CN112897045A - Manipulator feeding and discharging system for automatic blade measurement - Google Patents
Manipulator feeding and discharging system for automatic blade measurement Download PDFInfo
- Publication number
- CN112897045A CN112897045A CN202110086108.7A CN202110086108A CN112897045A CN 112897045 A CN112897045 A CN 112897045A CN 202110086108 A CN202110086108 A CN 202110086108A CN 112897045 A CN112897045 A CN 112897045A
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- assembly
- blade
- manipulator
- clamp
- measurement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a manipulator feeding and discharging system for automatic blade measurement, which comprises a track assembly, a multi-degree-of-freedom manipulator, an execution assembly and a controller, wherein the track assembly is arranged on the manipulator; the multi-degree-of-freedom manipulator is arranged on the track assembly and can perform reciprocating linear movement on the track assembly; the executing assembly is arranged at the tail end of the multi-degree-of-freedom manipulator; the controller is in communication connection with the track assembly, the multi-degree-of-freedom manipulator and the execution assembly, and the controller controls the manipulator feeding and discharging system to measure the three-coordinate dimension of the blade. According to the manipulator feeding and discharging system for automatic blade measurement, the automatic conveying, clamping and detection of the blades in the measuring process of the three-coordinate measuring machine are realized through the manipulator feeding and discharging system, the manual operation time and cost are reduced, and the efficiency and accuracy of blade size measurement are improved.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a manipulator feeding and discharging system for automatic blade measurement.
Background
The detection of the blade is very important because the blade profile is complex and the size of the blade profile can directly influence the energy conversion efficiency of the engine. In the prior art, for the detection of the blade, the blade is usually fixed manually by using a clamp, and then the detection is carried out by using a three-coordinate measuring machine; and after manual clamping, measurement is carried out, and a coordinate system needs to be roughly established. Manual transportation, clamping and detection, detection efficiency is very low, needs to be improved through an automatic mode urgently.
Disclosure of Invention
In order to solve at least one of the technical problems, the technical scheme adopted by the invention is to provide the manipulator feeding and discharging system for the automatic measurement of the blade, the automatic conveying, clamping and detection are realized through the manipulator feeding and discharging system, the manual operation time and cost are reduced, and the efficiency and the accuracy of the blade size measurement are improved.
In order to at least achieve one of the above purposes, the invention adopts the technical scheme that:
the invention provides a manipulator feeding and discharging system for automatic blade measurement, which comprises a track assembly, a multi-degree-of-freedom manipulator, an execution assembly and a controller, wherein the track assembly is arranged on the manipulator; the multi-degree-of-freedom manipulator is arranged on the track assembly and can perform reciprocating linear movement on the track assembly; the executing assembly is arranged at the tail end of the multi-degree-of-freedom manipulator; the controller is in communication connection with the track assembly, the multi-degree-of-freedom manipulator and the execution assembly, and the controller controls the manipulator feeding and discharging system to measure the three-coordinate dimension of the blade.
Further, the rail assembly comprises a rigid rail and a carriage; the sliding seat is arranged on the hard rail in a sliding mode, and the multi-degree-of-freedom manipulator is arranged on the sliding seat.
Further, the track assembly further comprises a driving mechanism and a speed reducing mechanism; the driving mechanism and the speed reducing mechanism actuate the sliding seat to do reciprocating linear motion on the hard rail.
Further, the driving mechanism adopts a direct current servo motor system; the speed reducing mechanism adopts a worm gear with high speed reducing ratio for transmission.
Further, the track assembly further comprises a self-lubricating mechanism, an emergency brake mechanism and a sensor; the sensor adopts a positive and negative stroke final touch sensor and is used for limiting the maximum stroke of the sliding seat; the emergency brake mechanism is used for emergency stop of the sliding seat; the self-lubricating mechanism is used for automatically lubricating the hard rail.
Further, the multi-degree-of-freedom manipulator is a six-axis manipulator.
Further, the working angles of six axes of the six-axis manipulator are +180 degrees to-180 degrees, +155 degrees to-95 degrees, +75 degrees to-180 degrees, +410 degrees to-410 degrees, +120 degrees to-120 degrees and +400 degrees respectively; the plane working range of the six-axis mechanical arm is 3406mm by 3322 mm.
Further, the execution assembly comprises a three-station gripper, and the three-station gripper comprises two grippers and a sensor fixing table; the gripper is used for picking and placing the clamp assembly clamped with the blade; a radio frequency identification code reader is arranged at the sensor fixing station; the clamp assembly is provided with a radio frequency data tag; the radio frequency identification code reader can read the identity information contained in the radio frequency data tag.
