multi-axis collaborative assembly uses multiple independently operating detection axes, arranged on the same side or symmetrically on both sides, so that multiple detection axes can work together to complete operations such as workpiece destacking, inspection, and stacking, which improves inspection efficiency and can effectively avoid the impact of off-center load on the precision axis, ensuring high-precision inspection.
[0009] 2. The inspection axis equipped with a quick-change mechanism can be used in both two-axis and three-axis configurations, adapting to universal trays and fixtures of various workpiece types to achieve flexible automated inspection, enabling workpiece destacking, inspection, palletizing, and special operations on workpieces or fixtures. Furthermore, due to various external supporting hardware, tray assemblies, grippers, etc., are all incorporated into the inspection machine's coordinate system and operating mode, facilitating highly flexible expansion.
[0010] 3. The multiple detection axes adopt a separate design, which effectively avoids the impact of off-center load on the accuracy axis, ensuring high-precision detection, and can effectively release the working load and working space to avoid interference. Attached Figure Description
[0011] Figure 1 This is a structural schematic diagram of the quick-change mechanism in a multi-axis coordinated split flexible testing machine according to this utility model; Figure 2 This is a schematic diagram of the structure of a multi-axis collaborative split flexible inspection machine according to the present invention; Figure 3 This is a schematic diagram of the gripper mechanism in a multi-axis collaborative split flexible testing machine according to this utility model; Figure 4 This is a diagram showing the detection state of a multi-axis collaborative split flexible inspection machine according to this utility model; Figure 5 This is a schematic diagram of the installation of the multi-axis collaborative component in a multi-axis collaborative split flexible testing machine according to the present invention; Figure 6 This is a schematic diagram illustrating the application of the multi-axis collaborative component in a mobile gantry measuring machine according to this utility model; Figure 7 This is a schematic diagram of a multi-axis collaborative split flexible inspection machine of this utility model that does not require a fixed contact inspection probe; In the diagram, 1-detection axis, 2-small-range visual inspection device, 3-contact inspection probe, 4-large-range visual inspection device, 5-gripper, 6-quick-change frame, 7-quick-change base, 8-quick-change seat, 9-rotary gripper, 10-rotary joint, 11-tilt seat, 12-rotary joint seat, 13-incoming pallet, 14-outgoing pallet, 15-positioning groove, 16-support column, 17-support groove, 18-rotary seat. Detailed Implementation
[0012] Example 1 like Figures 1 to 5As shown, a multi-axis collaborative split flexible inspection machine includes a multi-axis collaborative assembly mounted on the original axis of the inspection machine and a material tray assembly mounted on the worktable of the inspection machine. The multi-axis collaborative assembly includes multiple inspection axes 1, which are arranged on one side of the original axis or symmetrically arranged on both sides. The multiple inspection axes 1 include one inspection axis carrying a rotary joint seat 12, one inspection axis carrying a contact inspection probe 3, one inspection axis carrying a large-range visual inspection device 4, and one inspection axis carrying a gripper 5. A quick-change mechanism is mounted on the rotary joint seat 12, which configures other functional components through quick-change. The material tray includes an incoming material tray 13 and an unloading material tray 14. A workpiece clamp is provided on the worktable of the inspection machine. The workpiece is loaded onto the workpiece fixture, where it undergoes quality inspection by an inspection machine. The workpiece is then gripped by the gripper 5 on the feed tray 13 and loaded onto the workpiece fixture. A wide-range vision inspection device 4 then performs quality inspection on the workpiece. Finally, the gripper 5 unloads the inspected workpiece onto the unloading tray 14 based on the inspection results. Compared to traditional single-axis or dual-axis inspection machines, this is a four-axis inspection machine. Generally, the inspection axis 1 carrying the contact inspection probe 3, the inspection axis 1 carrying the wide-range vision inspection device 4, and the inspection axis 1 carrying the gripper 5 work together to achieve workpiece loading, inspection, and unloading operations. When a three-axis inspection machine cannot meet the workpiece inspection requirements, the inspection axis carrying the quick-change mechanism can be used for inspection... The machine is equipped with other functional components to meet inspection requirements. Specifically, the quick-change mechanism includes a quick-change base 7, a quick-change seat 8, and a quick-change frame 6. The quick-change base 7 is mounted on a rotary joint seat 12, and the quick-change frame 6 is mounted on the worktable of the inspection machine. The quick-change frame 6 has multiple tooling slots for placing functional components. These functional components include, but are not limited to, a rotary gripper mounted on the quick-change