CN101598531A - Vacuum pump vanes assembly quality detection method and isolated plant - Google Patents
Vacuum pump vanes assembly quality detection method and isolated plant Download PDFInfo
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- CN101598531A CN101598531A CNA2008100116500A CN200810011650A CN101598531A CN 101598531 A CN101598531 A CN 101598531A CN A2008100116500 A CNA2008100116500 A CN A2008100116500A CN 200810011650 A CN200810011650 A CN 200810011650A CN 101598531 A CN101598531 A CN 101598531A
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Abstract
A kind of detection method of vacuum pump vanes assembly quality and isolated plant thereof belong to vacuum pump vanes assembling detection technique field.Its device is blade gripping mechanism and the mechanical arm of installing on machine body top, be fixed with the base that is used to install vacuum pump vanes on the work top, in the cavity of machine body work top below motor driver is installed, the output shaft of its reductor passes base, when blade is installed, the output shaft of reductor links to each other with the blade gripping mechanism on work top top, at work top blade one side sensor installation locating device, be fixed with three laser displacement sensors on its fixed support, be respectively applied for and detect blade loam cake circumference measuring point displacement value and blade tip circumference measuring point displacement value, industrial computer respectively with gripping mechanism, motor servo driver, laser displacement sensor links to each other, and is used to control the work of whole device.Measuring accuracy height of the present invention, speed is fast, and product is detected by part, has stopped the generation of omission.
Description
Technical field
The present invention relates to the assembly parts detection technique, specifically a kind of blade that can be used on the vacuum pump vanes production line for automatically assembling assembling being finished carries out the method and the isolated plant thereof of quality testing.
Background technology
Vacuum pump vanes is less and employing light material because of its element size, and the assembly technology complexity is assembled so all adopt manually all the time.And the product that machines takes the mode of inspection by sampling in batches to test usually.Adopt artificial assembling on the one hand because of workman's skills involved in the labour difference, the speed of assembling and quality have very big difference, and production quality control is got up difficult; Because the parts of blade are small and exquisite and sharper, easily human body is produced injury on the other hand.Along with technical progress, the robotization mounting technology is deep into every field, thereby for the robotization of vacuum pump vanes assembling provides the necessary technology basis, thereby also can overcome the shortcoming that above artificial assembling brings, improve the stability and the controllability of product assembly quality.When adopting the robotization assembling, the online detection of product assembly quality also is included into the whole piece assembly line, is link very important in the assembly line, is the necessary guarantee of realizing the quality control of robotization assembled product.
Summary of the invention
The detection method and the isolated plant thereof that the purpose of this invention is to provide a kind of vacuum pump vanes assembly quality.The product that this pick-up unit is finished assembling pursues part and detects, and has stopped the generation of omission.
Technical scheme of the present invention is as follows:
Detection method of the present invention: after installing blade to be detected, blade is in the design speed rotating process, gather blade displacement data when rotated by laser sensor, judge according to the data of gathering whether the product assembling is qualified, and whole testing process is controlled by computer program.
Described computer program flow process is:
At first, initiation parameter comprises: the time limit value of each section operation, and the motor acceleration time, the blade design speed, the image data amount is judged the qualified technical indicator value of product;
Then, each moving component enters initial bit, judged whether blade to be detected? if no, continue to wait for that if having, manipulator behavior grasps vacuum pump vanes;
Start blade gripping mechanism chucking blade, laser displacement sensor enters detecting position;
Motor servo driver drives the servomotor rotation and quickens, judge that the tachometer value that encoder feedback is returned reaches the blade design speed? as not, continue to quicken to rotate; In this way, then keep the blade design speed and gather vacuum pump vanes displacement data when rotated by laser displacement sensor, data comprise blade loam cake circumference measuring point displacement value and blade tip circumference measuring point displacement value;
Do you judge that image data finishes? as not, continue to gather, in this way, the driven by motor blade is decelerated to and stops, and data are carried out statistical treatment;
Do you judge whether the blade that is detected qualified? respectively blade is sent to certified products district or NonConforming Parts Area according to judged result driving device hand, finishes a working cycle;
At last, judge whether to continue to detect? as continue to detect, then allow each parts return the initial bit waiting signal again, as not, then detection of end withdraws from the detection control program.
