CN109613009A - A kind of rotor blade detection line based on robot technology - Google Patents
A kind of rotor blade detection line based on robot technology Download PDFInfo
- Publication number
- CN109613009A CN109613009A CN201811648638.0A CN201811648638A CN109613009A CN 109613009 A CN109613009 A CN 109613009A CN 201811648638 A CN201811648638 A CN 201811648638A CN 109613009 A CN109613009 A CN 109613009A
- Authority
- CN
- China
- Prior art keywords
- rotor blade
- electric cylinders
- suction
- road
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The rotor blade detection line based on robot technology that the invention discloses a kind of, in carrying out rotor blade detection process, multiple degrees of freedom lifting machine people lifts the rotor blade produced to positioning mechanism, and positioning mechanism can position rotor blade, in order to carry out detection operation.In view of the design feature of rotor blade is irregular curved-surface structure, therefore, the material moving machine tool hand of the application is not conventional robot manipulator structure, realizes multiple change in location and adjustment for moving material suction nozzles by exclusive structure, it is come into full contact with to enable to move material suction nozzle with rotor blade, and then realize that adsorbed close is fixed, it is ensured that the safety of lifting, simultaneously, since negative-pressure adsorption acts on, rotor blade surface can be avoided to be damaged while safty hoisting, avoid influencing detection accuracy.
Description
Technical field
The present invention relates to robot device's technical fields, and in particular to a kind of rotor blade detection based on robot technology
Line.
Background technique
With the gradually aggravation of global energy crisis, the eco-friendly power sources such as wind energy, solar energy are had been to be concerned by more and more people.
For wind-driven generator, rotor blade is indispensable building block, and wind-force is captured and is transferred to axis by rotor blade
The heart, and then realize the conversion of wind energy to electric energy.Whether the operation that rotor blade quality is related to wind-driven generator is stable.
Existing rotor blade detection line is all rotor blade to be placed on localization tool using hanging device, and then right
Rotor blade surface carries out quality testing, and hanging device generallys use wirerope with rotor blade and is connected and fixed, be easy to turn
Blades cause to damage, and influence detection accuracy, and detection device is difficult to judge that surface damage is the damage in process, still hang
Damage during dress；Meanwhile structure is complicated again for conventional jig, positioning or time-consuming and laborious with unlocking process, it is difficult to meet fast
The needs of speed detection.
Summary of the invention
The purpose of the present invention is to the deficiencies in the prior art, provide a kind of rotor blade based on robot technology
Detection line.
Technology solution of the invention is as follows:
A kind of rotor blade detection line based on robot technology, including the multiple degrees of freedom lifting being fixedly installed on pedestal
Robot, the positioning mechanism for fixed rotor blade, detection unit and control system for detecting rotor blade,
In, positioning mechanism between multiple degrees of freedom lifting machine people and detection unit, control system and multiple degrees of freedom lifting machine people,
It is electrically connected between positioning mechanism and detection unit；The end of multiple degrees of freedom lifting machine people is connected with material moving machine tool hand；It is more
Freedom degree lifting machine people includes pedestal, and the top of pedestal is provided with support base, and the top rotation of support base is provided with rotating seat,
Rotating seat is sequentially connected with the rotating electric machine being fixedly mounted on support base；The side rotation of rotating seat is provided with swing arm, puts
The oscillating motor being fixedly installed on swing arm and rotating seat is sequentially connected；The upper end of swing arm is provided with pitch arm, pitch arm and solid
The pitching motor transmission connection of Dingan County's dress on a swing arm；The front end of pitch arm is connected with telescopic arm, telescopic arm and fixed installation
Telescopic cylinder in pitch arm front end is fixedly connected；The front end of telescopic arm forms yoke, and angular adjustment seat is fixed on yoke,
Material moving machine tool hand is fixedly mounted on the front end of angular adjustment seat；It is provided at the top of telescopic arm for incuding material moving machine tool hand operative position
The sensor set；Material moving machine tool hand includes moving material support plate, and the bottom side for moving material support plate forms support plate subplate, moves material support
The two sides of plate be respectively articulated with is equipped with the first shifting material electric cylinders and second move material electric cylinders, first move material electric cylinders, second move material electric cylinders with
It is respectively articulated between support plate subplate and the first push electric cylinders and the second push electric cylinders is installed；It moves on the upside of material support plate and is fixed with the
Three push electric cylinders and manipulator mounting blocks, are bolted before being fixed on angular adjustment seat at the top of manipulator mounting blocks
End；The push part of third push electric cylinders is interspersed to be set in manipulator mounting blocks, and is fixedly connected in the front end of pars contractilis
Electric cylinders mounting plate；It is fixed with third on electric cylinders mounting plate and moves material electric cylinders；It is further fixed on electric cylinders mounting plate for flexible guiding electricity
The optical axis of cylinder mounting plate；The quantity of optical axis is two, and interts and be set in manipulator mounting blocks；First moves material electric cylinders, second
It moves material electric cylinders and third moves and expects that the telescopic end side of electric cylinders is respectively and fixedly provided with mounting rod, suction nozzle fixed block is connected on mounting rod, is moved
Expect that suction nozzle is fixed on suction nozzle fixed block.
