CN110823109B - Detection method based on liner wall thickness and wall thickness difference detection device - Google Patents
Detection method based on liner wall thickness and wall thickness difference detection device Download PDFInfo
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- CN110823109B CN110823109B CN201911089189.5A CN201911089189A CN110823109B CN 110823109 B CN110823109 B CN 110823109B CN 201911089189 A CN201911089189 A CN 201911089189A CN 110823109 B CN110823109 B CN 110823109B
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- wall thickness
- range finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0691—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of objects while moving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a detection method based on a liner wall thickness and wall thickness difference detection device, and relates to the technical field of wall thickness detection. The detection method comprises the following steps: 1) starting the turntable to rotate, and driving the liner mold to rotate by the rotation of the turntable; the method comprises the following steps that a laser range finder collects the distance between the laser range finder and a shaped charge liner die when a turntable rotates by a preset angle, and data collected by the laser range finder when the turntable rotates by 360 degrees serve as a first group of data; 2) placing the liner to be tested on the liner die, repeating the step 1), and taking the acquired data as a second group of data; the collection point in the step 2) is the same as that in the step 1); 3) comparing the second group of data with the same acquisition points in the first group of data, and calculating the difference value of the corresponding points to obtain the wall thickness of the acquisition points; calculating the difference between the wall thicknesses, namely the wall thickness difference; the original non-contact measurement is changed into indirect measurement, so that the detection precision is improved, and the scratch on the surface of the shaped charge liner is reduced.
Description
Technical Field
The invention relates to the technical field of wall thickness detection, in particular to a detection method based on a liner wall thickness and wall thickness difference detection device.
Background
The perforating bullet is used as a well completion equipment for establishing an effective channel in a shaft and an oil layer, the quality of the perforating bullet influences the oil and gas yield of a production well to a great extent, a metal powder liner is a key part of the perforating bullet, the symmetry of the structure of the liner and the uniformity of mass distribution are very critical to the elastic performance of the perforating bullet, the actually processed liner cannot avoid the wall thickness difference, the quality of the liner has great influence on the formed jet, and the wall thickness refers to the wall thickness change of the liner along the circumferential direction but the due wall thickness of the liner on a certain cross section.
At present, the thickness of the wall of the shaped charge liner is mainly detected by hand. During detection, the liner is placed on a specific conical detection table, a dial indicator pressure head is pressed on the outer side of the liner, the liner is manually rotated, and whether the wall thickness of the liner meets the requirement or not is judged through manual reading, namely, the uniform wall thickness of the liner is judged.
The existing detection has the following problems: the liner die is manually rotated, the reading of the dial indicator is observed in the rotating process, and the detection efficiency is low; the direct contact type measurement is adopted, the precision is not high, the surface of the shaped charge liner is easily scratched, and the requirement of automatic production cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of low detection efficiency and scratch on the surface of a liner caused by direct contact measurement in the prior art, and provides a detection method based on a liner wall thickness and wall thickness difference detection device.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a detection method based on a liner wall thickness and wall thickness difference detection device comprises an adjusting base and a rotary table; the adjusting base is provided with a vertical mounting plate, and the vertical mounting plate is provided with an angle-adjustable laser range finder; the turntable is positioned on the light receiving side of the adjusting base, the upper end of the turntable is provided with a magnetic base, and the magnetic base is provided with a liner mold;
the detection method comprises the following steps:
1) starting the turntable to rotate, and driving the liner mold to rotate by the rotation of the turntable;
the method comprises the following steps that a laser range finder collects the distance between the laser range finder and a shaped charge liner die when a turntable rotates by a preset angle, and data collected by the laser range finder when the turntable rotates by 360 degrees serve as a first group of data;
2) placing the liner to be tested on the liner die, repeating the step 1), and taking the acquired data as a second group of data; the collection point in the step 2) is the same as that in the step 1);
3) comparing the second group of data with the same acquisition points in the first group of data, and calculating the difference value of the corresponding points to obtain the wall thickness of the acquisition points;
and calculating the difference value between the wall thicknesses, namely the wall thickness difference.
