CN111765860B - Intelligent detection method for axle end of axle - Google Patents
Intelligent detection method for axle end of axle Download PDFInfo
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- CN111765860B CN111765860B CN202010554573.4A CN202010554573A CN111765860B CN 111765860 B CN111765860 B CN 111765860B CN 202010554573 A CN202010554573 A CN 202010554573A CN 111765860 B CN111765860 B CN 111765860B
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/10—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring diameters
Abstract
The invention discloses an intelligent detection system and method for a shaft end of a wheel shaft, and belongs to the field of rail transit detection. The system comprises a mobile robot, a coordinate robot arranged on the mobile robot, an electric control cabinet arranged on the mobile robot, a shaft end detection head arranged at the output end of the coordinate robot and a calibration device arranged on the mobile robot; the shaft end detection head comprises a mounting ring arranged on the output end of the coordinate robot, a detection ring arranged outside the mounting ring and rotatably connected with the mounting ring, a plurality of groups of detection sensors arranged in the detection ring, a rotating device arranged on the mounting ring and connected with the detection ring, and a clamping device arranged on the mounting ring. The invention improves the detection efficiency and the detection quality, reduces the labor cost ratio and improves the labor cost ratio, realizes the flexible and intelligent movement, the accurate positioning and the high-efficiency measurement of the detection device, and can lay an informatization foundation for the intelligent matching of the sizes of the bearing and the wheel shaft end.
Description
Technical Field
The invention relates to the field of rail transit detection, in particular to an intelligent detection method for a shaft end of a wheel shaft.
Background
At present, the maintenance operation of the rail transit locomotive vehicle part including the motor train is mainly completed manually, the equipment degree is low, and the problems of low efficiency, high labor intensity, difficulty in standard management of maintenance quality and the like exist. The current measurement mode of the shaft axle end size in the workshop of overhauing simultaneously also is manual operation mode, and detection personnel adopt micrometer equivalent utensil to carry out the manual measurement and record the testing data, have detection efficiency low, make mistakes easily and detect the problem such as the standard is difficult to carry out strictly.
However, although the detection precision of the existing axle end detection equipment can basically meet the requirements, the following defects exist, and the equipment is not enough in the aspects of practicability, reliability and operability and is difficult to popularize and apply comprehensively:
1: the reliability is not high; due to the adoption of non-contact detection, the surface state of the wheel shaft, the surrounding environmental factors, dust, reflection and the like have great influence on the detection result.
2: the equipment has larger volume and large occupied area; installation of equipment requires site construction, which damages the ground.
3: power systems requiring greater power; the detection method needs to lift the wheel pair off the ground by using center holes at two ends of the shaft and rotate the wheel shaft.
4: the detection efficiency is low; the auxiliary actions of wheel axle positioning, wheel pair lifting, wheel pair lowering and the like consume more working hours.
5: potential safety hazards exist; the axle lifts off the ground, with safety risks.
6: the operation is required by a specially-assigned person; the special personnel is needed for the work of positioning the wheel shaft, pushing the detected wheel shaft away from the detection station and the like.
7: the equipment price is high; the system composition is complex and the equipment cost is expensive.
Disclosure of Invention
The invention provides an intelligent detection method for the axle end of a wheel axle aiming at the defects of the prior art, and the specific technical scheme is as follows:
an intelligent detection system for axle ends of axles comprises a mobile robot, a coordinate robot arranged on the mobile robot, an electric control cabinet arranged on the mobile robot, an axle end detection head arranged at the output end of the coordinate robot and a mark aligning device arranged on the mobile robot;
the shaft end detection head comprises a mounting ring arranged on the output end of the coordinate robot, a detection ring arranged outside the mounting ring and rotatably connected with the mounting ring, a plurality of groups of detection sensors arranged in the detection ring, a rotating device arranged on the mounting ring and connected with the detection ring, and a clamping device arranged on the mounting ring.