The isolated plant of detection method of the present invention comprises
One machine body, its top is equipped with blade gripping mechanism and mechanical arm, and the work top below is a cavity structure, is fixed with the base that is used to install vacuum pump vanes on the work top;
One motor driver, place in the cavity of machine body work top below, comprise rotary encoder, servomotor, reductor and motor servo driver, at servomotor afterbody coaxial position rotary encoder is installed, the transmitter of rotary encoder inside links to each other with motor servo driver, and the servomotor other end is connected with reductor, and the output shaft of reductor passes base, when blade was installed, the output shaft of reductor linked to each other with the blade gripping mechanism on work top top;
One sensor locator, be installed in vacuum pump vanes one side on the work top, form with the sensor fixed support that links to each other with this cylinder turning axle by a location cylinder, on the fixed support of sensor locator, be fixed with three laser displacement sensors, wherein two sensors place the different point position of blade loam cake circumference, and another sensor places blade tip circumference point position;
One blade gripping mechanism is installed on the machine body top, links to each other with the output shaft of reductor when blade is installed, and is used for grasping, tightening blade;
One industrial computer links to each other with gripping mechanism, motor servo driver, laser displacement sensor respectively, is used to control the work of whole device.
Described blade gripping mechanism comprises that blade clamps and the descending cylinder of mechanical arm, mechanical arm tangential movement cylinder, mechanical arm clamps cylinder, mechanical arm, nut, horizontal profile and vertical section bar, horizontal profile and the vertical section bar perpendicular with it are installed on machine body top, this vertical section bar is made level and is slided relatively on horizontal profile, mechanical arm tangential movement cylinder is installed on the horizontal profile, link to each other with vertical section bar by air cylinder connecting rod, blade clamps and the descending cylinder of mechanical arm is installed on the vertical section bar, described blade clamps and the descending cylinder of mechanical arm is a double stroke cylinder, robot blade is installed on the first stroke extension bar of blade clamping and the descending cylinder of mechanical arm, the second stroke extension bar end is connected with nut, mechanical arm clamps the supporting plate below that cylinder is installed on mechanical arm, its extension bar is grabbed with the hand of mechanical arm and is connected, and controls opening of mechanical arm, promptly action.
The present invention has following advantage:
1. the present invention is rational in infrastructure, arranges compactness, mechanical hook-up functional reliability height.
2. adopt advanced laser sensor, the measuring accuracy height, speed is fast.
3, adopt servo drive, can accurately control the rotating speed of vacuum pump vanes.
4, whole device is the electromechanical design, has higher detection speed and processing speed.
5, pick-up unit product that assembling is finished pursues part and detects, thereby guarantees that the product that dispatches from the factory is through detecting qualified product, has stopped the generation of omission; Also can provide necessary mass analysis data by pick-up unit simultaneously to production technology and assembling process.
Description of drawings
Fig. 1 is the structural representation of isolated plant of the present invention.
Fig. 2 is a laser displacement positioning device structure synoptic diagram.
Fig. 3 is the gripping mechanism structural representation.
Fig. 4 is the pneumatic structure synoptic diagram of isolated plant of the present invention.
Fig. 5 is the schematic diagram of the inventive method.
Fig. 6 is the program flow diagram of the inventive method.
Embodiment
Describe the present invention in detail below in conjunction with embodiment and accompanying drawing.
Embodiment: detection method of the present invention is: after installing blade to be detected 5, blade 5 is in the design speed rotating process, gather blade displacement data when rotated by laser sensor 6, industrial control computer judges according to the data of gathering whether the product assembling is qualified, and whole testing process is controlled by the program of industrial control computer.Specifically as shown in Figure 5:
After the vacuum pump vanes 5 that the upstream station assembling is finished is transported to specific bit, send signals to the pick-up unit industrial control computer, industrial control computer is received this signal, and the vacuum pump vanes 5 that assembling is finished in 8 actions with regard to the driving device hand grabs on the workbench 10 of pick-up unit; Industrial control computer sends instruction again and drives vacuum pump vanes gripping mechanism 7 with vacuum pump vanes 5 chuckings receiving after vacuum pump vanes 5 places the signal that finishes; Industrial control computer promptly sends instruction after vacuum pump vanes 5 has tightened signal receiving equally, makes motor servo driver drive servomotor 3 rotations, and slowing down by reductor 4 drives vacuum pump vanes 5 rotations.When vacuum pump blade 5 rotational speeies reach the design speed of vacuum pump vanes 5, industrial control computer begins constant duration and reads the measured value of laser sensor 6 and be stored in the internal storage of industrial control computer, when data to be collected reach the data volume of design, industrial control computer sends instruction makes motor servo driver driving servomotor 3 decelerate to zero rotating speed, the mathematical statistics that the while industrial control computer is concentrated the displacement data that collects is handled, and judges according to result whether product is qualified; According to the whether qualified result who judges, driving device hand 8 with vacuum pump vanes 5 grab certified products district or NonConforming Parts Area with etc. pending next step processing.