Further, the laser ray emitted by the laser range finder in the step 1) is vertical to a bus of the shaped charge liner die;
and 2) enabling laser rays emitted by the laser range finder to be vertical to a bus of the shaped charge liner die.
Further, the laser ray emitted by the laser range finder in the step 1) is 9-11mm lower than the top end of the liner die;
the laser ray emitted by the laser range finder in the step 2) is the same as the laser ray emitted by the laser range finder in the step 1).
Further, the preset angle in the step 1) is in the range of 15-30 degrees.
Furthermore, the detection device for detecting the wall thickness difference between the liner and the wall thickness further comprises an installation platform, an adjusting base and a rotary table are arranged on the installation platform, a feeding liner bin is arranged on one side of the adjusting base and one side of the rotary table, and a discharging liner bin is arranged on the other side of the adjusting base and the rotary table; a first carrying robot for grabbing the liner is arranged on the periphery of the loading liner warehouse, and the first carrying robot can translate and rotate in a three-dimensional space; and a second transfer robot for grabbing the liner is arranged on the periphery of the blanking liner warehouse, and the second transfer robot can translate and rotate in a three-dimensional space.
Further, step 2) is preceded by the following operations:
the first transfer robot grabs the liner from the loading liner warehouse and faces the liner to the second transfer robot;
and the second carrying robot grabs the liner and places the liner to the liner mold.
Further, step 2) is followed by the following operations:
and the second transfer robot grabs the liner and places the liner into a blanking liner warehouse.
Furthermore, a grabbing terminal of a first transfer robot in the liner wall thickness and wall thickness difference detection device is a first sucker;
when the first transfer robot grabs the liner from the loading liner warehouse, the first sucker is in a positive pressure state firstly and then in a negative pressure state.
Compared with the prior art, the invention has the following beneficial effects:
according to the detection method based on the detection device for the thickness difference between the wall of the liner and the wall of the liner, the original non-contact measurement is changed into indirect measurement, the distances of different acquisition points are measured by laser rays, the wall thickness of the liner is obtained by calculating the difference between the liner which is not placed and the liner which is placed, and then the wall thickness difference is obtained by calculating the difference between the thicknesses, so that the detection precision is improved, and the scratch to the surface of the liner is reduced; furthermore, a laser beam emitted by the laser range finder is perpendicular to a bus of the shaped charge liner die, so that the wall thickness of the shaped charge liner can be accurately measured; furthermore, whether the wall thickness of the top end of the liner is uniform at a position of 9-11mm is one of important parameters of the performance of the liner, and the wall thickness at the position can be measured to ensure that the wall thickness detection standards of different liners are uniform; furthermore, the existence of the transfer robot enables the measurement to be more automatic; furthermore, the influence of the existing impurities on the measurement result is reduced by the aid of air blowing treatment of the first suction disc, and the first suction disc sucks the residual copper powder in the liner from the opening end of the liner, so that the residual copper powder in the liner can be further cleaned.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus for detecting liner wall thickness and wall thickness difference according to the present invention;
FIG. 2 is a schematic structural view of a wall thickness detection mechanism of the present invention;
FIG. 3 is a schematic structural diagram of a first transfer robot and a feeding liner magazine in the apparatus for detecting liner wall thickness and wall thickness difference according to the present invention;
FIG. 4 is a partial schematic structural view of a feeding chute in the apparatus for detecting the wall thickness difference between liner and liner of the present invention;
FIG. 5 is a schematic structural diagram of a second transfer robot, a blanking liner magazine, and a wall thickness detection mechanism in the apparatus for detecting liner wall thickness and wall thickness difference according to the present invention.
