CN112710259A - Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder - Google Patents
Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder Download PDFInfo
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- CN112710259A CN112710259A CN202011446471.7A CN202011446471A CN112710259A CN 112710259 A CN112710259 A CN 112710259A CN 202011446471 A CN202011446471 A CN 202011446471A CN 112710259 A CN112710259 A CN 112710259A
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 37
- 229920000049 Carbon (fiber) Polymers 0.000 title claims abstract description 35
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- 238000012360 testing method Methods 0.000 claims abstract description 42
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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
- G01B13/00—Measuring arrangements characterised by the use of fluids
- G01B13/24—Measuring arrangements characterised by the use of fluids for measuring the deformation in a solid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a device for detecting the residual deformation rate of a carbon fiber wound composite gas cylinder, which comprises a working area, wherein a fence is additionally arranged around the working area, a robot is arranged in the fence, a feeding trolley is arranged on one side of the robot through a trolley positioning platform, an explosion-proof detection box is arranged on the other side of the robot, and an explosion-proof box cover is arranged on the explosion-proof detection box; explosion-proof detection case one side is equipped with location installation station, and location installation station is equipped with the location platform including location mounting bracket on the location mounting bracket, and location platform bilateral symmetry is equipped with location die clamping cylinder. Compared with the prior art, the invention has the advantages that: overall structure is reasonable, uses the robot to realize detecting the residual deformation rate to carbon fiber winding composite gas cylinder, through adopting outer measuring method hydrostatic test, carries out weighing, water injection, full bottle of empty bottle, a whole set of operation test such as hydrostatic test, can accurately measure the residual deformation rate of volume of gas cylinder to guarantee the safe handling of gas cylinder.
Description
Technical Field
The invention relates to the technical field of comprehensive detection equipment for fire fighting troops, in particular to a device for detecting the residual deformation rate of a carbon fiber wound composite gas cylinder.
Background
The main equipment used by fire-fighting troops is a positive pressure air respirator, and the positive pressure air respirator consists of main components such as a carbon fiber wound composite gas cylinder, a back support, a supply valve, a face mask, a pressure gauge, a high-low pressure pipe and the like; among them, the carbon fiber wound composite gas cylinder is an important component of an air respirator, and compressed air stored therein is a main gas supply source for users. It is composed of an aluminum alloy inner container, carbon fiber wires and a valve. The volume is 6.8 liters, the weight with a valve is 4.2 kilograms, the working pressure is 30 MPa, the testing pressure is 45 MPa, and the blasting pressure is more than 85 MPa. The external dimension of the gas cylinder is 610mm long, and the diameter of the external dimension of the gas cylinder is 154 mm. The use safety of the carbon fiber wound composite gas cylinder is strictly regulated by the nation, and the national standard of the national GB24161-2009 'periodic inspection and evaluation of the composite gas cylinder for a respirator' is met. The standard of (2) specifies: the design service life of the carbon fiber wound composite gas cylinder is 15 years. In order to ensure the use safety of the composite gas cylinder for the respirator, the standard clearly stipulates that the regular inspection period of the composite gas cylinder is generally inspected once every three years, so that the carbon fiber wound composite gas cylinder can be ensured to be safely used, and the personal safety of users is ensured.
At present, some use departments cannot meet the national standard requirements in the aspect of management of the carbon fiber wound composite gas cylinder, the air tightness of an air respirator is not strictly tested according to the national standard, and the carbon fiber wound composite gas cylinder is not regularly tested according to the national standard, so that many unsafe hidden dangers are brought to the use in the future, and even unnecessary personal injury can be brought. There are some units of carbon fiber wound composite cylinders that are ill-working, such as: the surface of the gas cylinder is seriously scratched, the corrosion condition of the surface of the liner cannot be known in the gas cylinder pressing detection for years, and the expansion coefficient exceeds the standard or not. These problems are all unsafe hidden dangers and threaten the personal safety of users at any time.
At present, the mode of detecting the carbon fiber winding composite gas cylinder mainly adopts an outside method of a hydraulic press, and whether the gas cylinder meets the use standard or not is determined by calculating the residual deformation rate of the gas cylinder through the pressing of the gas cylinder. The external measuring method is that the detected gas cylinder is put into a special water jacket, water is injected into the gas cylinder, a hydraulic press is used for pressurizing, the nominal water volume is not more than 12 liters, the nominal working pressure is not more than 30 MPa, and the volume residual deformation or/and the volume elastic deformation, namely the residual deformation rate, of the gas cylinder is measured according to the water volume overflowing from the water jacket and the water overflow volume remaining after pressure relief of the gas cylinder under the hydraulic test, so that whether the gas cylinder meets the use standard or not is measured. The hydraulic press used in the pressing of the gas cylinder consists of an explosion-proof tank, an explosion-proof tank cover, small-sized hoisting equipment and other parts. The outer measurement method needs to use a special explosion-proof water jacket tank to ensure the water pressure test quality, the special explosion-proof tank has a large volume, the special water jacket explosion-proof tank cover is heavier and can work only by small-sized hoisting equipment, a cover which is 50 kilograms heavy and a water-filled gas cylinder need to be hoisted by 3 meters at each time, the explosion-proof tank cover is generally lifted by a chain block or an electric block in the past, heavy labor is needed, the labor efficiency is very low, and the detection precision of the gas cylinder cannot be ensured. Therefore, new detection means and detection equipment must be adopted to ensure the detection quality of the carbon fiber wound composite gas cylinder.
Therefore, it is imperative to design a device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a device for detecting the residual deformation rate of a carbon fiber wound composite gas cylinder comprises a working area, wherein a fence is additionally arranged around the working area, a robot is arranged in the fence, a feeding trolley is arranged on one side of the robot through a trolley positioning platform, an explosion-proof detection box is arranged on the other side of the robot, and an explosion-proof box cover is arranged on the explosion-proof detection box; one side of the explosion-proof detection box is provided with a positioning installation station, the positioning installation station comprises a positioning installation frame, a positioning table is arranged on the positioning installation frame, positioning clamping cylinders are symmetrically arranged on two sides of the positioning table, a fire-fighting tank is installed on the positioning table, the upper part of the fire-fighting tank is connected with a quick-insertion unlocking mechanism through a switch head, the quick-insertion unlocking mechanism is connected with a telescopic guide rail through a corresponding slider, a telescopic cylinder is arranged on one side of the telescopic guide rail, the lower part of the telescopic guide rail is connected with a lifting guide rail through a corresponding slider, and the lifting;
the rear part of the robot is provided with a blanking trolley through a trolley positioning platform, one side of the blanking trolley is provided with a robot control cabinet, the other side of the blanking trolley is provided with a test control cabinet, and one side of the test control cabinet is provided with a PLC control cabinet; the robot control cabinet provides a centralized position of a main power supply connection and an external communication interface, is internally provided with all components of a driving system, a central processing unit and a memory, a power supply unit and an I/O module, supports three communication protocols of an equipment network, a special cable and an Ethernet, and is configured with an ABB robot control software package and a programming language;
the lower part of the robot is provided with a robot base, and the front part of the robot is provided with a robot gripper;
an air cylinder support is arranged on the upper part of the explosion-proof box cover through an electromagnet, and a clamping jaw cylinder is arranged on the air cylinder support.
Compared with the prior art, the invention has the advantages that: overall structure is reasonable, uses the robot to realize detecting the residual deformation rate to carbon fiber winding composite gas cylinder, through adopting outer measuring method hydrostatic test, carries out weighing, water injection, full bottle of empty bottle, a whole set of operation test such as hydrostatic test, can accurately measure the residual deformation rate of volume of gas cylinder to guarantee the safe handling of gas cylinder.
As an improvement, a robot control cabinet is externally connected with a teaching box, the functions of the teaching box comprise displaying the state of the robot and controlling the motion of the robot, and the robot is programmed and maintained through the teaching box; the demonstrator has a high-fidelity LCD screen, is controlled by a touch screen, and is provided with a control rocker which is convenient to operate.
As an improvement, the robot is provided with a double-channel emergency button and a software emergency stop safety door lock, a PLC device of the robot automatic equipment can select products of various models, and the robot automatic equipment has the related function of shielding single robot automatic equipment.
As an improvement, the robot control cabinet comprises two network control modules and a driving module, and the two modules are usually combined in a controller cabinet;
the network control module runs all software required for operating the robot and comprises all power supply electronic equipment for supplying power to a motor of the robot;
the driving module can contain 9 driving units at most, can process 6 internal shafts and 2 common shafts or additional shafts, and depends on the model of the robot; when a controller is used for operating a plurality of robots, an additional driving module must be added for each additional robot, and the device is controlled in a handheld mode, so that a right-handed person can hold the device with the left hand and the right hand is on the touch screen, and a left-handed person can easily use the device with the right hand by rotating the display by 180 degrees.
As an improvement, the lower parts of the blanking trolley and the loading trolley are respectively provided with a guide wheel, and the upper parts of the blanking trolley and the loading trolley are provided with a storage bin.
Drawings
Fig. 1 is a schematic structural diagram of a device for detecting the residual deformation rate of a carbon fiber wound composite gas cylinder.
Fig. 2 is a schematic perspective view of an apparatus for detecting a residual deformation rate of a carbon fiber-wound composite gas cylinder.
Fig. 3 is a schematic structural diagram of a robot of the device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder.
Fig. 4 is a schematic structural diagram of an explosion-proof case cover of the device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder.
Fig. 5 is a structural schematic diagram of a positioning and mounting station of the device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder.
Fig. 6 is a rear structural diagram of a positioning and mounting station of the device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder.
FIG. 7 is a schematic structural diagram of a blanking trolley of the device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder.
As shown in the figure: 1. rail, 2, explosion-proof detection case, 3, the robot is held in hand, 4, location installation station, 5, test control cabinet, 6, the PLC switch board, 7, the unloading dolly, 8, the robot control cabinet, 9, dolly location platform, 10, the material loading dolly, 11, the robot base, 12, the robot, 13, the product jar, 14, the gripper cylinder, 15, the electro-magnet, 16, explosion-proof case lid, 17, insert release mechanism soon, 18, location die clamping cylinder, 19, the fire control jar, 20, the location platform, 21, the location mounting bracket, 22, the switch head, 23, telescopic cylinder, 24, telescopic guide rail, 25, the lift guide rail, 26, the lift cylinder, 27, the direction wheel, 28, the feed bin.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
When the device is specifically implemented, the device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder comprises a working area, wherein a fence 1 is additionally arranged around the working area, a robot 12 is arranged in the fence 1, a feeding trolley 10 is arranged on one side of the robot 12 through a trolley positioning platform 9, an explosion-proof detection box 2 is arranged on the other side of the robot 12, and an explosion-proof box cover 16 is arranged on the explosion-proof detection box 2; a positioning installation station 4 is arranged on one side of the explosion-proof detection box 2, the positioning installation station 4 comprises a positioning installation frame 21, a positioning table 20 is arranged on the positioning installation frame 21, positioning clamping cylinders 18 are symmetrically arranged on two sides of the positioning table 20, a fire fighting tank 19 is arranged on the positioning table 20, the upper part of the fire fighting tank 19 is connected with a quick-insertion unlocking mechanism 17 through a switch head 22, the quick-insertion unlocking mechanism 17 is connected with a telescopic guide rail 24 through a corresponding slider, a telescopic cylinder 23 is arranged on one side of the telescopic guide rail 24, the lower part of the telescopic guide rail 24 is connected with a lifting guide rail 25 through a corresponding slider, and the lifting guide rail 25 is connected with a;
the rear part of the robot 12 is provided with a blanking trolley 7 through a trolley positioning platform 9, one side of the blanking trolley 7 is provided with a robot control cabinet 8, the other side of the blanking trolley 7 is provided with a test control cabinet 5, and one side of the test control cabinet 5 is provided with a PLC control cabinet 6; the robot control cabinet 8 provides a centralized position of a main power supply connection and an external communication interface, is internally provided with all components of a driving system, a central processing unit and a memory, a power supply unit and an I/O module, supports three communication protocols of an equipment network, a special cable and an Ethernet, and is configured with an ABB robot control software package and a programming language;
the lower part of the robot 12 is provided with a robot base 11, and the front part is provided with a robot hand grip 3;
an air cylinder support is arranged on the upper portion of the explosion-proof box cover 16 through an electromagnet 15, and a clamping jaw cylinder 14 is arranged on the air cylinder support.
The robot control cabinet 8 is externally connected with a teaching box, the teaching box has the functions of displaying the state of the robot 12 and controlling the robot 12 to move, and the robot 12 is programmed and maintained through the teaching box; the demonstrator has a high-fidelity LCD screen, is controlled by a touch screen, and is provided with a control rocker which is convenient to operate.
Robot 12 is equipped with binary channels emergency button and software scram safety door lock, and robot 12 automation equipment's PLC device can select the product of numerous models, possesses the relevant function of shielding single robot automation equipment.
The robot control cabinet 8 comprises two network control modules and a driving module, and the two modules are usually combined in a controller cabinet;
the network control module runs all software required for operating the robot and comprises all power supply electronic equipment for supplying power to a motor of the robot;
the driving module can contain 9 driving units at most, can process 6 internal shafts and 2 common shafts or additional shafts, and depends on the model of the robot; when a controller is used for operating a plurality of robots, an additional driving module must be added for each additional robot, and the device is controlled in a handheld mode, so that a right-handed person can hold the device with the left hand and the right hand is on the touch screen, and a left-handed person can easily use the device with the right hand by rotating the display by 180 degrees.
The lower parts of the blanking trolley 7 and the feeding trolley 10 are both provided with guide wheels 27, and the upper parts are provided with a storage bin 28.
The working principle of the invention is as follows: the ABB robot is adopted, the robot has the characteristics of high quality and high performance, the system main body can improve the wiping quality and reduce equipment faults to the maximum extent, the requirement of 24-hour continuous production every day is met, the average working speed of the system can reach 200mm/s, the equipment waiting time is greatly reduced, and the production efficiency is improved.
The ABB robot control system has a high integration process, the whole control system realizes modularization, and a power supply, a drive, a large-capacity capacitor and a central processing unit are all designed in an integrated circuit mode. The automatic counting function is realized through the digital counter on the control console, the carbon fiber wound composite gas cylinder is only required to be installed on the positioning platform, the corresponding program is automatically called according to the process flow set by the control system, the detection work of the carbon fiber wound composite gas cylinder is completed, and an operator can easily master the process flow without manual counting.
The robot control cabinet is a centralized position for providing a main power supply connection and an external communication interface, the control cabinet is provided with a driving system, a central processing unit, a storage, a power supply unit, an I/O module and other parts, the control cabinet supports a plurality of communication protocols such as an equipment network, a special cable, an Ethernet and the like, and the controller is provided with an ABB robot control software package, a programming language and the like.
The robot controller is externally connected with a teaching box, the function of the teaching box comprises displaying the state of the robot and controlling the robot to move, programming and maintenance can be easily and safely carried out through the teaching box, and the teaching box is provided with a high-color LCD screen, touch screen control, rocker design and easy operation.
The robot automatic equipment has safety measures such as a double-channel emergency button, a software emergency stop safety door lock and the like, and the PLC of the robot automatic equipment has a function of selecting products of various models and has related functions of shielding single robot automatic equipment and the like.
In terms of software design of a control device, the programming design of a PLC human-machine interface must be flexible and practical. When the robot automatic equipment breaks down, the program must have all the necessary functions of continuing the robot automatic equipment to complete the current product after the fault is solved, and the controller comprises all the necessary functions of moving and controlling the robot. The controller comprises two modules, a network control module and a drive module, which are usually combined in one controller cabinet. Including all electronic control devices such as a host, I/O board, and flash memory. The network control module runs all the software needed to operate the robot.
The network module contains all the power electronics that supply the robot motor. The controller drive module may contain up to 9 drive units that can handle 6 internal axes and 2 common or additional axes depending on the model of the robot. When operating multiple robots using one controller, additional drive modules must be added to each additional robot, often to hold the device in hand. A right-handed person holds the device with the left hand on the touch screen, while a left-handed person can easily use the right-handed device by rotating the display 180 degrees. For more information on adjusting the teach pendant for use by left-handed persons,
the robot work flow is as follows:
1) the robot grabs the carbon fiber wound composite gas cylinder from the feeding trolley and places the carbon fiber wound composite gas cylinder on the positioning table to clamp the cylinder;
2) the robot places the explosion-proof tank cover above the positioning table, and the quick-insertion unlocking mechanism extends out to push against the insertion unlocking on the tank cover; after the robot puts the anti-explosion tank cover in place, the quick-insertion unlocking mechanism retracts, the quick plugs are clamped together, the clamping cylinder is loosened, and the robot grabs the anti-explosion tank cover to start detection;
3) after the test is finished, the equipment automatically releases pressure and inflates air. Then, the robot grabs the cover and the carbon fiber wound composite gas cylinder on a positioning table together, and a quick-insertion unlocking mechanism on the positioning table opens a quick-insertion connector of the cover and the bottle;
4) the robot puts back explosion-proof jar with explosion-proof cover on the explosion-proof jar, then the robot switches anchor clamps and places the unloading dolly with qualified product, and unqualified gas cylinder is then placed the waste product district.
The number of machine ginseng is as follows:
maximum range of motion maximum speed
1 axis (revolution) +170 DEG to-170 DEG 175 DEG/s
2-axis (lower arm) +85 DEG to-65 DEG 175 DEG/s
3 axes (upper arms) +70 DEG to-180 DEG 175 DEG/s
4-axis (wrist rotation) +300 DEG to-300 DEG 360 DEG/s
5-axis (wrist swing) +120 DEG to-120 DEG 360 DEG/s
6 axes (wrist rotation) +360 DEG to-360 DEG 300 DEG/s
Maximum radius of action 2850mm
The load weight is 155kg
Repeated positioning precision of +/-0.1 mm
Power supply capacity 5KVA
The temperature is-25 ℃ to 55 DEG C
The highest humidity is 95 percent
Vibration 4.9m/s2 or less
Robot body weight 1260KG
The robot of the device can grab the explosion-proof tank cover and the checked gas bottle by a hand, and can perform compatible actions of one hand and the other hand; the positioning installation table can accurately position the product tank; the automatic unlocking mechanism has the function of detecting the positioning of the gas cylinder and has a quick-insertion automatic unlocking mechanism; the feeding and discharging trolley and the positioning platform are arranged, universal wheels are adopted at the bottom of the feeding trolley, manual pushing is facilitated, the storage bin is fixed on the trolley, and a product is only required to be manually placed in the fixed storage bin; the feed bin is provided with 9 stations, can put 9 products at most once. The trolley is manually pushed onto the positioning platform, and the positioning platform is automatically positioned. And after the detection is finished, pushing the trolley away, and putting a new trolley.
This device is through adopting the outer method hydrostatic test of surveying, carries out weighing, water injection, full bottle weighing, hydrostatic test a whole set of operation test such as hydrostatic test to the empty bottle, can accurately measure the volume residual deformation rate of gas cylinder to guarantee the safe handling of gas cylinder. The working principle is as follows: the method comprises the steps of placing a tested bottle in a special water jacket, pressurizing the tested bottle by a high-pressure pump, automatically entering a pressure maintaining state after a set pressure is reached, carrying out a pressure resistance test on the tested bottle, simultaneously carrying out body shape expansion of the gas cylinder under the test pressure, extruding part of water in the water jacket into a measuring cup, wherein the part of water is volume deformation of the tested bottle, transmitting the part of water into an industrial personal computer through a water sampling system, after the pressure of the gas cylinder is relieved, elastic deformation disappears, water in the measuring cup returns to the water jacket, but the amount of water left in the measuring cup is still more than that of the water in the gas cylinder before pressurization, the more water is volume residual deformation of the tested bottle, the more water is transmitted to the industrial personal computer through a water sampling system, and the ratio of the volume residual deformation to the total deformation of the industrial personal computer is the volume residual deformation rate of the gas. The product is designed and manufactured according to GB/T9251-2011 gas cylinder hydrostatic test method. The device is suitable for regular inspection of compressed natural gas steel cylinders and gas cylinders of different types and specifications. The external measuring method water pressure tester of the gas cylinder is mainly used for carrying out pressure test on a tested gas cylinder and obtaining the volume residual deformation rate of the tested gas cylinder at the same time, and is controlled by a computer.
The whole equipment consists of four parts, namely weighing equipment, a software system, a power source box body and a test water jacket part. The gas cylinder is sent to the weighing area, the hanging scale weighs the empty cylinder, and data are transmitted to the computer. The software system sets detection parameters, the sensor detects the pressure and the weight of the system, the whole test process is controlled by the operation of the data acquisition card, the water jacket supplies water and exhausts the gas, and the measuring cup pipeline supplies water and exhausts the gas, pressurizes the gas, and releases the pressure and stores the gas.
1. The outer survey method is experimental can carry out hydrostatic test to the gas cylinder and can measure its volume residual deformation rate from the gas cylinder outside simultaneously, and its characteristics are:
(1) the outer side of the gas cylinder is pressurized in a pneumatic liquid mode, and the liquid receiving part is made of stainless steel;
(2) the water jackets of various models meet the requirements of various test specifications;
(3) the software adopts imaging editing program software and records corresponding test pressure and expansion amount;
(4) the whole pressure detection is carried out, the detection device acquires a test water level, a highest pressure and an end water level, and the full deformation value, the residual deformation value and the residual deformation rate of the gas cylinder can be obtained through calculation of the upper computer;
(5) the method comprises the following steps of collecting data of a weighing sensor, wherein the sensor can accurately display pressure and expansion amount;
2. the test control function is realized, the industrial personal computer sets parameters, the test result booster pump automatically starts to boost the pressure of the gas cylinder to a set pressure, the booster pump automatically stops working, the pressure and the full deformation value are automatically generated and displayed in the host computer, the pressure is maintained for a standard set time, the high-pressure relief valve automatically relieves the pressure, the residual deformation is automatically displayed, the residual deformation rate is automatically calculated and displayed, the test result is automatically stored and stored, and a test report can be printed at will; the printing contents comprise experimental items, working pressure, testing time, gas cylinder delivery number, model number, testing number, inspector and the like
3. The system automatically stores all pressure and deformation data in the hydraulic test time period, and a deformation-time curve, a pressure-time curve and a deformation-pressure curve. The historical data in all trials can be reviewed.
4. The pressure test bed is provided with a manual operation button, and the pressure test bed can be manually tested when a computer is controlled to break down. The equipment is in emergency shutdown and can manually discharge the sample and the internal pressure of the equipment
The testing device is mainly used for testing residual deformation and deformation of the gas cylinder under pressure resistance by equipment with the highest designed working pressure of 48Mpa, the actual test pressure control precision of not less than 10 kilograms and the actual water level measurement precision of not less than 0.4, and is necessary detection equipment for a detection mechanism.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly specifically defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like 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 by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, reference to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (5)
1. The utility model provides a detect device of compound gas cylinder residual deformation rate of carbon fiber winding, includes work area, its characterized in that: a fence (1) is additionally arranged around the working area, a robot (12) is arranged in the fence (1), a feeding trolley (10) is arranged on one side of the robot (12) through a trolley positioning platform (9), an explosion-proof detection box (2) is arranged on the other side of the robot, and an explosion-proof box cover (16) is arranged on the explosion-proof detection box (2); one side of the explosion-proof detection box (2) is provided with a positioning installation station (4), the positioning installation station (4) comprises a positioning installation frame (21), a positioning table (20) is arranged on the positioning installation frame (21), positioning clamping cylinders (18) are symmetrically arranged on two sides of the positioning table (20), a fire-fighting tank (19) is installed on the positioning table (20), the upper part of the fire-fighting tank (19) is connected with a quick-insertion unlocking mechanism (17) through a switch head (22), the quick-insertion unlocking mechanism (17) is connected with a telescopic guide rail (24) through corresponding sliders, one side of the telescopic guide rail (24) is provided with a telescopic cylinder (23), the lower part of the telescopic guide rail (24) is connected with a lifting guide rail (25) through corresponding sliders, and the lifting guide rail (25) is connected with;
a blanking trolley (7) is arranged at the rear part of the robot (12) through a trolley positioning platform (9), a robot control cabinet (8) is arranged on one side of the blanking trolley (7), a test control cabinet (5) is arranged on the other side of the blanking trolley, and a PLC control cabinet (6) is arranged on one side of the test control cabinet (5); the robot control cabinet (8) provides a centralized position of a main power supply connection and an external communication interface, is internally provided with all components of a driving system, a central processing unit and a memory, a power supply unit and an I/O module, supports three communication protocols of an equipment network, a special cable and an Ethernet, and is configured with an ABB robot control software package and a programming language;
the lower part of the robot (12) is provided with a robot base (11), and the front part of the robot is provided with a robot hand grip (3);
an air cylinder support is arranged on the upper portion of the explosion-proof box cover (16) through an electromagnet (15), and a clamping jaw cylinder (14) is arranged on the air cylinder support.
2. The method of claim 1, wherein: the robot control cabinet (8) is externally connected with a teaching box, the teaching box has the functions of displaying the state of the robot (12) and controlling the robot (12) to move, and the robot (12) is programmed and maintained through the teaching box; the demonstrator has a high-fidelity LCD screen, is controlled by a touch screen, and is provided with a control rocker which is convenient to operate.
3. The device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder according to claim 1, is characterized in that: robot (12) are equipped with binary channels emergency button and software scram safety door lock, and robot (12) automatic equipment's PLC device can select the product of numerous models, possesses the relevant function of shielding single robot automatic equipment.
4. The device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder according to claim 1, is characterized in that: the robot control cabinet (8) comprises two network control modules and a driving module, and the two modules are usually combined in a controller cabinet;
the network control module runs all software required for operating the robot and comprises all power supply electronic equipment for supplying power to a motor of the robot;
the driving module can contain 9 driving units at most, can process 6 internal shafts and 2 common shafts or additional shafts, and depends on the model of the robot; when a controller is used for operating a plurality of robots, an additional driving module must be added for each additional robot, and the device is controlled in a handheld mode, so that a right-handed person can hold the device with the left hand and the right hand is on the touch screen, and a left-handed person can easily use the device with the right hand by rotating the display by 180 degrees.
5. The device for detecting the residual deformation rate of the carbon fiber wound composite gas cylinder according to claim 1, is characterized in that: the lower parts of the blanking trolley (7) and the feeding trolley (10) are both provided with guide wheels (27), and the upper parts are provided with a storage bin (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011446471.7A CN112710259A (en) | 2020-12-09 | 2020-12-09 | Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011446471.7A CN112710259A (en) | 2020-12-09 | 2020-12-09 | Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder |
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| CN112710259A true CN112710259A (en) | 2021-04-27 |
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| CN202011446471.7A Pending CN112710259A (en) | 2020-12-09 | 2020-12-09 | Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder |
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| CN (1) | CN112710259A (en) |
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Application publication date: 20210427 |
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