Positioning mechanism includes inhaling solid disk, inhales solid disk by several support legs that its underpart is arranged in and is fixedly mounted on pedestal
On；The inside for inhaling solid disk offers the suction chamber being connected to external negative pressure gas source, and suction chamber top offers several evenly distributed
Suction path；Road under suction path includes road in the suction being sequentially communicated, suction Road and aspirates, wherein road in suction
It is connected to the upper surface for inhaling solid disk, aspirates lower road and be connected to suction chamber, and aspirated upper road and aspirate lower road and be vertically arranged, in suction
Road is horizontally disposed, aspirates and forms rotation jacking block on the downside wall surface of Road, and suction path content is equipped with Z-type sealing plate, Z-type sealing plate
Using the unlatching and closing that rotate road under jacking block is aspirated as fulcrum realization.
Z-type sealing plate includes upper branch arm, waist panel and lower branch arm, wherein waist panel is hingedly mounted on rotation jacking block, and upper branch arm is embedding
Loaded on aspirating in upper road, lower branch arm is set to the top for aspirating lower road；When not inhaling solid, the top protrusion of upper branch arm inhales solid disk upper end
Face setting, lower branch arm bottom are fixedly connected with sealing plate, and sealing plate can will aspirate lower road and block completely.
Restoring spring is provided between waist panel bottom side edge and the bottom end face for aspirating Road.
Negative pressure gas source is forced draft fans, and forced draft fans are connected to setting by ventilation shaft with the suction chamber for inhaling solid disk.
Detection unit includes the door type frame being fixedly mounted on pedestal, first is formed at the top of door type frame to slideway, the
One on slideway movement detection supporting beam is installed；Detection supporting beam side is fixed with supporting beam slide, the sliding of supporting beam slide
First is mounted on on slideway；Form second to slideway at the top of detection supporting beam, second on slideway movement detection is installed
Head mounting rack；It is fixed with mounting rack slide at the top of detector mounting rack, mounting rack slide is slidably mounted on second on slideway；Inspection
Gauge head mounting rack bottom is fixed with detecting element, and detecting element is CCD camera.
Suction nozzle fixed block with vulcanized rubber material flexible by being made.
Moving material suction nozzle includes the air hose being tightly connected with outer fan, and the lower seal of air hose is plugged with casing, casing
Inside has gas channels, and lower end, integrally formed with annular endplate, the lower part of annular endplate is connected with mounting blocks, mounting blocks
Inside is formed with the conical cavity being connected to gas channels, and the outside of mounting blocks is sealedly connected with sucking disk part, the lower part tool of sucking disk part
There is end socket, the lower end surface of end socket is concordantly arranged, and equally distributed suction hole is formed on end socket, and the upper surface of end socket has rank
Terraced slot, magnetic ball mounting rack is fixedly connected on the outside of stepped groove, and conical cavity, and magnetic ball mounting rack are inserted into the upper end of magnetic ball mounting rack
Inclination gas circuit is formed between conical cavity；It is equipped with logical electromagnetic ball in the middle part of magnetic ball mounting rack, the lower part of logical electromagnetic ball is provided with
The spring being fixedly connected with ladder groove center；Gas channels, inclination gas circuit, on venthole and end socket on magnetic ball mounting rack
Suction hole is interconnected.
The lower part of logical electromagnetic ball is fixedly connected with intubation, is plugged on the upper end of spring.