Preferably, the detection ring is provided with a moving motor connected with the detection sensor, a detection lead screw is arranged between the output end of the moving motor and the detection sensor, and the detection sensor is sleeved on the outer side of the detection lead screw and is in sliding connection with the detection ring.
Preferably, an induction sensor is arranged in the detection ring and beside the detection sensor, and the detection end of the induction sensor faces the detection sensor.
Preferably, the clamping device comprises a plurality of groups of clamping motors arranged on the mounting ring, a detection screw rod arranged at the output end of the clamping motor, and a clamping block sleeved on the outer side of the detection screw rod and connected with the mounting ring in a sliding manner.
Preferably, a compensation motor is arranged on the output end of the coordinate robot, a compensation lead screw is arranged at the output end of the compensation motor, and a gap compensation block connected with the detection lead screw is arranged on the mounting ring.
Preferably, the top end of the mounting ring is provided with a rotating shaft movably connected with the clearance compensation block, the top end of the clearance compensation block is provided with a rotating motor, and the rotating shaft penetrates through the clearance compensation block and is connected with the output end of the rotating motor.
Preferably, the alignment device comprises an alignment base arranged on the mobile robot and a standard shaft arranged on the alignment base and detachably connected with the alignment base.
Preferably, the rotating device comprises a detection motor arranged on the mounting ring, a first transmission gear arranged at the output end of the detection motor, and a second transmission gear sleeved outside the detection ring and meshed with the first transmission gear.
Preferably, the mounting ring is provided with an annular slide rail, and the detection ring is provided with an annular slide groove corresponding to the annular slide rail.
An intelligent detection method for a shaft end of a wheel shaft sequentially comprises the following steps:
s1: controlling the mobile robot to move to the position near the wheel shaft to be detected, and then controlling the coordinate robot to move the detection head at the end of the shaft so that the detection ring is aligned with the shaft end of the wheel shaft;
s2: controlling the coordinate robot to move the detection ring to the outer side of the standard shaft, measuring and aligning, and then moving the detection ring to the section of the wheel shaft to be detected;
s3: starting a clamping motor to enable a clamping block to clamp the wheel shaft, then starting a detection motor to enable a detection sensor to be close to the wheel shaft, then controlling a coordinate robot to enable a detection ring to move transversely, and recording the maximum value of the wheel diameter measured by the detection sensor;
s4: starting a detection motor to enable a detection ring to rotate around a wheel shaft, controlling the coordinate robot again to enable the detection ring to move transversely, and recording the maximum value of the wheel diameter measured by a detection sensor;
s5: repeating the step S4 until the detection ring finishes the whole circumferential measurement of the current detection section;
s6: and (4) loosening the clamping device, then controlling the coordinate robot to move the detection ring to the next detection section of the shaft end, repeating the steps S3-S5 until the detection is finished, and controlling the coordinate robot and the mobile robot to exit.
The invention has the following beneficial effects:
in the invention, a measurer controls the mobile robot to enable the mobile robot to run near a wheel shaft to be detected, and controls the coordinate robot to position the shaft end of the wheel shaft so as to enable the detection ring to be aligned with the shaft end of the wheel shaft. Then, the shaft end detection head is moved to be matched with the alignment device for measurement and alignment, and finally the detection ring is driven to reach the section of the shaft end of the wheel shaft to be detected. And after the detection section is reached, the axle end of the wheel axle is clamped in the detection ring by the clamping device, the detection sensor detects the outer diameter data of the detection section, then the rotating device drives the detection ring to rotate around the wheel axle, and the outer diameter data of the detection section is detected and recorded again. After the measurement of the data of the detection section is finished, the coordinate robot drives the detection ring to move to the next detection section, and the shaft end detection head is clamped and detected until the whole measurement of the data of the shaft end is finished.