seat 8, a small-area visual inspection device 2 mounted on the quick-change seat 8, a large-area visual inspection device 4 mounted on the quick-change seat 8, and a gripper mechanism mounted on the quick-change seat 8. The quick-change seat 8 cooperates with the quick-change base 7. When the workpiece needs to be rotated to inspect the workpiece coverage area, the rotary gripper is installed via a quick-change mechanism, and the rotation function of the rotary joint seat 12 is used to change the position of the workpiece. The device is configured to detect different areas of the workpiece. When precision detection of the workpiece is required, the small-range detection device 2 is installed on the rotary joint seat 12 via a quick-change mechanism. The small-range detection device 2 magnifies and images the corresponding position of the workpiece to achieve precision detection. The detection position can also be adjusted with the help of the rotary joint seat 12. Similarly, when large-range imaging is required and the size of the workpiece exceeds the detection range of the large-range vision detection device 4, the large-range vision detection device 4 is installed on the rotary joint seat 12 via a quick-change mechanism. The rotation function of the rotary joint seat 12 allows the workpiece to gradually fall within the range of the large-range vision detection device 4. Thus, all configurations can be applied in two-axis and three-axis scenarios through the detection axis carrying the quick-change mechanism.The specific quick-change process is as follows: The quick-change seat 8 carrying the functional component is placed in the tooling slot of the quick-change frame 6. When a quick change is required, the original shaft drives the functional component on it to move into the empty tooling slot, allowing the functional component to be stored. Then, the quick-change mechanism unlocks, the Z-axis lifts and disengages from the functional component, and then the detection axis moves above the required functional component, aligning it with the functional component. Then, the Z-axis descends, locking the quick-change seat 8 of the functional component with the quick-change base 7 on the detection axis. Then, the Z-axis moves upward, carrying the functional component out of the storage position, thereby realizing the automatic switching of functional components. Different functional components can be configured according to actual inspection needs, and collaborative operation can be achieved through switching. In specific implementation, a light source is configured on one detection axis 1, and accurate inspection is completed through the collaboration of the light source and the vision inspection system 2.
[0013] Furthermore, such as Figure 6 and Figure 7 As shown, the multi-axis collaborative component can be applied to a mobile gantry measuring machine. Since the mobile gantry measuring machine has horizontal movement freedom, it can be configured with at least two detection axes 1. One of the detection axes 1 carries a quick-change mechanism. The quick-change mechanism carries the gripper 5 to load the workpiece. After the workpiece is loaded, the quick-change mechanism switches to the large-area vision inspection device 4 or the small-area vision inspection device 2 for inspection. Alternatively, three detection axes can be configured, namely the large-area vision inspection device 4, the small-area vision inspection device 2, and the gripper 5, to complete the loading, unloading, and inspection of the workpiece.
[0014] Example 2 Based on Example 1, such as Figure 2 and Figure 3As shown, the gripper mechanism includes a rotary gripper 9, a rotary joint 10, a pitch seat 11, and a rotary seat 18. The quick-change seat 8 is mounted on the rotary joint 10, and the pitch seat 11 is rotatably mounted on the rotary joint 10. The rotation axis of the pitch seat 11 is horizontally set. The rotary seat 18 is rotatably mounted on the pitch seat 11, and the rotary gripper 9 is mounted on the rotary seat 18, giving the rotary gripper 9 rotational and pitch degrees of freedom. When it is necessary to rotate the workpiece to change the detection position, the gripper mechanism is installed through the quick-change mechanism, and the workpiece is clamped by the rotary gripper 9. By rotating the rotary seat 18, the rotary gripper 9 can clamp the workpiece and rotate it, moving the obstructed area of the workpiece into the intelligent vision inspection device, thereby realizing comprehensive quality inspection of the workpiece. Specifically, the following operations can be achieved: for a single workpiece, it can perform operations such as clamping, transporting, and position conversion; for batch workpiece operations, it can cooperate with the material tray on the worktable to achieve operations such as destacking before inspection, moving workpiece positions, clamping operations, and stacking after inspection; for workpiece position adjustment, it can achieve multi-division visual inspection by rotating shaft-type parts at the inspection position, or flipping the workpiece to achieve complete measurement; for special workpiece operations, when encountering problems such as large, heavy, long, or irregularly shaped workpieces that cannot be operated by a single automatic gripper, the workpiece can be transported through the cooperation of gripper 5 and rotary gripper 9.