The beneficial effects of the present invention are: in carrying out rotor blade detection process, multiple degrees of freedom lifting machine people will be given birth to
The rotor blade that output is come is lifted to positioning mechanism, and positioning mechanism can position rotor blade, in order to be examined
Survey operation.In view of the design feature of rotor blade is irregular curved-surface structure, therefore, the material moving machine tool hand of the application is not
It is conventional robot manipulator structure, multiple change in location and adjustment for moving material suction nozzle is realized by exclusive structure, to make
Moving material suction nozzle can come into full contact with rotor blade, and then realize that adsorbed close is fixed, it is ensured that the safety of lifting, meanwhile, by
It is acted in negative-pressure adsorption, rotor blade surface can be avoided to be damaged while safty hoisting, avoid influencing detection essence
Degree.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the cross-sectional view for inhaling solid disk；
Fig. 3 is the partial structure sectional view inhaled during solid disk is inhaled admittedly；
Fig. 4 is the structural schematic diagram of multiple degrees of freedom lifting machine people；
Fig. 5-6 is the structural schematic diagram of material moving machine tool hand different perspectives；
Fig. 7-8 is the structure sectional view for moving material suction nozzle different working condition.
Specific embodiment
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
As shown in figures 1-8, a kind of rotor blade detection line based on robot technology, including be fixedly installed on pedestal 1
Multiple degrees of freedom lifting machine people 4, the positioning mechanism 2 for fixed rotor blade 7, the detection list for detecting rotor blade 7
Member 3 and control system (not shown), wherein positioning mechanism 2 is located at multiple degrees of freedom lifting machine people 4 and detection unit 3
Between, it is electrically connected between control system and multiple degrees of freedom lifting machine people 4, positioning mechanism 2 and detection unit 3；Mostly freely
The end of degree lifting machine people 4 is connected with material moving machine tool hand 5.
Positioning mechanism 2 includes inhaling solid disk 21, inhales solid disk 21 and is fixedly mounted by several support legs 24 that its underpart is arranged in
On pedestal 1；The inside for inhaling solid disk 21 offers the suction chamber 210 being connected to external negative pressure gas source, and 210 top of suction chamber opens up
There are several evenly distributed suction paths；Suction path includes road 212 in the suction being sequentially communicated, suction Road 211 and takes out
The road Xi Xia 213, wherein road 212 is connected to the upper surface for inhaling solid disk 21 in suction, is aspirated lower road 213 and is connected to suction chamber 210,
And aspirate upper road 212 and aspirate lower road 213 and be vertically arranged, suction Road 211 is horizontally disposed, aspirates the downside wall surface of Road 211
On form rotation jacking block 214, suction path content is equipped with Z-type sealing plate 22, and Z-type sealing plate 22 is that fulcrum is real to rotate jacking block 214
Now aspirate the unlatching and closing on lower road 213.
Z-type sealing plate 22 includes upper branch arm 221, waist panel 220 and lower branch arm 222, wherein waist panel 220 is hingedly mounted on rotation
On jacking block 214, for upper branch arm 221 flush-mounted in aspirating in upper road 212, lower branch arm 222 is set to the top for aspirating lower road 213；It does not inhale
Gu when, the top protrusion of upper branch arm 221 inhales solid 21 upper surface of disk setting, and 222 bottom of lower branch arm is fixedly connected with sealing plate 223,
Sealing plate 223 can will aspirate lower road 213 and block completely.
Restoring spring 23 is provided between 220 bottom side edge of waist panel and the bottom end face for aspirating Road 211.
Negative pressure gas source is forced draft fans 20, and forced draft fans 20 are connected with the suction chamber 210 for inhaling solid disk 21 by ventilation shaft 201
Logical setting.
Detection unit 3 includes the door type frame 30 being fixedly mounted on pedestal 1, forms first to cunning at the top of door type frame 30
Road (not shown), first mobile on slideway is equipped with detection supporting beam 31；Detection 31 side of supporting beam is fixed with support
Beam slide 310, supporting beam slide 310 are slidably mounted on first on slideway；Second is formed to cunning at the top of detection supporting beam 31
Road (not shown), second on slideway movement detector mounting rack 32 is installed；It is fixed at the top of detector mounting rack 32
Mounting rack slide 320, mounting rack slide 320 are slidably mounted on second on slideway；32 bottom of detector mounting rack is fixed with inspection
Element is surveyed, detecting element is CCD camera.