The invention improves the detection efficiency through man-machine interaction operation based on the detection rules and requirements of the shaft end, and has the following advantages:
1. the invention is safe and reliable, and does not cause damage to the wheel shaft and peripheral facilities and personal injury in the detection process;
2. the invention has high precision, and the detection precision is far better than the current manual detection precision by the multi-position and multi-angle repeated detection of the detection sensor;
3. the intelligent detection system avoids human detection errors caused by negligence, reduces detection errors caused by individual differences, and ensures correct detection number so as to ensure the driving safety of the motor car;
4. the wheel axle detection device has the advantages that the manpower is saved, the mobile robot moves to detect the sizes of the axle ends of the wheel axles of the plurality of wheel pairs one by one, the unmanned operation of the wheel axle detection station is realized, and the manual intervention is not needed in the detection process;
5. compared with the conventional manual detection, the method has the advantages that the detection time of the wheel axle required by the manual detection for about 10 minutes is shortened to 5-6 minutes, and the detection efficiency is improved by at least 2 times;
6. the mobile detection device can be flexibly moved to a required position according to requirements for detection, and can also be arranged at a fixed position for detection if necessary; the construction of a production workshop is not needed, the ground is not damaged, and the flexible upgrading and transformation of the workshop production process are facilitated;
7. the adaptability is strong, the axle ends of the axles with different specifications can be detected through the detection ring;
8. the use and maintenance are convenient, the operator can be skillfully used after being simply trained, and no special skill requirement is required on the operator.
The invention improves the detection efficiency and the detection quality, reduces the labor cost ratio and improves the labor cost ratio, realizes the flexible and intelligent movement, the accurate positioning and the high-efficiency measurement of the detection device, and can lay an informatization foundation for the intelligent matching of the sizes of the bearing and the wheel shaft end.
Drawings
FIG. 1 is a schematic structural view of the present invention in use;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 1 at A;
FIG. 4 is a schematic structural diagram of a shaft end detection head according to the present invention;
FIG. 5 is a side view of the shaft end sensing head of the present invention;
FIG. 6 is a cross-sectional view taken along the line B-B in FIG. 5;
FIG. 7 is a schematic view of the structure of the detection ring of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "communicating," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1 to 7, an axle end intelligent detection system in the invention comprises a mobile robot 1 for detecting position movement change, a coordinate robot 2 arranged on the mobile robot 1, and an axle end detection head 4 arranged at the output end of the coordinate robot 2. The mobile robot 1 is a conventional machine device which automatically executes work, and can receive the command of a tester and run a preprogrammed program. The coordinate robot 2 is the present manipulator that can realize automatic control, reprogrammable, multi freedom, the freedom of motion establishes the space right angle relation, multipurpose, the output at the coordinate robot 2 is installed to the axle head detection head 4, makes the coordinate robot 2 can drive the axle head detection head 4 to accomplish along X, Y, Z epaxial linear motion, mobile robot 1 and coordinate robot 2 are current public technologies.
The embodiment is mobile robot + coordinate robot's three-coordinate adjustment + detection head, and coordinate robot can be fixed for the coordinate in other embodiments, also can replace coordinate robot for the arm.
Referring to fig. 1 to 2, an electric control cabinet 3 for controlling the mobile robot 1 and the coordinate robot 2 is provided on the mobile robot 1. The inside electrical control element that is equipped with of electrical control cabinet 3, including air switch, relay, switching power supply, wireless transmission module, AD conversion module and PLC controller etc.. The mobile robot 1 is internally provided with a power supply, a navigation sensor, an induction sensor 8, an obstacle avoidance sensor, a steering wheel controller, an A/D converter and a PLC. The power supply can be selected from the existing batteries such as lead-acid batteries, lithium batteries and the like. The navigation sensor can select the existing electromagnetic navigation, magnetic navigation, laser navigation, two-dimensional code navigation and visual navigation. The inductive sensor 8 may be an existing laser sensor, an infrared sensor, a proximity switch, or the like. An A/D converter in the mobile robot 1 is connected with a PLC controller in the electric control cabinet 3. In the invention, a measurer controls the mobile robot 1 to enable the mobile robot 1 to operate near a wheel shaft to be detected, and controls the coordinate robot 2 to position the shaft end of the wheel shaft, so that the shaft end detection head 4 is aligned with the shaft end of the wheel shaft and detects the shaft end of the wheel shaft.
Referring to fig. 3 to 4, the shaft end detection head 4 includes a mounting ring 41 provided on the output end of the coordinate robot 2 and a detection ring 42 provided outside the mounting ring 41 and coaxially with the mounting ring 41. Meanwhile, the mounting ring 41 is provided with an annular slide rail 11 coaxially arranged with the mounting ring, and one side of the detection ring 42 close to the mounting ring 41 is provided with an annular slide groove 12 corresponding to the annular slide rail 11. According to the invention, the annular slide rail 11 arranged on the mounting ring 41 is matched with the annular slide groove 12 arranged on the detection ring 42, so that the detection ring 42 can rotate around the mounting ring 41 and the axle end in the mounting ring 41, multi-position and multi-angle detection on the axle end is realized, and the detection efficiency and the detection precision are improved. Two groups of detection sensors 43 used for detecting the outer diameter of the shaft end are arranged in the detection ring 42, and the signal output end of each detection sensor 43 is electrically connected with a PLC (programmable logic controller) in the electrical cabinet. The detecting sensors 43 are disposed on the inner wall of the detecting ring 42 and slidably connected to the detecting ring 42, and the two groups of detecting sensors 43 are symmetric about the center of the detecting ring 42.
The detection sensor 43 is a conventional contact sensor or a non-contact sensor, and when the detection sensor 43 is a contact sensor, the detection sensor is a keyence GT2-H12, and the detection system is a quartz glass scale, a CMOS image sensor projection system, or an absolute type (no tracking error); the resolution is 0.5 μm; the precision is 2 μm (p-p) × 1. When the detection sensor 43 is a non-contact sensor, the model is LK-H025; the installation mode is a diffuse reflection type; the light source type is red semiconductor laser with wavelength of 655 nm.
Referring to fig. 5 to 6, a rotating device 44 connected to the detecting ring 42 and used for driving the detecting ring 42 to rotate is disposed on the mounting ring 41, and the rotating device 44 includes a detecting motor 441 disposed on the mounting ring 41, a first transmission gear 442 disposed at an output end of the detecting motor 441, and a second transmission gear 443 sleeved outside the detecting ring 42 and meshed with the first transmission gear 442. The signal input end of the detection motor 441 is electrically connected with a PLC (programmable logic controller) of the electrical cabinet, and the detection motor 441 can be an existing 28-closed-loop motor, a servo motor or a 35-closed-loop motor. After the detection sensor 43 detects the outer diameter data of a certain detection section, the PLC controller of the electrical cabinet controls the detection motor 441 to rotate the detection ring 42 by a certain angle around the wheel shaft, records the maximum value of the wheel diameter measured by the detection sensor 43, and detects and records the outer diameter data of the detection section again, so that the detection sensor 43 can repeatedly detect the shaft end of the wheel shaft at multiple positions and multiple angles, and the detection precision is far better than the current manual detection precision.
See fig. 1-2; the mobile robot 1 is provided with a calibration device 5 which is convenient for the detection ring 42 to perform axis diameter calibration detection, and the calibration device 5 comprises a calibration base 51 arranged on the mobile robot 1 and a standard axis 52 which is arranged on the calibration base 51 and is detachably connected with the calibration base 51. Before the detection ring 42 detects the outer diameter of the axle end of the axle, a detector installs the standard axle 52 with the outer diameter corresponding to the axle on the benchmarking base 51, controls the coordinate robot 2 to move the detection ring 42 to the standard axle 52 and measure the benchmarking, and when the outer diameter of the standard axle 52 measured by the detection sensor 43 in the detection ring 42 is matched with the actual outer diameter of the standard axle 52, the detection sensor 43 works normally, and the axle end detection of the next step can be carried out. If the outer diameter of the standard shaft 52 measured by the detection sensor 43 in the detection ring 42 does not match the actual outer diameter of the standard shaft 52, the detection sensor 43 may not operate properly, and the detection person may need to perform inspection, calibration, testing, and the like again on the detection sensor 43.
Referring to fig. 6 to 7, the detection ring 42 is provided with a moving motor 7 connected to the detection sensor 43 and used for pushing the detection sensor 43 to extend out of the detection ring 42, a signal input end of the moving motor 7 is electrically connected to a PLC controller of the electrical cabinet, and the detection motor 441 may be an existing 28-closed-loop motor, a servo motor, or a 35-closed-loop motor. A detection screw 71 is provided between the output end of the moving motor 7 and the detection sensor 43, and the detection screw 71 is used for converting the rotary motion of the moving motor 7 into the linear motion of the detection sensor 43. The tail end of the detection sensor 43 is sleeved outside the detection screw 71 and is connected with the detection ring 42 in a sliding manner. After the coordinate robot 2 moves the detection ring 42 to the detection section of the axle end, the PLC controller of the electrical cabinet controls the moving motor 7 to start, pushes the detection sensor 43 out of the detection ring 42 through the motion conversion of the detection lead screw 71, and gradually approaches the detection section of the axle end to realize contact or non-contact detection. After the detection is finished, the PLC of the electrical cabinet controls the movable motor 7 to rotate in the opposite direction, the detection sensor 43 is retracted through the motion conversion of the detection lead screw 71, the situation that the detection sensor 43 is exposed outside the detection ring 42 in the moving or limiting process to cause probe damage, pollution and the like is avoided, the testing precision is prevented from being influenced, and the service life of the detection sensor 43 is prolonged.
Referring to fig. 7, an inductive sensor 8 is disposed inside the detection ring 42 and beside the detection sensor 43, and the inductive sensor 8 is used for detecting the extending state of the detection sensor 43. The detection end of the inductive sensor 8 faces the detection sensor 43, and the signal output end of the inductive sensor 8 is electrically connected with the PLC controller of the electrical cabinet. The inductive sensor 8 may be a conventional laser sensor, an infrared sensor, a proximity switch, or the like. When the detection sensor 43 does not reach the predetermined position during the extending process or the retracting process, the induction sensor 8 transmits a signal to a PLC controller of the electrical cabinet to take measures.
Referring to fig. 4 to 5, two sets of clamping devices 6 for clamping the shaft ends of the inner shaft of the mounting ring 41 and the detection ring 42 are further arranged on the mounting ring 41, and the clamping devices 6 provide a supporting force for the detection head 4 of the shaft end and enable the detection ring 42 to be located at the center of the detected shaft end. The clamping device 6 comprises two groups of clamping motors 61 arranged on the mounting ring 41, a clamping screw 62 arranged at the output end of the clamping motor 61, and a clamping block 63 sleeved outside the clamping screw 62 and slidably connected with the mounting ring 41. The signal input end of the clamping motor 61 is electrically connected with a PLC (programmable logic controller) of the electrical cabinet, and the clamping motor 61 can be selected from an existing 28-closed-loop motor, a servo motor or a 35-closed-loop motor and the like. The clamping screw 62 is used to convert the rotational movement of the clamping motor 61 into a linear movement of the clamping block 63. When the coordinate robot 2 moves the detection ring 42 to reach the cross section of the wheel axle to be detected, the PLC controller of the electrical cabinet starts the clamping motor 61 to make the clamping block 63 gradually approach and clamp the wheel axle in the mounting ring 41, and self-centering is performed to make the center of the detection ring 42 and the center of the wheel axle relatively coincide, so as to further improve the detection precision of the detection sensor 43 in the detection ring 42.
Referring to fig. 2 to 3, meanwhile, a compensation motor 9 is arranged on the output end of the coordinate robot 2, a signal input end of the compensation motor 9 is electrically connected with a PLC controller of an electrical cabinet, and the compensation motor 9 can be an existing 28 closed-loop motor, a servo motor or a 35 closed-loop motor. The output end of the compensation motor 9 is provided with a compensation screw 91, and the mounting ring 41 is provided with a clearance compensation block 92 connected with the compensation screw 91. The shaft end detection head 4 is connected with the coordinate robot 2 through a gap compensation block 92, a compensation lead screw 91 and a compensation motor 9. The compensation screw 91 is used to convert the rotational movement of the compensation motor 9 into a linear movement of the gap compensation block 92. An inductive sensor 8 is also arranged in the clamping block 63, and the inductive sensor 8 can be an existing laser sensor, an existing infrared sensor, an existing proximity switch and the like. When the inductive sensor 8 in the clamping block 63 detects that a position error occurs in the clamping position of the two groups of clamping blocks 63, the PLC controller of the electrical cabinet starts the compensation motor 9, and drives the clearance compensation block 92 to pull the shaft end detection head 4 to vertically move for distance compensation, so as to correct the distance error between the two groups of clamping blocks 63 and the shaft end of the wheel shaft.
Referring to fig. 3, the top end of the mounting ring 41 is provided with a rotating shaft 10 movably connected with the clearance compensation block 92, the top end of the clearance compensation block 92 is provided with a rotating motor 101, a signal input end of the rotating motor 101 is electrically connected with a PLC controller of an electrical cabinet, and the rotating motor 101 can be an existing 28 closed-loop motor, a servo motor, a 35 closed-loop motor or the like. The rotating shaft 10 passes through the gap compensation block 92 and is connected to the output end of the rotating electrical machine 101. The rotating motor 101 can thereby drive the mounting ring 41 and the detection ring 42 to rotate 360 ° about the rotation axis 10. After the detection sensor 43 in the detection ring 42 completes the detection of the shaft end for one time, the PLC controller of the electrical cabinet controls the rotating electrical machine 101 to rotate the mounting ring 41 and the detection ring 42 for 180 degrees around the rotating shaft 10, and then the shaft end is detected again, so as to realize the coverage detection of the detection blind area of the previous detection ring 42, thereby further improving the detection precision and the detection range of the invention.
The invention discloses an intelligent detection method for a shaft end of a wheel shaft, which sequentially comprises the following steps:
s1: controlling the mobile robot 1 to move to the position near the wheel axle to be detected, and then controlling the coordinate robot 2 to move the axle end detection head 4 to enable the detection ring 42 to be aligned with the axle end of the wheel axle;
s2: the coordinate robot 2 is controlled to move the detection ring 42 to the outer side of the standard shaft 52, measurement and calibration are carried out, and then the detection ring 42 is moved to reach the section of the wheel shaft to be detected;
s3: starting the clamping motor 61 to enable the clamping block 63 to clamp the wheel shaft, enabling the center of the detection ring 42 to be relatively overlapped with the center of the wheel shaft through self-centering, then starting the detection motor 441 to enable the detection sensor 43 to be close to the wheel shaft, then controlling the coordinate robot 2 to enable the detection ring 42 to transversely move, and recording the maximum value of the wheel diameter measured by the detection sensor 43;
the coordinate robot 2 of the present invention, which moves the detection ring 42 laterally and records the maximum wheel diameter measured by the detection sensor 43, aims to: because the clamping device 6 can not avoid clamping errors and positioning errors in the clamping process, but the actual maximum outer diameter point of the wheel axle is always in the same plane with the ideal maximum outer diameter point of the wheel axle, the coordinate robot 2 enables the detection ring 42 to transversely move, the detection sensor 43 in the detection ring 42 can be ensured to measure the actual maximum outer diameter point of the wheel axle, the detection sensor 43 can be ensured to measure the actual maximum outer diameter of the wheel axle, the measurement errors are further avoided, and the measurement precision of the invention is improved.