As shown in Figure 6, industrial control computer program circuit of the present invention is:
Industrial control computer power-on self-test at first, confirm all normal after, begin to carry out parameter initialization, comprising: the time limit value of each section operation, the motor acceleration time, the blade design speed, the image data amount is judged the qualified technical indicator value of product;
Then, each moving component enters initial bit, wait for the signal that vacuum pump vanes 5 arrives, judged whether blade to be detected? if do not have, continue to wait for, if having, manipulator behavior, grasp vacuum pump vanes, mechanical arm enters next process after finishing the vacuum pump vanes grasping movement in the official hour limit value;
Blade gripping mechanism action chucking blade, laser displacement sensor enters detecting position;
Whether detect preliminary work by industrial control computer and finish, after being ready to complete, motor servo driver drives servomotor 3 and rotates and acceleration, judge that the tachometer value that scrambler 2 feeds back reaches blade 5 design speeds? as not, continue to quicken to rotate; In this way, then keep blade 5 design speeds and gather vacuum pump vanes 5 displacement data when rotated by laser displacement sensor 6, data comprise blade loam cake circumference measuring point displacement value and blade tip circumference measuring point displacement value;
Do you judge that image data finishes? as not, continue to gather, in this way, reach the predetermined data collection capacity after, industrial control computer sends instruction and the driven by motor blade is decelerated to stop, and data are carried out statistical treatment;
Do you judge whether the blade that is detected qualified? respectively blade is sent to certified products district or NonConforming Parts Area according to judged result driving device hand, finishes a working cycle;
At last, judge whether to continue to detect? as continue to detect, then allow each parts return the initial bit waiting signal again, as not, then detection of end withdraws from the detection control program.
The isolated plant of detection method of the present invention as shown in Figure 1, comprising:
One machine body 1, its top are equipped with blade gripping mechanism 7 and mechanical arm 8, and work top 10 belows are cavity structure, and work top 10 is provided with threaded rod 19, are fixed with the base 20 that is used to install vacuum pump vanes 5 on it;
One motor driver, place in the cavity of machine body 1 work top 10 belows, comprise rotary encoder 2, servomotor 3, reductor 4 and motor servo driver, at servomotor 3 afterbody coaxial positions rotary encoder 2 is installed, be used to measure the actual speed of blade 5, the transmitter of rotary encoder 2 inside links to each other with motor servo driver through the corresponding interface, servomotor 3 other ends are connected with reductor 4, the output shaft of reductor 4 is connected with threaded rod 19 on the work top 10, when blade 5 was installed, the output shaft of reductor 4 linked to each other with the blade gripping mechanism 7 on work top 10 tops.Motor servo driver model: LXM05-D10F1; Rotary encoder 2 models: XCC1510PS01X.
One sensor locator 9, as shown in Figure 2, be installed in vacuum pump vanes 5 one sides on the work top 10, form with the sensor fixed support 14 that links to each other with these cylinder 112 turning axles by a location cylinder 112, on the fixed support 14 of sensor locator 9, be fixed with three laser displacement sensors 6, wherein two sensors place the different point position of blade 5 loam cake circumference, and another sensor places blade 5 end circumference point positions; Positioning cylinder 112 rotates an angle of 90 degrees degree by three two-way electromagnetic valves, 122 action control sensor stands 14 to counter clockwise direction, vacuum pump vanes 5 is abdicated with regard to bit port, after treating that vacuum pump vanes 5 puts in place, by three two-way electromagnetic valves 122 sensor stand 14 dextrorotations are turn 90 degrees again, get back to the detection position.This routine laser sensor 6 adopts telegnosis company to produce, and model is the laser displacement sensor of ANR1215.