Multiple degrees of freedom lifting machine people 4 includes pedestal 40, and the top of pedestal 40 is provided with support base 41, support base 41 it is upper
Portion's rotation is provided with rotating seat 42, and rotating seat 42 is sequentially connected with the rotating electric machine 410 being fixedly mounted on support base 41；Rotation
The side rotation of seat 42 is provided with swing arm 43, and the transmission of oscillating motor 420 being fixedly installed on swing arm 43 and rotating seat 42 connects
It connects；The upper end of swing arm 43 is provided with pitch arm 44, and pitch arm is driven with the pitching motor 430 being fixedly mounted on swing arm 43
Connection；The front end of pitch arm 44 is connected with telescopic arm 45, telescopic arm 45 and the telescopic cylinder for being fixedly mounted on 44 front end of pitch arm
440 are fixedly connected；The front end of telescopic arm 45 forms yoke, and angular adjustment seat 450 is fixed on yoke, and material moving machine tool hand 5 is solid
Dingan County is mounted in the front end of angular adjustment seat 450；The biography for incuding 5 operating position of material moving machine tool hand is provided at the top of telescopic arm 45
Sensor 46.
Material moving machine tool hand 5 includes moving material support plate 50, and the bottom side for moving material support plate 50 forms support plate subplate 501, is moved
The two sides of material support plate 50, which are respectively articulated with, is equipped with the first shifting material electric cylinders 51 and the second shifting material electric cylinders 52, the first shifting material electric cylinders 51,
It is respectively articulated between second shifting material electric cylinders 52 and support plate subplate 501 and first push electric cylinders 513 and the second push electric cylinders is installed
523；The upside for moving material support plate 50 is fixed with third push electric cylinders 54 and manipulator mounting blocks 53, the top of manipulator mounting blocks 53
The front end for being fixed on angular adjustment seat 450 is bolted in portion；The push part 541 of third push electric cylinders 54 is interspersed to be set to machine
In tool hand mounting blocks 53, and electric cylinders mounting plate 55 is fixedly connected in the front end of pars contractilis 541；It is fixed on electric cylinders mounting plate 55
There is third to move material electric cylinders 56；The optical axis 531 for flexible guiding electric cylinders mounting plate 55 is further fixed on electric cylinders mounting plate 55；Optical axis
531 quantity is two, and interts and be set in manipulator mounting blocks 53；First, which moves material electric cylinders 51, second, moves material 52 and of electric cylinders
The telescopic end side that third moves material electric cylinders 56 is respectively and fixedly provided with mounting rod 511, and suction nozzle fixed block 512 is connected on mounting rod 511, moves
Expect that suction nozzle 6 is fixed on suction nozzle fixed block 512.
Suction nozzle fixed block 512 with vulcanized rubber material flexible by being made.
Moving material suction nozzle 6 includes the air hose 60 being tightly connected with outer fan (not shown), the lower seal of air hose 60
It is plugged with casing 61, the inside of casing 61 has gas channels 610, and lower end is integrally formed with annular endplate 611, annular endplate
611 lower part is connected with mounting blocks, and the inside of mounting blocks is formed with the conical cavity being connected to gas channels 610, mounting blocks it is outer
Portion is sealedly connected with sucking disk part 62, and the lower part of sucking disk part 62 has end socket, and the lower end surface of end socket is concordantly arranged, and is formed on end socket
There is equally distributed suction hole (not shown), the upper surface of end socket has stepped groove, is fixedly connected on the outside of stepped groove
Conical cavity is inserted into the upper end of magnetic ball mounting rack 63, magnetic ball mounting rack 63, and is formed between magnetic ball mounting rack 63 and conical cavity 612
Tilt gas circuit 612；Logical electromagnetic ball 64 is equipped in the middle part of magnetic ball mounting rack 63, the lower part of logical electromagnetic ball 64 be provided with in stepped groove
The spring 65 that the heart is fixedly connected；Gas channels 610, inclination gas circuit 612, venthole 630 and end socket on magnetic ball mounting rack 63
On suction hole be interconnected.
The lower part of logical electromagnetic ball 64 is fixedly connected with intubation 641, and intubation 641 is plugged on the upper end of spring 65.