Further, a proximity sensor is arranged on the side face of the gripper.
Further, the clamp assembly comprises a pneumatic chuck, a clamp moving jaw, a clamp fixed jaw and a tightening screw rod; the gripper clamps the clamp assembly through the pneumatic chuck; the clamp fixed claw is arranged on the pneumatic chuck; the movable clamp claw clamps the blade on the fixed clamp claw and is fastened through the tightening screw rod.
Compared with the prior art, the manipulator feeding and discharging system for automatic blade measurement has the beneficial effects that: according to the manipulator feeding and discharging system for automatic blade measurement, disclosed by the invention, in the process of three-coordinate size detection of the blade, the blade cached in the material warehouse is connected with the three-coordinate measuring machine by using the manipulator feeding and discharging system, the identity of the blade is accurately identified by using the radio frequency identity identification code reading system, and the clamp assembly for clamping the blade is accurately sent to the three-coordinate measuring machine for measurement, so that the whole manual clamping process is reduced, the clamping accuracy is improved, the step of roughly establishing a coordinate system after manual clamping is omitted, and the detection efficiency of three-coordinate measurement is improved.
In a word, the invention provides the manipulator feeding and discharging system for the automatic measurement of the blade, which has high detection efficiency and is convenient to operate, and has wide application prospect.
Drawings
FIG. 1 is a schematic structural diagram of a robot loading and unloading system for automatic blade measurement according to the present invention;
FIG. 2 is a diagram illustrating the operation of the execution module according to the present invention.
The device comprises a track assembly 1, a six-axis manipulator 2, an execution assembly 3, a two-way cylinder 3-1, a radio frequency identification code reader 3-2, a radio frequency data tag 3-3, a proximity sensor 3-4, a blade 4, a pneumatic chuck 5-1, a clamp moving claw 5-2, a clamp fixed claw 5-3 and a tightening screw rod 5-4.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to specific examples. Note that the following described embodiments are illustrative only for explaining the present invention, and are not to be construed as limiting the present invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection or electrical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The robot loading and unloading system for blade automatic measurement provided by the invention will be described in detail through specific embodiments as follows:
as shown in fig. 1, the robot loading and unloading system for blade automatic measurement provided by the invention comprises a track assembly 1, a six-axis robot 2, an execution assembly 3 and a controller. The six-axis manipulator 2 is arranged on the track assembly 1 and can perform reciprocating linear movement on the track assembly 1. The actuator assembly 3 is disposed at the end of the six-axis robot 2. The controller is connected with the track assembly 1, the six-axis manipulator 2 and the execution assembly 3 in a communication mode, and the controller sends out a control instruction to control the whole manipulator feeding and discharging system to achieve automatic operation of three-coordinate size measurement of the blades.
The track assembly 1 comprises a hard rail, a sliding seat, a driving mechanism, a speed reducing mechanism, a self-lubricating mechanism, an emergency brake mechanism and a sensor. The driving mechanism is driven by a direct current servo motor; the speed reducing mechanism adopts high speed reducing ratio worm and gear transmission. The slide carriage is actuated to reciprocate linearly on the hard rail by a driving mechanism and a speed reducing mechanism. The sensor adopts positive and negative stroke final touch sensors, and can limit the maximum stroke of the sliding seat. The emergency brake mechanism can realize the emergency stop of the sliding seat, and the safety is ensured under the emergency condition. Self-lubricating mechanism can carry out self-lubricate to hard rail, guarantees track subassembly 1's normal good operation. The six-axis manipulator 2 is arranged on a sliding seat, and the sliding seat can realize reciprocating motion on a hard rail. The six-shaft mechanical arm 2 is used for transporting the blade for a long distance through the track assembly 1.
The plane operation working range of the six-axis manipulator 2 is 3406mm by 3322 mm; the working angles of the six shafts are respectively
+180 to-180 °, +155 to-95 °, +75 to-180 °, +410 to-410 °, +120 to-120 °, +400 ° to-400 °.
The execution assembly 3 comprises a three-station gripper, and the three-station gripper comprises two grippers and a sensor fixing table. The two grippers are respectively a first gripper and a second gripper, the first gripper and the second gripper are used for taking and placing the clamp assembly through the bidirectional air cylinder 3-1, the radio frequency identification code reader 3-2 is arranged at the sensor fixing station, and the radio frequency identification code reader 3-2 can read a radio frequency data tag 3-3 containing identity information on the clamp assembly and is used for confirming the type of the blade 4, such as an upper blade or a lower blade. And the side surface of the first gripper and/or the second gripper is/are also provided with a proximity sensor 3-4, and the proximity sensor 3-4 is used for monitoring the relative positions of the grippers and the clamp assembly and the grippers and the clamps on the three-coordinate measuring machine.
The clamp assembly comprises a pneumatic chuck 5-1, a clamp moving jaw 5-2, a clamp fixed jaw 5-3 and a tightening screw rod 5-4. The blade 4 is clamped on the fixed jaw 5-3 of the clamp through the movable jaw 5-2 of the clamp and is fastened by screwing the screw 5-4. The clamp fixing claws 5-3 are arranged on the pneumatic chuck 5-1, and the gripper clamps the clamp assembly through the pneumatic chuck 5-1.
The invention provides a working principle of a manipulator feeding and discharging system for automatic measurement of blades for three-coordinate size detection of the blades, which specifically introduces the following steps:
the controller controls the track assembly 1 to move the six-axis robot 2 to the buffer storage area, and the six-axis robot 2 actuates the actuator assembly 3 to move to the vicinity of the blade 4. The controller controls the rfid reader 3-2 at the sensor mounting station in the actuator assembly 3 to approach the gripper assembly. The radio frequency identification code reader 3-2 reads a radio frequency data tag 3-3 arranged on the clamp assembly; and according to the data reading result, the controller gives a control command to the first gripper or the second gripper, the first gripper or the second gripper clamps the pneumatic chuck 5-1 of the clamp assembly through the action of the bidirectional cylinder 3-1, and the clamp assembly clamped with the upper blade or the lower blade is transported to a three-coordinate measuring machine for measurement.
According to the manipulator feeding and discharging system for automatic blade measurement, disclosed by the invention, in the process of three-coordinate size detection of the blade, the blade cached in the material warehouse is connected with the three-coordinate measuring machine by using the manipulator feeding and discharging system, the identity of the blade is accurately identified by using the radio frequency identity identification code reading system, and the clamp assembly for clamping the blade is accurately sent to the three-coordinate measuring machine for measurement, so that the whole manual clamping process is reduced, the clamping accuracy is improved, the step of roughly establishing a coordinate system after manual clamping is omitted, and the detection efficiency of three-coordinate measurement is improved.
In a word, the invention provides the manipulator feeding and discharging system for the automatic measurement of the blade, which has high detection efficiency and is convenient to operate, and has wide application prospect.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (10)
1. A manipulator feeding and discharging system for automatic blade measurement is characterized by comprising a track assembly, a multi-degree-of-freedom manipulator, an execution assembly and a controller; the multi-degree-of-freedom manipulator is arranged on the track assembly and can perform reciprocating linear movement on the track assembly; the executing assembly is arranged at the tail end of the multi-degree-of-freedom manipulator; the controller is in communication connection with the track assembly, the multi-degree-of-freedom manipulator and the execution assembly, and the controller controls the manipulator feeding and discharging system to measure the three-coordinate dimension of the blade.
2. The robotic loading and unloading system for automated measurement of blades according to claim 1, wherein the rail assembly comprises a rigid rail and a slide; the sliding seat is arranged on the hard rail in a sliding mode, and the multi-degree-of-freedom manipulator is arranged on the sliding seat.
3. The robotic loading and unloading system for automated measurement of blades according to claim 2, wherein the track assembly further comprises a drive mechanism and a deceleration mechanism; the driving mechanism and the speed reducing mechanism actuate the sliding seat to do reciprocating linear motion on the hard rail.
4. The robotic loading and unloading system for automated measurement of blades according to claim 3, wherein the driving mechanism employs a DC servo motor system; the speed reducing mechanism adopts a worm gear with high speed reducing ratio for transmission.
5. The robotic loading and unloading system for automated measurement of blades according to claim 4, wherein the rail assembly further comprises a self-lubricating mechanism, an emergency brake mechanism and a sensor; the sensor adopts a positive and negative stroke final touch sensor and is used for limiting the maximum stroke of the sliding seat; the emergency brake mechanism is used for emergency stop of the sliding seat; the self-lubricating mechanism is used for automatically lubricating the hard rail.
6. The robotic loading and unloading system for automated measurement of blades according to claim 5, wherein the multi-degree of freedom robot is a six-axis robot.
7. The robot loading and unloading system for blade automated measurement according to claim 6, wherein the working angles of six axes of the six-axis robot are +180 ° to-180 °, +155 ° to-95 °, +75 ° to-180 °, +410 ° to-410 °, +120 ° to-120 °, +400 ° to-400 °, respectively; the plane working range of the six-axis mechanical arm is 3406mm by 3322 mm.
8. The robotic loading and unloading system for automated blade measurement according to claim 7, wherein the execution assembly comprises a three-position gripper, the three-position gripper comprising two grippers and a sensor fixing station; the gripper is used for picking and placing the clamp assembly clamped with the blade; a radio frequency identification code reader is arranged at the sensor fixing station; the clamp assembly is provided with a radio frequency data tag; the radio frequency identification code reader can read the identity information contained in the radio frequency data tag.
9. The robotic loading and unloading system for automated blade measurement according to claim 8, wherein the gripper is provided with a proximity sensor on a side thereof.
10. The robotic loader and unloader system for automated measurement of blades according to claim 9 wherein the clamp assembly includes a pneumatic chuck, a clamp moving jaw, a clamp stationary jaw, and a tightening screw; the gripper clamps the clamp assembly through the pneumatic chuck; the clamp fixed claw is arranged on the pneumatic chuck; the movable clamp claw clamps the blade on the fixed clamp claw and is fastened through the tightening screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110086108.7A CN112897045A (en) | 2021-01-22 | 2021-01-22 | Manipulator feeding and discharging system for automatic blade measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110086108.7A CN112897045A (en) | 2021-01-22 | 2021-01-22 | Manipulator feeding and discharging system for automatic blade measurement |
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| Publication Number | Publication Date |
|---|---|
| CN112897045A true CN112897045A (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110086108.7A Pending CN112897045A (en) | 2021-01-22 | 2021-01-22 | Manipulator feeding and discharging system for automatic blade measurement |
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| CN (1) | CN112897045A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643382A (en) * | 2021-12-24 | 2022-06-21 | 无锡黎曼机器人科技有限公司 | Blade batch automatic feeding and discharging method based on robot system |
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| KR102029058B1 (en) * | 2019-06-19 | 2019-10-07 | 권순홍 | Brake disk auto supply apparatus for vehicle |
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| CN110817414A (en) * | 2019-11-27 | 2020-02-21 | 深圳光韵达光电科技股份有限公司 | Seven-shaft manipulator carrying equipment |
| CN111003396A (en) * | 2019-12-02 | 2020-04-14 | 深圳光韵达光电科技股份有限公司 | Intelligent warehousing system and control method thereof |
| CN210334403U (en) * | 2019-07-30 | 2020-04-17 | 昆山土山建设部件有限公司 | Clamp |
| CN210676996U (en) * | 2019-08-29 | 2020-06-05 | 安徽应流机电股份有限公司 | Connecting shaft machining clamp for multi-dimensional curved surface blade |
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2021
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106670651A (en) * | 2016-12-20 | 2017-05-17 | 江苏大学 | Combined fixture used for laser shock strengthening of turbine blade |
| CN207890630U (en) * | 2017-12-27 | 2018-09-21 | 安徽嘉熠智能科技有限公司 | A kind of walking loading and unloading robot |
| CN209774652U (en) * | 2019-04-17 | 2019-12-13 | 牧野机床（中国）有限公司 | Cooperative robot and machining system |
| KR102029058B1 (en) * | 2019-06-19 | 2019-10-07 | 권순홍 | Brake disk auto supply apparatus for vehicle |
| CN210334403U (en) * | 2019-07-30 | 2020-04-17 | 昆山土山建设部件有限公司 | Clamp |
| CN210676996U (en) * | 2019-08-29 | 2020-06-05 | 安徽应流机电股份有限公司 | Connecting shaft machining clamp for multi-dimensional curved surface blade |
| CN110817414A (en) * | 2019-11-27 | 2020-02-21 | 深圳光韵达光电科技股份有限公司 | Seven-shaft manipulator carrying equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643382A (en) * | 2021-12-24 | 2022-06-21 | 无锡黎曼机器人科技有限公司 | Blade batch automatic feeding and discharging method based on robot system |
| CN114643382B (en) * | 2021-12-24 | 2023-12-26 | 无锡黎曼机器人科技有限公司 | Automatic blade batch loading and unloading method based on robot system |
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