One blade gripping mechanism 7 as shown in Figure 3, is installed on machine body 1 top, links to each other with the output shaft of reductor, finishes the chucking action to blade 5, and the vacuum pump vanes 5 behind the chucking is driven by servomotor 3 and rotates; Gripping mechanism 7 comprises that blade clamps and the descending cylinder 113 of mechanical arm, mechanical arm tangential movement cylinder 111, mechanical arm clamps cylinder 114, mechanical arm 8, nut 21, horizontal profile and vertical section bar, horizontal profile and the vertical section bar perpendicular with it are installed on machine body 1 top, have slideway on the horizontal profile, vertically have the pulley that matches with the horizontal profile slideway on the section bar, making vertical section bar make level on horizontal profile slides relatively, mechanical arm tangential movement cylinder 111 is installed on the horizontal profile, link to each other with vertical section bar by air cylinder connecting rod, blade clamps and the descending cylinder 113 of mechanical arm is installed on the vertical section bar, described blade clamps and the descending cylinder 113 of mechanical arm is a double stroke cylinder, robot blade 22 is installed on the first stroke extension bar 15 of blade clamping and the descending cylinder 113 of mechanical arm, the second stroke extension bar end is connected with nut 21, mechanical arm clamps supporting plate 22 belows that cylinder 114 is installed on mechanical arm 8, its extension bar is grabbed 18 with the hand of mechanical arm 8 and is connected, opening of control mechanical arm 8, promptly action is used to grasp blade 5.Described blade clamps and first stroke of the descending cylinder 113 of mechanical arm is that control mechanical arm 8 is in place to base 20 with blade 5, second stroke is enclosed within nut 21 on the output shaft 19 and after controlling nut, drive by servomotor 3, nut 21 is screw into blade 5 bottoms always, blade 5 is fixed on the base 20.After fixing blade 5, double stroke cylinder 113 regressions are waited for and are grasped next blade to above the blade 5.Mechanical arm tangential movement cylinder 111 is used to control the horizontal level of mechanical arm 8.This routine described mechanical arm 8 is identical with the robot manipulator structure of the used extracting bearing of auto industry bearing part assembling lathe, and just size is different with stroke.
One industrial control computer, respectively with mechanical arm 8, gripping mechanism 7,, motor servo driver, laser displacement sensor 6 link to each other, and is used to control each component movement.
The gas circuit structure synoptic diagram of each cylinder among the present invention, as shown in Figure 4, mechanical arm tangential movement cylinder 111, sensor positioning cylinder 112, blade clamp and the descending cylinder 113 of mechanical arm and mechanical arm clamp and be communicated with the level pressure source of the gas respectively after motion cylinder 114 connects flow speed control valve 151～154, three two-way electromagnetic valves 161～164 respectively.Flow speed control valve is used to regulate the cylinder travelling speed.
This device is except that motor servo driver and industrial control computer, and other parts are installed on the machine body 1, forms a whole mechanism.When vacuum pump vanes 5 in place, earlier laser displacement sensor 6 is shifted out detecting position, treat that vacuum pump vanes 5 puts in place after, be moved back into detecting position again; Laser displacement sensor 6 detects displacement information and converts thereof into analog electrical signal and arrives industrial control computer by signal wire transmits.Control the course of work of whole device by industrial control computer.
See its course of work by pick-up unit of the present invention: at first, vacuum pump vanes 5 assembly lines starting beginning to assemble blade 5, the blade 5 finished of assembling is transported to the location to be checked of pick-up unit by feeding device, sends a blade 5 signalisation pick-up unit industrial control computer that puts in place simultaneously.Industrial control computer passes through power-on self-test before this, and the ready work of steps such as parameter initialization is in waiting status.In case receiving blade 5, industrial control computer carry the signal that puts in place to begin to move.At first mechanical arm tangential movement cylinder 111 actions make mechanical arm 8 tangential movements to blade 5 positions, and blade clamping and descending cylinder 113 action movements of mechanical arm are to first travel position then; Then mechanical arm clamps cylinder 114 action drives mechanical arms and catches blade 5, and the back is clamped by blade and descending cylinder 113 actions of mechanical arm are returned, and then to make the mechanical arm band blade 5 in place to the detecting position top for 111 actions of mechanical arm tangential movement cylinder; Descending by blade clamping and descending cylinder 113 actions of mechanical arm again, blade 5 is in place to detecting positions.Be put on the detecting position of pick-up unit after blade 5 picked up; After this action is finished, 7 work of vacuum pump vanes 5 gripping mechanisms, blade clamps and the descending cylinder 113 second stroke cylinders action of mechanical arm is enclosed within nut 21 on the threaded rod 19 that links to each other with reductor, and impose certain pressure, industrial control computer drives servomotor 3 rotations simultaneously, at this moment under the acting in conjunction of blade clamping and descending cylinder 113 of mechanical arm and servomotor 3, nut 21 is descending along threaded rod 19, until blade 5 is fixed, then, blade clamps and the descending cylinder 113 decompression regressions of mechanical arm.Laser displacement sensor 6 also enters working position in the time of with blade 5 chuckings, and the support 14 that is driven laser displacement sensor by 112 actions of sensor positioning cylinder rotates 90 degree.Carry out to detect and prepare.This moment, industrial control computer drove servomotor 3 rotations, quickened before this, and behind the design speed that reaches blade 5, it is constant to keep this rotating speed; When reaching design speed, industrial control computer can be gathered the change in displacement data by laser sensor 6, and is stored in the internal memory of industrial control computer.When the pending data amount meets the requirements of collection capacity, stop data acquisition and drive servomotor 3 stopping operating.Simultaneously industrial control computer carries out statistical treatment to the displacement data that collects, obtain statistics and according to the result in conjunction with judging that the qualified technical indicator of product is worth the whether qualified conclusion of detection blade 5.By next station certified products and non-certified products are handled respectively.So far the complete detection of a blade 5 finishes.Can carry out the detection of product continuously by this device.Whole process can be controlled in 30 seconds, can finish testing rapidly and accurately.
Claims (4)
1. the detection method of a vacuum pump vanes assembly quality, it is characterized in that: after installing blade to be detected, blade is in the design speed rotating process, gather blade displacement data when rotated by laser sensor, judge according to the data of gathering whether the product assembling is qualified, and whole testing process is controlled by computer program.
2. the detection method of vacuum pump vanes assembly quality as claimed in claim 1 is characterized in that described computer program flow process is:
At first, initiation parameter comprises: the time limit value of each section operation, and the motor acceleration time, the blade design speed, the image data amount is judged the qualified technical indicator value of product;
Then, each moving component enters initial bit, judged whether blade to be detected? if no, continue to wait for that if having, manipulator behavior grasps vacuum pump vanes;
Start blade gripping mechanism chucking blade, laser displacement sensor enters detecting position;
Motor servo driver drives the servomotor rotation and quickens, judge that the tachometer value that encoder feedback is returned reaches the blade design speed? as not, continue to quicken to rotate; In this way, then keep the blade design speed and gather vacuum pump vanes displacement data when rotated by laser displacement sensor, data comprise blade loam cake circumference measuring point displacement value and blade tip circumference measuring point displacement value;
Do you judge that image data finishes? as not, continue to gather, in this way, the driven by motor blade is decelerated to and stops, and data are carried out statistical treatment;
Do you judge whether the blade that is detected qualified? respectively blade is sent to certified products district or NonConforming Parts Area according to judged result driving device hand, finishes a working cycle;
At last, judge whether to continue to detect? as continue to detect, then allow each parts return the initial bit waiting signal again, as not, then detection of end withdraws from the detection control program.
3. the isolated plant of vacuum pump vanes assembly quality detection method according to claim 1 is characterized in that: comprise
One machine body (1), its top are equipped with blade gripping mechanism (7) and mechanical arm (8), and work top (10) below is a cavity structure, is fixed with the base (20) that is used to install vacuum pump vanes (5) on the work top (10);
One motor driver, place in the cavity of machine body work top (10) below, comprise rotary encoder (2), servomotor (3), reductor (4) and motor servo driver, at servomotor (3) afterbody coaxial position rotary encoder (2) is installed, the inner transmitter of rotary encoder (2) links to each other with motor servo driver, servomotor (3) other end is connected with reductor (4), the output shaft (19) of reductor (4) passes base (20), when blade (5) was installed, the output shaft (19) of reductor (4) linked to each other with the blade gripping mechanism (7) on work top (10) top;
One sensor locator (9), be installed in work top (10) and go up vacuum pump vanes (5) one sides, form with the sensor fixed support (14) that links to each other with this cylinder (112) turning axle by a location cylinder (112), on the fixed support (14) of sensor locator (9), be fixed with three laser displacement sensors (6), wherein two sensors place the different point position of blade (5) loam cake circumference, and another sensor places blade (5) end circumference point position;
One blade gripping mechanism (7) is installed on machine body (1) top, links to each other with the output shaft (19) of reductor when blade (5) is installed, and is used for grasping, tightening blade (5);
One industrial computer links to each other with gripping mechanism (7), motor servo driver, laser displacement sensor (6) respectively, is used to control the work of whole device.
4. as the isolated plant of vacuum pump vanes assembly quality detection method as described in the claim 3, it is characterized in that: described blade gripping mechanism (7) comprises that blade clamps and the descending cylinder of mechanical arm (113), mechanical arm tangential movement cylinder (111), mechanical arm clamps cylinder (114), mechanical arm (8), nut (21), horizontal profile and vertical section bar, on machine body (1) top horizontal profile and the vertical section bar perpendicular with it are installed, this vertical section bar is made level and is slided relatively on horizontal profile, mechanical arm tangential movement cylinder (111) is installed on the horizontal profile, link to each other with vertical section bar by air cylinder connecting rod, blade clamps and the descending cylinder of mechanical arm (113) is installed on the vertical section bar, described blade clamps and the descending cylinder of mechanical arm (113) is a double stroke cylinder, robot blade (22) is installed on the first stroke extension bar (15) of blade clamping and the descending cylinder of mechanical arm (113), the second stroke extension bar end is connected with nut (21), mechanical arm clamps supporting plate (22) below that cylinder (114) is installed on mechanical arm (8), its extension bar is grabbed (18) with the hand of mechanical arm (8) and is connected, and controls opening of mechanical arm (8), promptly action.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100116500A CN101598531B (en) | 2008-06-04 | 2008-06-04 | Method and special device for detecting quality of vacuum pump blade assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100116500A CN101598531B (en) | 2008-06-04 | 2008-06-04 | Method and special device for detecting quality of vacuum pump blade assembly |
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| CN101598531A true CN101598531A (en) | 2009-12-09 |
| CN101598531B CN101598531B (en) | 2010-12-01 |
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| CN2008100116500A Expired - Fee Related CN101598531B (en) | 2008-06-04 | 2008-06-04 | Method and special device for detecting quality of vacuum pump blade assembly |
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| CN109483231A (en) * | 2018-12-28 | 2019-03-19 | 温州力邦合信汽车部件有限公司 | Electronic vacuum pump production line for automatically assembling |
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| CN109483231A (en) * | 2018-12-28 | 2019-03-19 | 温州力邦合信汽车部件有限公司 | Electronic vacuum pump production line for automatically assembling |
| CN109483231B (en) * | 2018-12-28 | 2024-05-10 | 温州力邦企业有限公司 | Automatic assembly production line for electronic vacuum pump |
| CN111174958A (en) * | 2020-01-03 | 2020-05-19 | 西北工业大学 | Rotor blade surface universe dynamic pressure measuring device and method based on phase locking method |
| CN114001681A (en) * | 2021-11-16 | 2022-02-01 | 沧州博瑞泽宇智能科技股份有限公司 | Full-automatic laser detector and detection method for industrial large fan |
| CN114001681B (en) * | 2021-11-16 | 2024-04-12 | 沧州博瑞泽宇智能科技股份有限公司 | Full-automatic laser detector for industrial large fan and detection method |
| CN114279331A (en) * | 2021-12-27 | 2022-04-05 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Guide vane overall dimension visual measurement device and measurement method thereof |
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| CN101598531B (en) | 2010-12-01 |
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