S4: starting the detection motor 441 to enable the detection ring 42 to rotate 45 degrees around the wheel shaft, controlling the coordinate robot 2 again to enable the detection ring 42 to move transversely, and recording the maximum value of the wheel diameter measured by the detection sensor 43;
s5: repeating step S4 until the detection ring 42 completes the entire circumferential measurement of the current detection section;
s6: loosening the clamping device 6, then controlling the coordinate robot 2 to move the detection ring 42 to the next detection section of the shaft end, repeating the steps S3-S5 until the detection is finished, and controlling the coordinate robot 2 and the mobile robot 1 to exit;
s7: the rotating motor 101 is started to rotate the mounting ring 41 and the detecting ring 42 by 180 ° around the rotating shaft 10, the coordinate robot 2 is controlled to move the detecting ring 42 to the section of the wheel shaft having the detection dead zone, and steps S3 to S5 are repeated to complete the re-measurement of the entire axial direction of the section having the detection dead zone.
In the invention, a measurer controls the mobile robot 1 to enable the mobile robot 1 to run near a wheel shaft to be detected, and controls the coordinate robot 2 to position the shaft end of the wheel shaft, so that the detection ring 42 is aligned with the shaft end of the wheel shaft. Then the shaft end detection head 4 is moved to match with the alignment device 5 for measurement and alignment, and finally the detection ring 42 is driven to reach the section of the shaft end of the wheel shaft to be detected. After reaching the detection section, the clamping device 6 clamps the axle end in the detection ring 42, the detection sensor 43 detects the outer diameter data of the detection section, then the rotating device 44 drives the detection ring 42 to rotate around the axle, and the outer diameter data of the detection section is detected and recorded again. After the measurement of the data of the detection section is finished, the coordinate robot 2 drives the detection ring 42 to move to the next detection section, and the shaft end detection head 4 clamps and detects the data until the whole measurement of the data of the shaft end is finished. The invention improves the detection efficiency and the detection quality, reduces the labor cost ratio and improves the labor cost ratio, realizes the flexible and intelligent movement, the accurate positioning and the high-efficiency measurement of the detection device, and can lay an informatization foundation for the intelligent matching of the sizes of the bearing and the wheel shaft end.
It is to be noted that, in this document, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that an article or apparatus including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An intelligent detection method for axle ends of axles is characterized by comprising a mobile robot (1), a coordinate robot (2) arranged on the mobile robot (1), an electric control cabinet (3) arranged on the mobile robot (1), an axle end detection head (4) arranged at the output end of the coordinate robot (2) and a mark aligning device (5) arranged on the mobile robot (1);
the shaft end detection head (4) comprises a mounting ring (41) arranged on the output end of the coordinate robot (2), a detection ring (42) arranged on the outer side of the mounting ring (41) and rotationally connected with the mounting ring (41), a plurality of groups of detection sensors (43) arranged in the detection ring (42), a rotating device (44) arranged on the mounting ring (41) and connected with the detection ring (42), and a clamping device (6) arranged on the mounting ring (41);
a compensation motor (9) is arranged at the output end of the coordinate robot (2), a compensation lead screw (91) is arranged at the output end of the compensation motor (9), and a gap compensation block (92) connected with the compensation lead screw (91) is arranged on the mounting ring (41);
the top end of the mounting ring (41) is provided with a rotating shaft (10) movably connected with the clearance compensation block (92), the top end of the clearance compensation block (92) is provided with a rotating motor (101), and the rotating shaft (10) penetrates through the clearance compensation block (92) and is connected with the output end of the rotating motor (101);
the detection ring (42) is provided with a moving motor (7) connected with a detection sensor (43), a detection lead screw (71) is arranged between the output end of the moving motor (7) and the detection sensor (43), and the detection sensor (43) is sleeved on the outer side of the detection lead screw (71) and is in sliding connection with the detection ring (42); the clamping device (6) comprises a plurality of groups of clamping motors (61) arranged on the mounting ring (41), a clamping screw rod (62) arranged at the output end of the clamping motor (61), and a clamping block (63) which is sleeved on the outer side of the clamping screw rod (62) and is in sliding connection with the mounting ring (41); the alignment device (5) comprises an alignment base (51) arranged on the mobile robot (1) and a standard shaft (52) which is arranged on the alignment base (51) and is detachably connected with the alignment base (51); the rotating device (44) comprises a detection motor (441) arranged on the mounting ring (41), a first transmission gear (442) arranged at the output end of the detection motor (441), and a second transmission gear (443) which is sleeved on the outer side of the detection ring (42) and is meshed with the first transmission gear (442);
when detection is carried out, the method sequentially comprises the following steps:
s1: controlling the mobile robot (1) to move to the position near the wheel axle to be detected, and then controlling the coordinate robot (2) to move the shaft end detection head (4) to enable the detection ring (42) to be aligned to the shaft end of the wheel axle;
s2: the coordinate robot (2) is controlled to move the detection ring (42) to the outer side of the standard shaft (52), measurement and calibration are carried out, and then the detection ring (42) is moved to reach the section of the wheel shaft to be detected;
s3: starting a clamping motor (61) to enable a clamping block (63) to clamp the wheel shaft, then starting a moving motor (7) to enable a detection sensor (43) to be close to the wheel shaft, then controlling a coordinate robot (2) to enable a detection ring (42) to move transversely, and recording the maximum value of the wheel diameter measured by the detection sensor (43);
s4: starting a detection motor (441) to enable a detection ring (42) to rotate around a wheel shaft, controlling the coordinate robot (2) again to enable the detection ring (42) to move transversely, and recording the maximum value of the wheel diameter measured by a detection sensor (43);
s5: repeating the step S4 until the detection ring (42) completes the whole circumferential measurement of the current detection section;
s6: loosening the clamping device (6), then controlling the coordinate robot (2) to move the detection ring (42) to the next detection section of the shaft end, repeating the steps S3 to S5 until the detection is finished, and controlling the coordinate robot (2) and the mobile robot (1) to exit;
s7: and starting the rotating motor (101), enabling the mounting ring (41) and the detection ring (42) to rotate for 180 degrees around the rotating shaft (10), controlling the coordinate robot (2) to move the detection ring (42) to the section of the wheel shaft with the detection blind area, and repeating the steps S3 to S5 to finish the re-measurement of the whole axial direction of the section with the detection blind area.
2. The intelligent detection method for the axle end of the axle according to claim 1, wherein an induction sensor (8) is arranged in the detection ring (42) and beside the detection sensor (43), and the detection end of the induction sensor (8) faces the detection sensor (43).
3. The intelligent detection method for the axle end of the axle according to claim 1, wherein the mounting ring (41) is provided with an annular slide rail (11), and the detection ring (42) is provided with an annular slide groove (12) corresponding to the annular slide rail (11).
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Citations (2)
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| CN105928479A (en) * | 2016-04-20 | 2016-09-07 | 中南大学 | Online measuring device of outer diameter of cylindrical member in spinning process |
| CN109870508A (en) * | 2019-02-21 | 2019-06-11 | 徐金辉 | A kind of pipe detection crawling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2897932B1 (en) * | 2006-02-27 | 2008-04-25 | Staubli Faverges Sca | METHOD AND SYSTEM FOR MEASURING DIAMETER, MOUNTING CHAIN USING THE SAME |
| FR2985306B1 (en) * | 2011-12-29 | 2018-06-15 | Vallourec Oil And Gas France | DEVICE FOR MEASURING AN INTERNAL OR EXTERNAL PROFILE OF A TUBULAR COMPONENT |
| CN104374320A (en) * | 2014-11-21 | 2015-02-25 | 苏州赛腾精密电子有限公司 | Circumference measuring instrument |
| CN108489442B (en) * | 2018-03-20 | 2023-10-20 | 华北理工大学 | Variable diameter pipeline rotation detection device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105928479A (en) * | 2016-04-20 | 2016-09-07 | 中南大学 | Online measuring device of outer diameter of cylindrical member in spinning process |
| CN109870508A (en) * | 2019-02-21 | 2019-06-11 | 徐金辉 | A kind of pipe detection crawling device |
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