Wherein: 1-a mounting frame; 1-1-mounting a platform; 2-feeding a medicine type cover stock library; 2-1-a pallet platform; 2-2-side locking block; 2-3-a feeding tray; 2-31-through holes; 3-a first transfer robot; 3-1-a first guide rail; 3-2-a first rotary cylinder; 3-3-a first mounting plate; 3-4-a first suction cup; 4-a second transfer robot; 4-1-a second guide rail; 4-2-a second rotary cylinder; 4-3-a second suction cup; 4-4-a second mounting plate; 5-a wall thickness detection mechanism; 5-1-adjusting the base; 5-2-vertical mounting plate; 5-21-angle adjusting sliding chute; 5-22-threaded hole; 5-3-laser rangefinder; 5-31-laser beam; 5-4-shaped charge liner mold; 5-5-a magnetic base; 5-6-rotating disc; 6-blanking shaped charge cover stock storehouse; 6-1-qualified product tray; 6-2-placing a groove for unqualified products; 7-a feed chute; 7-1-rodless cylinder; 7-2-a guide shaft; 7-3-linear bearings; 7-4-oil pressure buffer; 8-a discharging slideway.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 is a schematic structural diagram of the whole device for detecting the wall thickness difference of the liner of the invention; the device for detecting the wall thickness difference of the liner comprises a mounting frame 1, a feeding liner material warehouse 2, a first carrying robot 3, a second carrying robot 4, a wall thickness detection mechanism 5 and a discharging liner material warehouse 6, wherein the mounting frame 1 is provided with a mounting platform 1-1, the feeding liner material warehouse 2, the first carrying robot 3, the second carrying robot 4, the wall thickness detection mechanism 5 and the discharging liner material warehouse 6 are arranged on the upper end surface of the mounting platform 1-1, a plurality of threading through holes are formed in the mounting platform 1-1, an electric control part is positioned in the mounting frame 1 and below the mounting platform 1-1, the electric control part is in communication connection with the feeding liner material warehouse 2, the first carrying robot 3, the second carrying robot 4, the wall thickness detection mechanism 5 and the discharging liner material warehouse 6 through the threading through holes, the periphery of the mounting platform 1-1 is provided with a guard plate, the feeding type liner warehouse 2 and the discharging type liner warehouse 6 are arranged on two sides of the wall thickness detection mechanism 5, the first transfer robot 3 is arranged on one side of the feeding type liner warehouse 2, the second transfer robot 4 is arranged on one side of the discharging type liner warehouse 6, the first transfer robot 1 is used for grabbing type liners from the feeding type liner warehouse 2, and the second transfer robot 4 is used for grabbing type liners from the first transfer robot 3 and placing the wall thickness detection mechanism 5 and grabbing type liners from the wall thickness detection mechanism 5 and placing the discharging type liner warehouse 6.
Referring to fig. 2, fig. 2 is a schematic structural view of a wall thickness detection mechanism of the present invention; the wall thickness detection mechanism 5 comprises a rotary table 5-6, a shaped charge liner mold 5-4, a laser range finder 5-3 and an adjusting base 5-1, the components are arranged on an installation platform 1-1, a magnetic base 5-5 is arranged on the rotary table 5-6, the shaped charge liner mold 5-4 is arranged on the magnetic base 5-5, a laser beam 5-31 emitted by the laser range finder 5-3 points to the shaped charge liner mold 5-4, the adjusting base 5-1 is arranged on one side of the rotary table 5-6, the rotary table 5-6 can transmit automatically, and the laser range finder 5-3 is arranged on the adjusting base 5-1.
A magnetic adjusting knob is arranged on an operation panel of the magnetic base 5-5, the adjusting knob is a two-gear knob, the upper end face of the magnetic base 5-5 can have stronger magnetism by rotating the knob, the liner die 5-4 can be stably adsorbed at the moment, or the liner die 5-4 can be easily replaced at the moment; in order to test the deviation of a group of measured data when the laser range finder 5-3 rotates for one circle, the rotary table 5-6, the magnetic base 5-5 and the shaped charge liner die 5-4 are coaxially arranged.