Carry out rotor blade detection process in, multiple degrees of freedom lifting machine people by the rotor blade produced lift to
At positioning mechanism, positioning mechanism can position rotor blade, in order to carry out detection operation.In view of rotor blade
Design feature is irregular curved-surface structure, and therefore, the material moving machine tool hand of the application is not conventional robot manipulator structure, is led to
Crossing exclusive structure realizes multiple change in location and adjustment for moving material suction nozzle, expects that suction nozzle is filled with rotor blade to enable to move
Tap touching, and then realize that adsorbed close is fixed, it is ensured that the safety of lifting, simultaneously as negative-pressure adsorption acts on, it can be in safety
While lifting, rotor blade surface is avoided to be damaged, avoids influencing detection accuracy.
Meanwhile for the curved-surface structure of rotor blade, the application is provided with exclusive positioning mechanism, that is, uses negative-pressure adsorption
Positioning, passes through exclusive positioning mechanism, it can be ensured that rotor blade is adsorbed by fastening, specifically, being placed in rotor blade
Before on fixed mechanism, the top protrusion of the upper branch arm of Z-type sealing plate energy inhales solid disk upper surface setting, and lower branch arm bottom is fixedly connected
There is sealing plate, sealing plate can will aspirate lower road and block completely.And when rotor blade is placed on fixed mechanism, rotor
The position that blade is contacted with positioning mechanism can depress upper branch arm, so that sealing plate is separate to aspirate lower road, at this point, forced draft fans open
Dynamic, the position that rotor blade is contacted with fixed mechanism is tightly adsorbed, and the position that rotor blade does not contact, Z-type sealing plate
It is in sealed condition, will not influence the sealing performance of entire positioning mechanism, avoids that gas leakage occurs.
Further, the application is also provided with exclusive shifting material suction nozzle, in carrying out adsorption process, in addition to conventional negative pressure is inhaled
It is attached, also there is electromagnetic adsorption, logical electromagnetic ball can be passed through the big minor adjustment electromagnetic adsorption power of electric current by changing, inhale by electromagnetism
The synergistic effect of attached power and negative-pressure sucking, it is ensured that adsorb the stability and safety of lifting.
The embodiment is to be illustrated the present invention, and is not intended to limit the present invention.Anyone skilled in the art
Without departing from the spirit and scope of the present invention, it modifies to the embodiment, therefore rights protection model of the invention
It encloses, should be as listed in the claims of the present invention.
Claims (9)
1. a kind of rotor blade detection line based on robot technology, it is characterised in that: including being fixedly installed on pedestal (1)
Multiple degrees of freedom lifting machine people (4), for fixed rotor blade (7) positioning mechanism (2), he for detects rotor blade (7)
Detection unit (3) and control system, wherein positioning mechanism (2) is located at multiple degrees of freedom lifting machine people (4) and detection unit
(3) it between, is electrically connected between control system and multiple degrees of freedom lifting machine people (4), positioning mechanism (2) and detection unit (3)
It connects；The end of multiple degrees of freedom lifting machine people (4) is connected with material moving machine tool hand (5)；Multiple degrees of freedom lifting machine people (4) includes base
Seat (40), the top of pedestal (40) are provided with support base (41), and the top rotation of support base (41) is provided with rotating seat (42), are revolved
Swivel base (42) is sequentially connected with the rotating electric machine (410) being fixedly mounted on support base (41)；The side of rotating seat (42) rotates
It is provided with swing arm (43), the oscillating motor (420) being fixedly installed on swing arm (43) and rotating seat (42) is sequentially connected；It swings
The upper end of arm (43) is provided with pitch arm (44), and pitch arm is passed with the pitching motor (430) being fixedly mounted on swing arm (43)
Dynamic connection；The front end of pitch arm (44) is connected with telescopic arm (45), telescopic arm (45) and is fixedly mounted on pitch arm (44) front end
Telescopic cylinder (440) be fixedly connected；The front end of telescopic arm (45) forms yoke, and angular adjustment seat is fixed on yoke
(450), material moving machine tool hand (5) is fixedly mounted on the front end of angular adjustment seat (450)；It is provided at the top of telescopic arm (45) for feeling
Answer the sensor (46) of material moving machine tool hand (5) operating position；Material moving machine tool hand (5) includes moving material support plate (50), moves material support