[0015] Example 3 Based on Example 2, such as Figures 1 to 4 As shown, the top of the incoming material tray 13 has several positioning slots 15 for accommodating workpieces along its length. The structure of the unloading tray 14 is the same as that of the incoming material tray 13. The workpiece fixture includes two spaced support columns 16, with support slots 17 on the top of each support column 16. The workpiece to be inspected is placed in the positioning slots 15 of the incoming material tray 13. The workpiece is loaded into the support slots 17 of the support column 16 by the gripper 5. Then, the workpiece is inspected by the cooperation of the large-area vision inspection device 4 and the small-area vision inspection device 2. Finally, the workpiece is unloaded onto the unloading tray 14 by the gripper 5. This cycle is repeated to achieve automatic batch inspection of parts without relying on other equipment. In specific implementation, the gripper 5 can be replaced by a quick-change mechanism or manually replaced according to the workpiece, thus adapting the gripper to the workpiece.
[0016] Furthermore, by setting up universal fixtures and trays, automatic inspection of batch parts can be achieved, which can be implemented on various coordinate measuring machines, such as coordinate measuring machines, optical coordinate measuring machines, composite coordinate measuring machines, cantilever coordinate measuring machines, etc.
Claims
1. A multi-axis collaborative split-type flexible inspection machine, characterized in that, The system includes a multi-axis collaborative assembly mounted on the original shaft of the inspection machine and a tray assembly mounted on the worktable of the inspection machine. The multi-axis collaborative assembly includes multiple inspection shafts (1), which are arranged on one side of the original shaft or symmetrically on both sides. The multiple inspection shafts (1) include an inspection shaft (1) carrying a rotary joint seat (12), an inspection shaft (1) carrying a contact inspection probe (3), an inspection shaft (1) carrying a large-range visual inspection device (4), and an inspection shaft (1) carrying a gripper (5). A quick-change mechanism is installed on the rotary joint seat (12). The quick-change mechanism configures functional components through quick-change. The tray includes an incoming tray (13) and an unloading tray (14). A workpiece fixture is provided on the worktable of the inspection machine. The workpiece is loaded onto the workpiece fixture and the workpiece on the workpiece fixture is subjected to quality inspection by the inspection machine.
2. The multi-axis collaborative split flexible inspection machine according to claim 1, characterized in that, The quick-change mechanism includes a quick-change base (7), a quick-change seat (8), and a quick-change frame (6). The quick-change base (7) is mounted on a rotary joint seat (12), and the quick-change frame (6) is mounted on the workbench of the inspection machine. The quick-change frame (6) has multiple tooling slots for placing functional components. The functional components include a rotary gripper with a quick-change seat (8), a small-range visual inspection device (2) with a quick-change seat (8), a large-range visual inspection device (4) with a quick-change seat (8), and a gripper mechanism with a quick-change seat (8). The quick-change seat (8) is fitted to the quick-change base (7).
3. The multi-axis collaborative split flexible inspection machine according to claim 2, characterized in that, The gripper mechanism includes a rotary gripper (9), a rotary joint (10), a pitch seat (11), and a rotary seat (18). The quick-change seat (8) is mounted on the rotary joint (10), the pitch seat (11) is rotatably mounted on the rotary joint (10), the rotation axis of the pitch seat (11) is horizontally set, the rotary seat (18) is rotatably mounted on the pitch seat (11), and the rotary gripper (9) is mounted on the rotary seat (18).
4. The multi-axis collaborative split flexible inspection machine according to claim 1, characterized in that, The top of the incoming material tray (13) is provided with several positioning grooves (15) for accommodating workpieces along its own length direction. The structure of the unloading tray (14) is the same as that of the incoming material tray (13). The workpiece clamp includes two support columns (16) spaced apart. The top of the support column (16) is provided with a support groove (17).