The wall thickness measuring mechanism 5 also comprises a vertical mounting plate 5-2, the vertical mounting plate 5-2 is fixed on an adjusting base 5-1, the upper part of the vertical mounting plate 5-2 is provided with a threaded hole 5-22, the lower part of the vertical mounting plate 5-2 is provided with an angle adjusting chute 5-21, the opening of the angle adjusting chute 5-21 is arc-shaped, the upper end and the lower end of a laser range finder 5-3 are respectively fixed on the vertical mounting plate 5-2 through the threaded hole 5-22 and the angle adjusting chute 5-21, the connecting position of the lower end of the laser range finder 5-3 and the vertical mounting plate 5-2 can slide along the angle adjusting chute 5-21, so that the mounting inclination angle of the laser range finder 5-3 can be adjusted, preferably, a laser beam 5-31 emitted by the laser range finder 5-3 is adjusted to be vertical to a bus of the liner mold 5-4, so that the wall thickness of the liner can be accurately measured.
The adjusting base 5-1 is used for adjusting the installation height of the laser range finder 5-3, and the adjusting knob of the operating panel of the adjusting base 5-1 is adjusted to rotate to adjust the installation height of the laser range finder so that the distance between the contact point of a laser beam emitted by the laser range finder and the top end of the liner die is about 9-11mm, and whether the wall thickness of the liner at the position of about 9-11mm away from the top end is uniform is one of important parameters of the liner performance, thereby ensuring that the wall thickness detection benchmark of the liner is uniform when different liners are measured.
Referring to fig. 3, fig. 3 is a schematic structural view of a first transfer robot and a feeding liner magazine in the apparatus for detecting liner wall thickness and wall thickness difference according to the present invention; the feeding type medicine cover material warehouse 2 comprises a tray platform 2-1, four side locking blocks 2-2 are oppositely arranged at four corners of the tray platform for positioning, a feeding tray 2-3 is placed in a rectangular space formed by the four side locking blocks 2-2, a plurality of through holes 2-31 which are uniformly arranged are formed in the feeding tray 2-3, and the top ends of the type medicine covers are orderly stacked on the through holes 2-31 of the feeding tray 2-3 downwards. Further, the first carrying robot 3 comprises a first guide rail 3-1 and a first tail end gripper, the first guide rail 3-1 is installed on the installation platform 1-1, preferably the first guide rail 3-1 is a rectangular coordinate robot, the first guide rail 3-1 comprises guide rails in three directions of an x coordinate axis, a y coordinate axis and a z coordinate axis, and is used for providing strokes in three directions of x, y and z for the first suction disc 3-4, the two x guide rails are arranged on two sides of the loading type cover stock 2, the y guide rails are arranged on the two x guide rails in a spanning mode, the z guide rails are arranged on the y guide rails, and the movement of the first suction disc 3-4 in the three directions of x, y and z is driven by corresponding driving motors; the first rotary cylinder 3-2 is arranged on the z guide rail, the output end of the first rotary cylinder 3-2 is provided with a first mounting plate 3-3, the first sucker 3-4 is arranged on the first mounting plate 3-3, and the first sucker 3-4 sucks the liner from the open end of the liner. When the first rotary cylinder 3-2 rotates the first sucker 3-4 to rotate 90 degrees towards the second transfer robot 4 so that the axes of the first sucker 2-5 are parallel, the second rotary cylinder 4-2 rotates the second sucker 4-3 to rotate 90 degrees towards the first transfer robot 3 so that the axis of the second sucker 4-3 is horizontal, the second guide rail 4-1 drives the second sucker 4-3 to suck the liner from the top end of the liner, the second rotary cylinder 4-2 rotates reversely for 90 degrees to return, and the second guide rail 4-2 drives the liner to move onto the liner mold 5-4.
The upper end of the first suction disc 3-4 is connected with a five-port three-position electromagnetic valve through a three-way pipe joint, the tail end of the first suction disc 3-4 is connected with the three-way pipe joint, one end of the three-way pipe joint is connected with the five-port three-position electromagnetic valve through a vacuum generator, the rest end of the three-way pipe joint is connected with the five-port three-position electromagnetic valve through a speed regulating valve, the working state of the five-port three-position electromagnetic valve is controlled to control the first suction disc to suck air (negative pressure) or blow air, the first suction disc blows air to clean the shaped medicine cover, the shaped medicine cover is formed by die casting copper powder, the inner wall and the outer wall of the shaped medicine cover and the residual copper powder thereof influence the detection result and the subsequent multiple processes, the first suction disc blows air to the inner wall of the shaped medicine cover, so that the residual copper powder in the shaped medicine cover is blown out or floated, then the first suction disc sucks the shaped medicine cover by utilizing the negative pressure and sucks the residual copper powder in the inner part of the shaped medicine cover simultaneously, the influence on the detection result is reduced, and the influence on the subsequent process is reduced. The sucking disc of type of a prescription cover is five three-position solenoid valves, and an end of two gas outlets connects the trachea, and an end connects vacuum generator, and the specific model of solenoid valve is as follows: 4V 110-06A.
For the automatic feeding of the feeding tray 2-3, a feeding slideway 7 is arranged at the lower end of the tray platform 2-1, see fig. 4, fig. 4 is a partial structural schematic diagram of the feeding slideway in the device for detecting the wall thickness difference between the liner wall thickness and the wall thickness difference of the invention, the feeding slideway comprises a rodless cylinder 7-1, the rodless cylinder 7-1 is fixed on the upper end surface of the mounting platform 1-1 and is positioned below the tray platform 2-1, the lower end surface of the tray platform 2-1 is fixedly connected with the output end of the rodless cylinder 7-1, and preferably, an oil pressure buffer 7-4 is arranged at the end of the rodless cylinder 7-1, which is close to the motion of the first transfer robot 3.
In order to improve the motion stability and the motion directionality of the tray platform 2-1, the guide shafts 7-2 are arranged on two sides of the rodless cylinder 7-1 along the motion direction of the rodless cylinder 7-1, the linear bearings 7-3 are connected with the guide shafts 7-2 in a sliding mode, and the lower end face of the tray platform 2-1 is fixedly connected with the linear bearings 7-3 on the two sides respectively, so that the motion directionality and the motion stability of the tray platform 2-1 are guaranteed.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a second transfer robot, a blanking liner magazine and a wall thickness detection mechanism in the apparatus for detecting liner wall thickness and wall thickness difference according to the present invention; the second transfer robot and the blanking liner magazine are arranged in the same manner as the first transfer robot and the feeding liner magazine, and the blanking liner magazine 6 includes a conforming article tray 6-1 and a nonconforming article accommodating recess 6-2, the nonconforming article accommodating recess 6-2 is provided on one side of the wall thickness detection mechanism 5, and the conforming article tray 6-1 is provided on one side of the second transfer robot 2.
After the wall thickness detection mechanism 5 detects the liner, the second guide rail 4-1 drives the liner to move to the qualified product tray 6-1 or the unqualified product placing groove 6-2 according to the detection result.
In order to realize the automatic blanking of the qualified product tray 6-1, the qualified product tray 6-1 is placed in a rectangular space surrounded by four side locking blocks of a blanking tray platform, a discharging slideway 8 is arranged below the blanking tray platform, and in order to simplify the complexity of the whole device, the structure of the discharging slideway 8 is preferably the same as that of the feeding slideway 7.
The detection method of the device comprises the following steps: adjusting the installation angle of a laser range finder 5-3 to enable a laser beam 5-31 emitted by the laser range finder 5-3 to be over against a shaped charge liner mold 5-4, further enabling the laser beam 5-31 emitted by the laser range finder 5-3 to be perpendicular to a bus of the shaped charge liner mold 5-4, further enabling a knob of a regulating base 5-1 to be rotated to regulate the installation height of the laser range finder 5-3 to enable a contact point of the laser beam 5-31 emitted by the laser range finder 5-3 and the bus of the shaped charge liner mold 5-4 to be about 9-11mm away from the top end of the shaped charge liner mold 5-4, preferably 10mm away from the top end, driving the shaped charge liner mold 5-4 to rotate for one circle by a rotating motor, recording one datum at intervals of 18 degrees, and recording 20 datum data, wherein the 20 datum data are taken as a first group of data.
The detection steps of the device are as follows:
the top ends of the shaped charge liners are placed in through holes 2-31 of a loading tray 2-3 in a downward and orderly stacked manner, the loading tray 2-3 is placed between side locking blocks 2-2 of a tray platform, and then the tray platform 2-1 loaded with the loading tray 2-3 is moved to a position from a feeding slideway 7;
controlling a corresponding driving motor to drive a first suction disc 3-4 to move to the upper part of the liner to be grabbed in the feeding tray 2-3, controlling the first suction disc 3-4 to blow air to the liner, blowing out or floating dust in the liner, controlling a first suction cup 3-4 to suck the liner under negative pressure, driving the first suction cup to grab the liner by a first guide rail, driving the first suction cup 3-4 to rotate 90 degrees by a first rotary cylinder 3-2 so that the top end of the liner faces a second transfer robot 4, driving the second suction cup 4-3 to face the first transfer robot 3 by a second rotary cylinder 4-2 to rotate 90 degrees, driving the top end of the liner sucked by a second suction cup 4-3 by a second guide rail 4-1, driving the second suction cup 4-3 to return by the second rotary cylinder 4-2, and driving the second suction cup 4-3 by the second guide rail 4-1 to place the liner on a liner mold 5-4;
the turntable 5-6 drives the liner to rotate for a circle, the laser range finder 5-3 records the distance between the laser range finder 5-3 and the liner once at an interval of 18 degrees, 20 data are recorded totally, the control system records the group of data as a second group of data, the difference between corresponding points in the second group of data and the first group of data is calculated, the thickness of the liner wall is calculated, whether the difference is within an error range is judged, and whether the thickness of the liner wall is uniform is calculated;
and after the detection is finished, the second transfer robot 4 takes off the liner from the liner die 5-4 and places the liner on the qualified product tray 6-1 or the groove 6-2 according to the detection result.
When the first group of data and the second group of data are tested, the starting angle of the distance from the laser range finder 5-3 to the liner is the same as the starting angle of the distance from the laser range finder 5-3 to the liner, the rotation direction of the rotary table 5-6 is the same, the difference between corresponding points in the second group of data and the first group of data is calculated, the average value of the difference is calculated to obtain the wall thickness, whether the difference is within an error range or not is judged, whether the wall thickness difference of the liner along the circumferential direction is uniform or not is obtained, and the detection method can reduce the system error caused by the assembly error between the liner mold 5-4 and the magnetic base 5-5.
When the specification of the liner to be detected needs to be switched, the switch of the magnetic base 5-5 is rotated to weaken the magnetism of the upper end face of the magnetic base 5-5, the liner mold 5-4 is taken down, the switch of the magnetic base 5-5 is rotated to strengthen the magnetism of the upper end face of the magnetic base 5-5, the liner mold 5-4 is placed, the installation angle of the laser range finder 5-3 is adjusted, so that the laser beam 5-31 emitted by the laser range finder 5-3 is vertical to the generatrix of the shaped charge liner mould 5-4, and further, the installation height of the laser range finder 5-3 is adjusted by rotating the adjusting base 5-1, so that the laser beam 5-31 emitted by the laser range finder 5-3 is positioned at the position, which is about 9-11mm away from the top end of the liner die 5-4, of the contact point of the bus of the liner die 5-4.
A detection method based on a liner wall thickness and wall thickness difference detection device comprises the following steps:
1) starting the rotating disc 5-6 to rotate, and driving the liner mold 5-4 to rotate by the rotation of the rotating disc 5-6;
the method comprises the following steps that a laser range finder 5-3 collects the distance between the laser range finder and a shaped charge liner mold 5-4 when a turntable rotates by a preset angle, and data collected by the laser range finder 5-3 when the turntable 5-6 rotates by 360 degrees are used as a first group of data; the laser ray emitted by the laser range finder 5-3 is vertical to a bus of the shaped charge liner mold 5-4, and the laser ray emitted by the laser range finder 5-3 is 9-11mm lower than the top end of the shaped charge liner mold 5-4;
2) placing the liner to be tested on a liner die 5-4, repeating the step 1), and taking the acquired data as a second group of data; the acquisition point in the step 2) is the same as that in the step 1), and the laser ray emitted by the laser range finder 5-3 is the same as the parameter in the step 1);
3) comparing the second group of data with the same data of the acquisition points in the first group of data, and calculating the difference value of the corresponding points to be the wall thickness of the acquisition points;
calculating the difference between the wall thicknesses, namely the wall thickness difference;
the specific operation is as follows:
the top ends of the shaped charge liners are placed in through holes 2-31 of a loading tray 2-3 in a downward and orderly stacked manner, the loading tray 2-3 is placed between side locking blocks 2-2 of a tray platform, and then the tray platform 2-1 loaded with the loading tray 2-3 is moved to a position from a feeding slideway 7;
controlling a corresponding driving motor to drive a first suction disc 3-4 to move to the upper part of the liner to be grabbed in the feeding tray 2-3, controlling the first suction disc 3-4 to blow air to the liner, blowing out or floating dust in the liner, controlling a first suction disc 3-4 to suck the liner under negative pressure, driving the first suction disc to grab the liner by a first guide rail, driving the first suction disc 3-4 to rotate 90 degrees by a first rotary cylinder 3-2 so that the top end of the liner faces a second transfer robot 4, driving the second suction disc 4-3 to face the first transfer robot 3 by a second rotary cylinder 4-2 to rotate 90 degrees, driving the top end of the liner sucked by a second suction disc 4-3 by a second guide rail 4-1, driving the second suction disc 4-3 to return by the second rotary cylinder 4-2, and driving the second suction disc 4-3 by the second guide rail 4-1 to place the liner on a liner mold 5-4;
the turntable 5-6 drives the liner to rotate for a circle, the laser range finder 5-3 records the distance between the laser range finder 5-3 and the liner once at an interval of 18 degrees, 20 data are recorded totally, the control system records the group of data as a second group of data, the difference between corresponding points in the second group of data and the first group of data is calculated, the thickness of the liner wall is calculated, whether the difference is within an error range is judged, and whether the thickness of the liner wall is uniform is calculated;
and after the detection is finished, the second transfer robot 4 takes off the liner from the liner die 5-4 and places the liner on the qualified product tray 6-1 or the groove 6-2 according to the detection result.
When the first group of data and the second group of data are tested, the starting angle of the distance from the laser range finder 5-3 to the liner is the same as the starting angle of the distance from the laser range finder 5-3 to the liner, the rotation direction of the rotary table 5-6 is the same, the difference between corresponding points in the second group of data and the first group of data is calculated, the average value of the difference is calculated to obtain the wall thickness, whether the difference is within an error range or not is judged, whether the wall thickness difference of the liner along the circumferential direction is uniform or not is obtained, and the detection method can reduce the system error caused by the assembly error between the liner mold 5-4 and the magnetic base 5-5.
When the specification of the liner to be detected needs to be switched, the switch of the magnetic base 5-5 is rotated to weaken the magnetism of the upper end face of the magnetic base 5-5, the liner mold 5-4 is taken down, the switch of the magnetic base 5-5 is rotated to strengthen the magnetism of the upper end face of the magnetic base 5-5, the liner mold 5-4 is placed, the installation angle of the laser range finder 5-3 is adjusted, so that the laser beam 5-31 emitted by the laser range finder 5-3 is vertical to the generatrix of the shaped charge liner mould 5-4, and further, the installation height of the laser range finder 5-3 is adjusted by rotating the adjusting base 5-1, so that the laser beam 5-31 emitted by the laser range finder 5-3 is positioned at the position, which is about 9-11mm away from the top end of the liner die 5-4, of the contact point of the bus of the liner die 5-4.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (6)
1. A detection method based on a liner wall thickness and wall thickness difference detection device is characterized in that the liner wall thickness and wall thickness difference detection device comprises an adjusting base (5-1) and a rotary table (5-6); a vertical mounting plate (5-2) is arranged on the adjusting base (5-1), and an angle-adjustable laser range finder (5-3) is arranged on the vertical mounting plate (5-2); the turntable (5-6) is positioned on the light receiving side of the adjusting base (5-1), the upper end of the turntable (5-6) is provided with a magnetic base (5-5), and the magnetic base (5-5) is provided with a liner mold (5-4); the detection device for the wall thickness and the wall thickness difference of the shaped charge liner further comprises a mounting platform (1-1), an adjusting base (5-1) and a rotary table (5-6) are arranged on the mounting platform (1-1), a charging shaped charge liner warehouse (2) is arranged on one side of the adjusting base (5-1) and the rotary table (5-6), and a discharging shaped charge liner warehouse (6) is arranged on the other side of the adjusting base (5-1) and the rotary table (5-6); a first carrying robot (3) for grabbing the liner is arranged on the periphery of the feeding liner storehouse (2), and the first carrying robot (3) can translate and rotate in a three-dimensional space; a second carrying robot (4) for grabbing the liner is arranged on the periphery of the blanking liner warehouse (6), and the second carrying robot (4) can translate and rotate in a three-dimensional space; a grabbing terminal of a first transfer robot (3) in the detection device for the wall thickness difference of the liner is a first sucker (3-4);
the detection method comprises the following steps:
1) when the first transfer robot (3) grabs the liner from the loading liner warehouse (2), the first sucker (3-4) is in a positive pressure state firstly and then in a negative pressure state; the first suction disc blows air to the inner wall of the liner, so that residual copper powder in the liner is blown out or floats, then the first suction disc sucks the liner by utilizing negative pressure, and simultaneously sucks away the residual copper powder in the liner;
starting the rotating disc (5-6) to rotate, and driving the liner mold (5-4) to rotate by the rotation of the rotating disc (5-6);
the laser range finder (5-3) collects the distance between the turntable and the liner mold (5-4) when the turntable rotates for a preset angle, and the data collected by the laser range finder (5-3) when the turntable (5-6) rotates for 360 degrees is used as a first group of data;
2) placing the liner to be tested on a liner die (5-4), repeating the step 1), and taking the acquired data as a second group of data; the collection point in the step 2) is the same as that in the step 1);
3) comparing the second group of data with the same acquisition points in the first group of data, and calculating the difference value of the corresponding points to obtain the wall thickness of the acquisition points;
and calculating the difference value between the wall thicknesses, namely the wall thickness difference.
2. The detection method based on the liner wall thickness and wall thickness difference detection device according to claim 1, wherein the laser ray emitted by the laser range finder (5-3) in the step 1) is perpendicular to the generatrix of the liner die (5-4);
and step 2), laser rays emitted by the laser range finder (5-3) are vertical to a bus of the shaped charge liner die (5-4).
3. The method for detecting the wall thickness difference between the liner according to claim 1, wherein the laser ray emitted by the laser range finder (5-3) in the step 1) is 9-11mm lower than the top end of the liner die (5-4);
the height of the laser ray emitted by the laser range finder (5-3) in the step 2) is the same as that of the laser ray emitted by the laser range finder (5-3) in the step 1).
4. The method for detecting the wall thickness difference of the liner according to claim 1, wherein the preset angle in step 1) is in the range of 15-30 °.
5. The method for detecting the wall thickness difference of the liner according to claim 1, wherein the step 2) is preceded by the following operations:
the first transfer robot (3) grabs the liner from the loading liner warehouse (2) and faces the liner to the second transfer robot (4);
and the second carrying robot (4) grabs the liner and places the liner on the liner die (5-4).
6. The method for detecting the wall thickness difference of the liner according to claim 1, wherein the step 2) is followed by the following steps:
the second transfer robot (4) picks the liner and places the liner into a blanking liner warehouse (6).
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| CN114440790B (en) * | 2022-01-27 | 2022-11-01 | 浙江大学 | Method and device for simultaneously detecting surface shape and thickness distribution of inner wall and outer wall of thin-wall revolving body |
| US11761756B2 (en) | 2022-01-27 | 2023-09-19 | Zhejiang University | Method and device for simultaneously detecting surface shapes and thickness distribution of inner and outer walls of thin-wall rotating body |
| CN115420152B (en) * | 2022-08-30 | 2023-07-18 | 川南航天能源科技有限公司 | Equipment and method for detecting quality of shaped charge liner by resistance method |
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