The bottom side of plate (50) forms support plate subplate (501), and the two sides for moving material support plate (50), which are respectively articulated with, is equipped with the first shifting material
Electric cylinders (51) and second move material electric cylinders (52), and first moves material electric cylinders (51), the second shifting material electric cylinders (52) and support plate subplate (501)
Between be respectively articulated be equipped with the first push electric cylinders (513) and second push electric cylinders (523)；The upside for moving material support plate (50) is fixed
There are third push electric cylinders (54) and manipulator mounting blocks (53), is bolted and is fixed at the top of manipulator mounting blocks (53)
The front end of angular adjustment seat (450)；The push part (541) of third push electric cylinders (54) is interspersed to be set to manipulator mounting blocks (53)
It is interior, and electric cylinders mounting plate (55) are fixedly connected in the front end of pars contractilis (541)；Electric cylinders mounting plate is fixed with third on (55)
Move material electric cylinders (56)；The optical axis (531) for flexible guiding electric cylinders mounting plate (55) is further fixed on electric cylinders mounting plate (55)；Light
The quantity of axis (531) is two, and interts and be set in manipulator mounting blocks (53)；First moves material electric cylinders (51), the second shifting material
The telescopic end side that electric cylinders (52) and third move material electric cylinders (56) is respectively and fixedly provided with mounting rod (511), and mounting rod is connected on (511)
It is fixed on suction nozzle fixed block (512) to move material suction nozzle (6) for suction nozzle fixed block (512).
2. a kind of rotor blade detection line based on robot technology according to claim 1, it is characterised in that: localization machine
Structure (2) includes inhaling solid disk (21), inhales solid disk (21) by several support legs (24) that its underpart is arranged in and is fixedly mounted on pedestal
(1) on；The inside for inhaling solid disk (21) offers the suction chamber (210) being connected to external negative pressure gas source, and suction chamber (210) top is opened
Equipped with several evenly distributed suction paths；Suction path includes road in the suction being sequentially communicated (212), suction Road (211)
And aspirate lower road (213), wherein road (212) are connected to the upper surface for inhaling solid disk (21) suction in, under suction road (213) and
Suction chamber (210) connection, and aspirate upper road (212) and aspirate lower road (213) and be vertically arranged, suction Road (211) is horizontally disposed,
It aspirates and forms rotation jacking block (214) on the downside wall surface of Road (211), suction path content is equipped with Z-type sealing plate (22), Z-type
Sealing plate (22) is the unlatching and closing that fulcrum realizes suction lower road (213) to rotate jacking block (214).
3. a kind of rotor blade detection line based on robot technology according to claim 2, it is characterised in that: Z-type envelope
Plate (22) includes upper branch arm (221), waist panel (220) and lower branch arm (222), wherein waist panel (220) is hingedly mounted on rotation jacking block
(214) on, for upper branch arm (221) flush-mounted in aspirating in upper road (212), lower branch arm (222), which is set to, aspirates the upper of lower road (213)
Portion；When not inhaling solid, the top protrusion of upper branch arm (221) inhales solid disk (21) upper surface setting, and lower branch arm (222) bottom is fixedly connected
Have sealing plate (223), sealing plate (223) can will aspirate lower road (213) and block completely.
4. a kind of rotor blade detection line based on robot technology according to claim 3, it is characterised in that: waist panel
(220) restoring spring (23) are provided between bottom side edge and the bottom end face for aspirating Road (211).
5. a kind of rotor blade detection line based on robot technology according to claim 2, it is characterised in that: negative pressure gas
Source is forced draft fans (20), and forced draft fans (20) are connected to by ventilation shaft (201) with the suction chamber (210) for inhaling solid disk (21) and are set
It sets.
6. a kind of rotor blade detection line based on robot technology according to claim 1, it is characterised in that: detection is single
First (3) include the door type frame (30) being fixedly mounted on pedestal (1), first are formed at the top of door type frame (30) to slideway, the
One mobile on slideway is equipped with detection supporting beam (31)；Detection supporting beam (31) side is fixed with supporting beam slide (310), is propped up
Support beam slide (310) is slidably mounted on first on slideway；Second is formed at the top of detection supporting beam (31) to slideway, second to
Movement is equipped with detector mounting rack (32) on slideway；It is fixed with mounting rack slide (320), pacifies at the top of detector mounting rack (32)
It shelves slide (320) and is slidably mounted on second on slideway；Detector mounting rack (32) bottom is fixed with detecting element, detection member
Part is CCD camera.
7. a kind of rotor blade detection line based on robot technology according to claim 1, it is characterised in that: suction nozzle is solid
Block (512) is determined by being made with vulcanized rubber material flexible.
8. a kind of rotor blade detection line based on robot technology according to claim 1, it is characterised in that: move material and inhale
Head (6) includes the air hose (60) being tightly connected with outer fan, and the lower seal of air hose (60) is plugged with casing (61), casing
(61) inside has gas channels (610), and lower end is integrally formed with annular endplate (611), the lower part of annular endplate (611)
Mounting blocks are connected with, the inside of mounting blocks is formed with the conical cavity being connected to gas channels (610), and the external sealing of mounting blocks connects
It is connected to sucking disk part (62), the lower part of sucking disk part (62) has end socket, and the lower end surface of end socket is concordantly arranged, and is formed on end socket
The suction hole of even distribution, the upper surface of end socket have stepped groove, are fixedly connected with magnetic ball mounting rack (63), magnetic on the outside of stepped groove
Conical cavity is inserted into the upper end of ball mounting rack (63), and is formed with inclination gas circuit between magnetic ball mounting rack (63) and conical cavity (612)
(612)；Logical electromagnetic ball (64) are equipped in the middle part of magnetic ball mounting rack (63), the lower part of logical electromagnetic ball (64) be provided with in stepped groove
The spring (65) that the heart is fixedly connected；Gas channels (610), inclination gas circuit (612), the venthole on magnetic ball mounting rack (63)
(630) suction hole and on end socket is interconnected.
9. a kind of rotor blade detection line based on robot technology according to claim 8, it is characterised in that: energization magnetic
The lower part of ball (64) is fixedly connected with intubation (641), and intubation (641) is plugged on the upper end of spring (65).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648638.0A CN109613009B (en) | 2018-12-30 | 2018-12-30 | Rotor blade detection line based on robot technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648638.0A CN109613009B (en) | 2018-12-30 | 2018-12-30 | Rotor blade detection line based on robot technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109613009A true CN109613009A (en) | 2019-04-12 |
| CN109613009B CN109613009B (en) | 2021-12-10 |
Family
ID=66016330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811648638.0A Active CN109613009B (en) | 2018-12-30 | 2018-12-30 | Rotor blade detection line based on robot technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109613009B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948422A (en) * | 2019-12-14 | 2020-04-03 | 山东科技大学 | Novel device capable of realizing integrated measurement of workpiece retention and multiple degrees of freedom |
| CN111360678A (en) * | 2020-04-28 | 2020-07-03 | 华中科技大学 | Aero-engine blade robot grinding and polishing feeding system and jig |
| CN112158370A (en) * | 2020-09-28 | 2021-01-01 | 西安工程大学 | Clean wine jar closing cap device |
| CN112720316A (en) * | 2021-01-21 | 2021-04-30 | 先云开 | Assembling equipment for rotor and blades of steam generator |
| CN113306280A (en) * | 2021-04-15 | 2021-08-27 | 青岛海佰利机械有限公司 | Full-automatic printing process |
| CN113579404A (en) * | 2020-07-05 | 2021-11-02 | 袁军 | Multifunctional circuit board welding robot and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102441895A (en) * | 2011-10-09 | 2012-05-09 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
| CN203438234U (en) * | 2013-07-22 | 2014-02-19 | 南京信息工程大学 | Multipurpose material-carrying industrial robot |
| CN104859743A (en) * | 2015-06-03 | 2015-08-26 | 马鞍山聚力科技有限公司 | Detection robot based on negative pressure adsorption |
| US20160374541A1 (en) * | 2014-10-24 | 2016-12-29 | Auris Surgical Robotics, Inc. | Automated endoscope calibration |
| CN106799731A (en) * | 2016-12-05 | 2017-06-06 | 广西大学 | It is a kind of to contain the variable freedom linkage transport operation mechanical arm for rotating secondary locking device |
| CN107745379A (en) * | 2017-09-27 | 2018-03-02 | 武汉科技大学 | A kind of multi-joint conveying robot |
-
2018
- 2018-12-30 CN CN201811648638.0A patent/CN109613009B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102441895A (en) * | 2011-10-09 | 2012-05-09 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
| CN203438234U (en) * | 2013-07-22 | 2014-02-19 | 南京信息工程大学 | Multipurpose material-carrying industrial robot |
| US20160374541A1 (en) * | 2014-10-24 | 2016-12-29 | Auris Surgical Robotics, Inc. | Automated endoscope calibration |
| CN104859743A (en) * | 2015-06-03 | 2015-08-26 | 马鞍山聚力科技有限公司 | Detection robot based on negative pressure adsorption |
| CN106799731A (en) * | 2016-12-05 | 2017-06-06 | 广西大学 | It is a kind of to contain the variable freedom linkage transport operation mechanical arm for rotating secondary locking device |
| CN107745379A (en) * | 2017-09-27 | 2018-03-02 | 武汉科技大学 | A kind of multi-joint conveying robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948422A (en) * | 2019-12-14 | 2020-04-03 | 山东科技大学 | Novel device capable of realizing integrated measurement of workpiece retention and multiple degrees of freedom |
| CN111360678A (en) * | 2020-04-28 | 2020-07-03 | 华中科技大学 | Aero-engine blade robot grinding and polishing feeding system and jig |
| CN113579404A (en) * | 2020-07-05 | 2021-11-02 | 袁军 | Multifunctional circuit board welding robot and method |
| CN113579404B (en) * | 2020-07-05 | 2022-08-23 | 深圳市智瑞通科技有限公司 | Multifunctional circuit board welding robot and method |
| CN112158370A (en) * | 2020-09-28 | 2021-01-01 | 西安工程大学 | Clean wine jar closing cap device |
| CN112720316A (en) * | 2021-01-21 | 2021-04-30 | 先云开 | Assembling equipment for rotor and blades of steam generator |
| CN113306280A (en) * | 2021-04-15 | 2021-08-27 | 青岛海佰利机械有限公司 | Full-automatic printing process |
| CN113306280B (en) * | 2021-04-15 | 2023-01-10 | 青岛海佰利机械有限公司 | Full-automatic printing process |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109613009B (en) | 2021-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109613009A (en) | A kind of rotor blade detection line based on robot technology | |
| CN109719751A (en) | A kind of rotor blade lifting machine people's system | |
| CN201816805U (en) | Bag-taking mechanism on packaging machine | |
| CN104729581B (en) | Panoramic sunroof production line | |
| CN105424295B (en) | The leak-testing apparatus of immersible pump | |
| CN105586846B (en) | Blower | |
| CN111537165A (en) | Automobile water pump air tightness detection tool | |
| CN204976644U (en) | Loading and unloading machine people device suitable for on assembly line | |
| JP2018091684A (en) | Measurement device for ceiling air control port | |
| CN208171581U (en) | A kind of shield machine cutter abrasion detection device | |
| CN207698210U (en) | Film device is turned in a kind of detection of display screen | |
| CN109707572B (en) | Be applied to rotor blade detecting system's absorption positioning jig | |
| CN206565901U (en) | Smooth alien invasion clean robot | |
| CN213842234U (en) | A monitoring devices for ecological environment administers | |
| CN113059267B (en) | Air floatation device for optical device coupling and using method | |
| CN209514911U (en) | A kind of training platform for electrical teaching | |
| CN212542393U (en) | Wafer unloading equipment | |
| CN106315491B (en) | A kind of equipment of detection beer qualification rate | |
| CN104133253B (en) | A kind of underwater works detection device | |
| CN212635944U (en) | Off-line board separator | |
| CN112903921A (en) | Gas detection device for environmental detection | |
| CN110015558A (en) | Automatic turning glue machine and automatic turning colloid system | |
| CN214669032U (en) | Vacuum device for detecting noble metal | |
| CN205530074U (en) | Suction blower | |
| CN215812296U (en) | Air permeability detection device for sports coat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211112 Address after: 321100 No. 85, motor new area, Shanghua street, Lanxi City, Jinhua City, Zhejiang Province Applicant after: Hui Zhang Address before: 518055 building a, Harbin Institute of technology, Xili University City, Nanshan District, Shenzhen, Guangdong Province Applicant before: Fan Lingfeng |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |