CN113600500B - Automatic detection device and detection method for stator rocker arm assembly of gas compressor - Google Patents

Automatic detection device and detection method for stator rocker arm assembly of gas compressor Download PDF

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Publication number
CN113600500B
CN113600500B CN202110832250.1A CN202110832250A CN113600500B CN 113600500 B CN113600500 B CN 113600500B CN 202110832250 A CN202110832250 A CN 202110832250A CN 113600500 B CN113600500 B CN 113600500B
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detection
axis
profiling
tray
rocker arm
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CN113600500A (en
Inventor
刘录叶
陈龙
李桃
王峰
罗孔林
郑衎
严朝霞
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Chengdu Hangli Equipment Technology Co ltd
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Chengdu Hangli Equipment Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention provides an automatic detection device and method for a compressor stator rocker arm assembly, and relates to the technical field of automatic detection. The automatic detection device comprises a mechanical system, an electrical system and an upper computer software system, and the automatic detection method comprises the steps of material preparation, environment inspection, startup preparation, login software information input, software initialization, startup detection, automatic detection, material clamping judgment, data storage, screening, report generation and the like. The invention adopts a relative measurement principle, and can realize the accurate automatic detection of the distance between the inner hole surfaces on three rocker arms of the compressor stator rocker arm assembly and the center of the cylinder. The technical problem that the screening of the rocker arm assembly size is time-consuming, labor-consuming and low in accuracy is solved.

Description

Automatic detection device and detection method for stator rocker arm assembly of gas compressor
Technical Field
The invention relates to the technical field of automatic detection, in particular to an automatic detection device and method for a stator rocker arm assembly of a gas compressor.
Background
A compressor refers to a component that uses blades rotating at high speed to apply work to air to increase the air pressure in a gas turbine engine. The compressor stator rocker arm assembly is an assembly for connecting stator blades of a compressor stator with the linkage ring. When the compressor stator rocker arm assembly is installed, the distance from the upper inner hole surface to the center of the cylinder is quite critical, and the rocker arm assembly has three sizes with larger range difference, so that how to detect the three sizes and how to realize automatic detection is always a difficult problem.
The patent CN201320852570.4 discloses an automatic through hole size detection device, which comprises a workbench, a screening device, a size detection device, a rotating device and a discharging device which are fixed on the workbench, wherein the screening device, the size detection device, the rotating device and the discharging device are respectively and electrically connected with a control system, and the discharging device comprises a qualified product discharging device and an unqualified product discharging device, and the screening device, the size detection device, the qualified product discharging device and the unqualified product discharging device are sequentially and uniformly distributed around the rotating device. The automatic through hole size detection device and the detection method thereof adopt the automatic control of a PC system, the design is ingenious and reasonable, the labor force of workers is greatly reduced, the qualified products and the unqualified products are conveniently distinguished, the detection precision is accurate, and the detection efficiency is higher. But this device does not enable multi-range size detection.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic detection device and method for a stator rocker arm assembly of a gas compressor. The mechanical system, the electrical system and the software system are arranged, the final size is A by adopting a relative measurement principle, the relative position of a standard block is measured by a high-precision Kidney-type micrometer, the data are used as standard data X by the system, the center position Y of a cylinder of a piece to be measured is measured, the size Z of the standard block is calculated and compared with the standard data by software, the measured data A=X-Y+Z are obtained, and the automatic detection of the distance between the inner hole surfaces of three rocker arms of the stator rocker arm assembly of the high-pressure compressor and the center of the cylinder is realized. The technical problem that the screening of the rocker arm assembly size is time-consuming, labor-consuming and low in accuracy is solved.
The aim of the invention is achieved by the following technical scheme:
the utility model provides an automatic detection device of compressor stator rocking arm subassembly, includes mechanical system, electrical system and host computer software system, wherein:
the mechanical system comprises a detection assembly, a three-axis coordinate manipulator, a detection tool, a profiling tray I, a profiling tray II and a material taking clamping jaw;
the detection assembly comprises a lifting module, a mounting seat and a micrometer;
the three-axis coordinate manipulator comprises a X, Y, Z three-axis driving assembly;
the three detection tools are simultaneously installed and fixed on a tool selection mechanism on the table top of the detection tool;
the first profiling material tray and the second profiling material tray are arranged on the table top of the gauge through positioning pins;
a plurality of profiling molds are arranged on the profiling material tray I and the profiling material tray II;
the material taking clamping jaw comprises a pneumatic claw and V-shaped fingers;
the electrical system comprises a control system, a measurement system and an execution system;
the upper computer software system is written by Labview and is responsible for data acquisition and display, qualification judgment of workpiece measurement data, screening of the workpiece to be measured and data uploading.
Optionally or preferably, the profiling tray I and the profiling tray II are provided with 152 profiling moulds.
Alternatively or preferably, the V-shaped finger is made of a brass material.
Alternatively or preferably, the control system comprises two siemens SMRT200 PLC controllers.
Alternatively or preferably, the measurement system comprises a Kihn's high precision digital micrometer LS-9030.
Alternatively or preferably, the actuator comprises 5 servo motors and 4 cylinders.
Based on the technical scheme, the following technical effects can be produced:
the automatic detection device for the compressor stator rocker arm assembly is suitable for automatic detection of the distance between the inner hole surface of the compressor stator rocker arm assembly and the center of a cylinder. According to the invention, a single and repeated detection process is completed in an automatic detection mode instead of manual operation. By adopting a relative measurement principle, the relative position of the standard block is measured by a high-precision Kidney-type micrometer, and accurate data can be obtained by calculation. The technical problem that the screening of the rocker arm assembly size is time-consuming, labor-consuming and low in accuracy is solved.
The invention also provides an automatic detection method of the compressor stator rocker arm assembly, which is based on the automatic detection device of the compressor stator rocker arm assembly, and comprises the following steps:
s1, preparing a measured material: respectively placing three materials to be tested into profiling molds on a profiling material tray I and a profiling material tray II, ensuring that the three materials to be tested are stably placed in each profiling mold, and then marking and numbering the placed materials according to the number of the profiling mold;
s2, environment inspection: checking whether excessive materials exist in the range of the equipment, and ensuring that no excessive materials exist around the equipment when the equipment runs, so that unstable objects which can be toppled and turned over are avoided, and running faults caused by smashing the equipment are avoided;
s3, starting up preparation: opening a compressed air inlet valve to ventilate equipment, opening an equipment power circuit breaker on an electrical control cabinet to electrify the equipment, and at the moment, a three-color lighthouse on the electrical control cabinet (10) is lightened, and a computer is automatically started;
s4, logging in software: setting a 'manual/automatic' knob as a 'manual' position, opening detection software, logging in, and filling related information of the detected materials into a system;
s5, initializing: clicking a system reset button of a software interface to initialize a system, and enabling the three-axis coordinate manipulator, the material taking clamping jaw, the detection tool, the tool selection mechanism and the rocker arm detection sensor to recover to initial positions;
s6, starting detection: setting a manual/automatic knob to be an automatic position, then pressing a start button, loosening the start button when the rocker detection sensor starts to move, starting automatic operation of the system, and turning on a system operation indicator lamp on software, wherein in order to avoid false touch, the system is set to be required to press the start button for 2s, and then automatic measurement is started;
s7, starting automatic detection, which comprises the following steps:
s701, rotating a detection tool of a current detected material to a detection position;
s702, the rocker arm detection sensor descends to the detection height of the current material;
s703, according to the set coordinates, the three-axis coordinate manipulator descends to the lifting height Z1 of the material taking, and then the X axis and the Y axis of the manipulator move to the set first material coordinate position;
s704, the Z axis is lowered to the material taking height Z2, clamping jaws are tightened, and the tested material is clamped;
s705, the Z axis rises to the Z1 height, and the X axis and the Y axis start to move to the detection tool position;
s706, the Z axis descends to the discharging height Z3, the clamping jaw is loosened, and the material is placed on the detection tool;
s707, the Z axis rises to a detection waiting height Z4;
s708, ejecting the tool ejection device to enable the material to be ejected forwards and limited; the spring pressing block attached to the jacking device is pressed onto the material while jacking, so that one end of the material is not tilted;
s709, after the detection software receives the tightening signal, starting to measure the size of the material, and displaying the result on a software interface;
s710, after detection is completed, the jacking cylinder retreats and loosens to drive the spring pressing block to move away;
s711, the Z axis descends to the height Z3, and the material taking clamping jaw clamps the material and then ascends to the height Z4;
s712, the X axis and the Y axis move to the coordinates of the first profiling material tray or the second profiling material tray for taking materials;
s713, the Z axis descends to the height Z2, the material taking clamping jaw is loosened, and the material is put down;
s714, the Z axis rises to the height Z1, and the X axis and the Y axis move to the next material coordinate;
s715, repeating the steps S703-S713 until all the materials are measured;
s716, after the material measurement is completed, the rocker arm detection sensor is lifted to a waiting height;
s717, the detection tool automatically rotates 90 degrees, so that the detection tool of the next material is positioned under the rocker arm detection sensor;
s718, the rocker arm detection sensor descends to a corresponding detection height;
s719, the X axis and the Y axis of the three-axis coordinate manipulator move to the first piece coordinate of the next material, and continue automatic measurement work;
s8, when the first profiling material tray or the second profiling material tray is not fully filled, the system judges whether the material is clamped at the time according to whether the rocker arm detection sensor detects data, if so, the step S707-S710 is not executed, and the system directly jumps from the step S706 to the step S711;
s9, after all materials are detected, the Z axis of the three-axis coordinate manipulator rises to a height Z1, and the X axis and the Y axis move to the middle position of the equipment;
s10, the operator can save, screen and generate report forms;
s11, after finishing the data operation of the software, taking down the materials and loading the materials into the original storage position;
and S12, when other detection is not performed, the detection software is firstly exited, then the computer is turned off, and then the power supply and the air source of the equipment are turned off.
The automatic detection method for the compressor stator rocker arm assembly, provided by the invention, can be used for realizing automatic detection and screening of the rocker arm size by being matched with the automatic detection device for the compressor stator rocker arm assembly, is accurate in measurement and simple in operation, can be used for identifying and reminding an optimal product meeting the screening rule, and can be used for storing data so as to facilitate the next batch of screening.
Drawings
FIG. 1 is a schematic view (front view) of the structure of the present invention;
FIG. 2 is a schematic view (left side view) of the structure of the present invention;
FIG. 3 is a schematic view (top view) of the structure of the present invention;
FIG. 4 is a schematic diagram of an electrical system;
in the figure: the device comprises a 1-foot cup, a 2-rocker arm stand, a 3-concave handle, a 4-door lock, a 5-rocker arm detection sensor, a 6-V-shaped finger, a 7-pneumatic hand claw, an 8-three-axis coordinate manipulator, a 9-auxiliary seat, a 10-electrical control cabinet, an 11-traversing drag chain, a 12-electromagnetic valve component, a 13-compressed air inlet valve, a 14-air pipe connector, a 15-profiling tray I, a 16-profiling tray II, a 17-detection tool, a 18-detection tool table top, a 19-button box, a 20-detection component and a 21-tool selection mechanism.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1-4:
the invention provides an automatic detection device for a stator rocker arm assembly of a gas compressor, which comprises a mechanical system, an electrical system and an upper computer software system, wherein:
the mechanical system comprises a detection assembly 20, a three-axis coordinate manipulator 8, a detection tool 17, a profiling tray I15, a profiling tray II 16 and a material taking clamping jaw;
the detecting assembly 20 comprises a lifting module, a mounting seat and a micrometer, after the detected assembly is tightly attached to the detecting tool 17, the lifting module descends the micrometer to a fixed height, the distance between the center of a cylinder of the detected assembly and the center line of the micrometer is measured, the measured distance is compared with the distance between the center of the cylinder measured by the standard component and the center line of the micrometer to obtain a difference value, and the lengths of the detected surface of the detected assembly and the center of the detected cylinder are calculated;
the three-axis coordinate manipulator 8 comprises a X, Y, Z three-axis driving assembly, a CKD high-precision ball screw with guide rail module is adopted, and the left limit switch position of an X-axis screw and the left limit switch position of a Y-axis screw are set as coordinate origins of the equipment system;
the detection tools 17 are three, are simultaneously installed and fixed on a tool selection mechanism 21 on a table top 18 of the detection tool, a control system judges the type of a detected component according to the serial number of the detected component, controls a rotary servo motor to rotate to a fixed angle according to the type of the detected component, rotates a corresponding component detection tool 17 to be right below a detection component 20, places a component clamped by a material taking clamping jaw on the detection tool 17 by an X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor after rotating in place, and controls an air cylinder positioning mechanism to push against the detected component after placing in place so as to ensure that the detected surface of the detected component is tightly attached to the side face of the detection tool 17;
the first profiling material tray 15 and the second profiling material tray 16 are arranged on the checking fixture table top 18 through positioning pins, and the left upper corner coordinates of the first profiling material tray 15 and the second profiling material tray 16 are fixed;
the first profiling material tray 15 and the second profiling material tray 16 are provided with a plurality of profiling moulds, and the position coordinates of each profiling mould can be calculated according to the upper left corner coordinates of the first profiling material tray 15 and the second profiling material tray 16 and the fixed offset of the mould serial numbers;
the material taking clamping jaw comprises a pneumatic claw 7 and a V-shaped finger 6, when the material taking clamping jaw is operated, according to the serial number of a current tested component, a control system calculates to obtain the coordinate of the current tested component, the X coordinate and the Y coordinate are respectively sent to a servo motor of a corresponding shaft, after the servo motor obtains an instruction, the material taking clamping jaw is moved to a corresponding position through a screw rod, then a Z-axis servo motor drives the material taking clamping jaw to descend to a fixed position, the control system controls the switch of a material taking clamping jaw cylinder, and after a product is clamped, the Z-axis servo motor drives the material taking clamping jaw to ascend to the fixed height;
the electrical system comprises a control system, a measurement system and an execution system;
the upper computer software system is written by Labview and is responsible for data acquisition and display, qualification judgment of workpiece measurement data, screening of the workpiece to be measured and data uploading.
As an alternative or preferred embodiment, the profiling charging tray I15 and the profiling charging tray II 16 are respectively provided with 152 profiling moulds, and can simultaneously charge at each time, and can accommodate 304 products.
As an alternative or preferred embodiment, the V-shaped finger 6 is made of brass material.
As an alternative or preferred embodiment, the control system includes two siemens SMRT200 PLC controllers, one is responsible for controlling the three-axis manipulator 8 and the pneumatic gripper 7, the other is responsible for controlling the tool selecting mechanism 21 and the detecting assembly 20, and the two PLCs communicate with each other to cooperatively complete the control work.
As an alternative or preferred implementation mode, the measuring system comprises a Kidney high-precision digital micrometer LS-9030, wherein LS-9030 is a non-contact measuring instrument, the measuring precision can reach +/-2 mu m, the repeating precision can reach +/-0.1 mu m, the highest sampling rate is 16000Hz, and the measuring system has a deviation rectifying function, so that measuring errors caused by product inclination can be avoided.
As an alternative or preferred embodiment, the actuating mechanism comprises 5 servo motors and 4 air cylinders, each shaft of the three-axis coordinate manipulator 8 is driven by one servo motor, the tool selecting mechanism 21 of the detecting tool 17 is driven by one servo motor to rotate, the lifting module of the detecting assembly 20 is driven by one servo motor to lift, the material taking clamping jaw is driven by the air cylinders to clamp and loosen, and the detecting tools 17 of the three stations are respectively driven by one air cylinder to eject and retract.
As an optional or preferred implementation manner, when the upper computer software system performs data measurement, the upper computer software system performs data reading operation with the LS-9030 through the RS232 communication bus, acquires measurement data of the measured workpiece, and is responsible for calculating the measurement data and standard component data to obtain actual measurement data of the measured workpiece, and the upper computer software performs data interaction with the PLC controller through OPC, and is responsible for monitoring states of the three-axis coordinate manipulator 8, the tightening cylinder, the profiling tray one 15 and the profiling tray two 16.
The invention also provides an automatic detection method of the compressor stator rocker arm assembly, which is based on the automatic detection device of the compressor stator rocker arm assembly, and comprises the following steps:
s1, preparing a measured material: respectively placing three materials to be tested into profiling molds on a profiling material tray I15 and a profiling material tray II 16, ensuring that the three materials to be tested are stably placed in each profiling mold, and then marking and numbering the placed materials according to the number of the profiling mold;
s2, environment inspection: checking whether excessive materials exist in the range of the equipment, and ensuring that no excessive materials exist around the equipment when the equipment runs, so that unstable objects which can be toppled and turned over are avoided, and running faults caused by smashing the equipment are avoided;
s3, starting up preparation: opening a compressed air inlet valve 13 to ventilate equipment, opening an equipment power circuit breaker on the electrical control cabinet 10 to electrify the equipment, and at the moment, the three-color lighthouse on the electrical control cabinet 10 is turned on, and a computer is automatically started;
s4, logging in software: setting a 'manual/automatic' knob as a 'manual' position, opening detection software, logging in, and filling related information of the detected materials into a system;
s5, initializing: clicking a system reset button of a software interface to initialize a system, and enabling the three-axis coordinate manipulator 8, the material taking clamping jaw, the detection tool 17, the tool selection mechanism 21 and the rocker arm detection sensor 5 to restore to initial positions;
s6, starting detection: setting a manual/automatic knob to be an automatic position, then pressing a start button, loosening the start button when the rocker arm detection sensor 5 starts to move, starting automatic operation of the system, and simultaneously turning on a system operation indicator lamp on software, wherein in order to avoid false touch, the system is set to be capable of starting automatic measurement after the start button is pressed for 2 s;
s7, starting automatic detection, which comprises the following steps:
s701, rotating a detection tool 17 of a current detected material to a detection position;
s702, the rocker arm detection sensor 5 descends to the detection height of the current material;
s703, according to the set coordinates, the Z axis of the three-axis coordinate manipulator 8 descends to the lifting height Z1 of the material taking, and then the X axis and the Y axis of the manipulator move to the set first material coordinate position;
s704, the Z axis is lowered to the material taking height Z2, clamping jaws are tightened, and the tested material is clamped;
s705, the Z axis rises to the Z1 height, and the X axis and the Y axis start to move to the detection tool position;
s706, the Z axis descends to the discharging height Z3, the material taking clamping jaw is loosened, and the material is placed on the detection tool 17;
s707, the Z axis rises to a detection waiting height Z4;
s708, ejecting the tool ejection device to enable the material to be ejected forwards and limited; the spring pressing block attached to the jacking device is pressed onto the material while jacking, so that one end of the material is not tilted;
s709, after the detection software receives the tightening signal, starting to measure the size of the material, and displaying the result on a software interface;
s710, after detection is completed, the jacking cylinder retreats and loosens to drive the spring pressing block to move away;
s711, the Z axis descends to the height Z3, and the material taking clamping jaw clamps the material and then ascends to the height Z4;
s712, the X axis and the Y axis move to the coordinates of taking materials from the profiling material tray I15 or the profiling material tray II 16;
s713, the Z axis descends to the height Z2, the material taking clamping jaw is loosened, and the material is put down;
s714, the Z axis rises to the height Z1, and the X axis and the Y axis move to the next material coordinate;
s715, repeating the steps S703-S713 until all the materials are measured;
s716, after the material measurement is completed, the rocker arm detection sensor 5 is lifted to the waiting height;
s717, the detection tool 17 automatically rotates 90 degrees, so that the detection tool 17 of the next material is positioned under the rocker arm detection sensor 5;
s718, the rocker arm detection sensor 5 descends to a corresponding detection height;
s719, the X axis and the Y axis of the three-axis coordinate manipulator 8 move to the first piece coordinate of the next material, and the automatic measurement work is continued;
s8, when the profiling material tray I15 or the profiling material tray II 16 is not fully filled, the system judges whether the material is clamped at the time according to whether the rocker arm detection sensor 5 detects data, if so, the step S707-S710 is not executed, and the system directly jumps from the step S706 to the step S711;
s9, after all materials are detected, the Z axis of the three-axis coordinate manipulator 8 rises to a height Z1, and the X axis and the Y axis move to the middle position of the equipment;
s10, operators can perform operations such as data storage, screening and report generation, in the range of qualified products, workpiece serial numbers of each stage are screened according to the rule that the maximum and minimum deviation of the products at the same stage is less than or equal to 0.03mm, and the workpieces with the number meeting the requirement are identified, if the current batch fails to screen the workpieces with the number meeting the requirement, the current batch is screened out, the number meeting the number is enough from the workpieces to be tested, different schemes are selected according to the service life, the batch and the figure number, and a database is updated in real time;
s11, after finishing the data operation of the software, taking down the materials and loading the materials into the original storage position;
and S12, when other detection is not performed, the detection software is firstly exited, then the computer is turned off, and then the power supply and the air source of the equipment are turned off.

Claims (3)

1. Automatic detection device of compressor stator rocking arm subassembly, its characterized in that: the system comprises a mechanical system, an electrical system and an upper computer software system;
the mechanical system comprises a detection assembly (20), a three-axis coordinate manipulator (8), a detection tool (17), a profiling tray I (15), a profiling tray II (16) and a material taking clamping jaw; 152 profiling molds are arranged on the profiling material tray I (15) and the profiling material tray II (16), the position coordinates of each profiling mold can be calculated according to the left upper corner coordinates of the profiling material tray I (15) and the profiling material tray II (16) and the fixed offset of the mold serial numbers, and 304 products can be simultaneously fed each time;
the detecting assembly (20) comprises a lifting module, a mounting seat and a micrometer, after the detected assembly is tightly attached to the detecting tool (17), the lifting module descends the micrometer to a fixed height, the distance between the center of a cylinder of the detected assembly and the center line of the micrometer is measured, the measured distance is compared with the distance between the center of the cylinder measured by the standard component and the center line of the micrometer to obtain a difference value, and the lengths of the detected surface of the detected assembly and the center of the detected cylinder are calculated;
the three-axis coordinate manipulator (8) comprises a X, Y, Z three-axis driving assembly, a CKD high-precision ball screw with guide rail module is adopted, and the left limit switch position of an X-axis screw and the left limit switch position of a Y-axis screw are set as coordinate origins of an equipment system;
the detection tools (17) are three, the detection tools are simultaneously arranged and fixed on a tool selection mechanism (21) on a table top (18) of the detection tool, a control system judges the type of a detected component according to the serial number of the current detected component, a rotary servo motor is controlled to rotate to a fixed angle according to the type of the detected component, a corresponding component detection tool (17) is rotated to a position right below a detection component (20), after the detection tools are rotated in place, an X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor place a component clamped by a material clamping jaw on the detection tool (17), and after the detection tools are placed in place, a control system controls a cylinder positioning mechanism to prop against the detected component, so that the detected surface of the detected component is tightly attached to the side face of the detection tool (17);
the profiling charging tray I (15) and the profiling charging tray II (16) are arranged on a checking fixture table top (18) through positioning pins;
a plurality of profiling molds are arranged on the profiling tray I (15) and the profiling tray II (16);
the material taking clamping jaw comprises a pneumatic claw (7) and V-shaped fingers (6);
the electrical system comprises a control system, a measurement system and an execution system;
the control system comprises two PLC controllers, wherein the PLC controllers are Siemens SMRT200 PLC controllers, one PLC controller is responsible for controlling a triaxial mechanical arm (8) and a pneumatic paw (7), the other PLC controller is responsible for controlling a tool selection mechanism (21) and a detection assembly (20), and the two PLC controllers are communicated with each other to cooperatively complete control work;
the actuating system comprises 5 servo motors and 4 air cylinders, each shaft of the three-axis coordinate manipulator (8) is driven by one servo motor, a tool selection mechanism (21) for detecting tools (17) is driven by one servo motor to rotate, a lifting module of the detection assembly (20) is driven by one servo motor to lift, the material taking clamping jaw is driven by the air cylinders to clamp and loosen, and the detection tools (17) of the three stations are driven by one air cylinder to eject and retract respectively;
the upper computer software system is responsible for data acquisition and display, qualification judgment of workpiece measurement data, screening of the workpiece to be measured and data uploading; when the upper computer software system performs data measurement, the upper computer software system performs data reading operation with LS-9030 through an RS232 communication bus to obtain measurement data of a measured workpiece, and is responsible for calculating the measurement data and standard part data to obtain measured data of the measured workpiece, and the upper computer software performs data interaction with a PLC (programmable logic controller) through OPC to monitor the states of a three-axis coordinate manipulator (8), a tightening cylinder, a profiling material disc I (15) and a profiling material disc II (16);
the automatic detection method of the compressor stator rocker arm assembly comprises the following steps:
s1, preparing a measured material: the three materials to be measured are respectively placed in profiling molds on a profiling material tray I (15) and a profiling material tray II (16), stable placement of the materials in each profiling mold is ensured, and then the placed materials are marked and numbered according to the numbers of the profiling molds;
s2, environment inspection: checking whether excessive materials exist in the range of the equipment, and ensuring that no excessive materials exist around the equipment when the equipment runs, so that unstable objects which can be toppled and turned over are avoided, and running faults caused by smashing the equipment are avoided;
s3, starting up preparation: opening a compressed air inlet valve (13) to ventilate equipment, opening an equipment power circuit breaker on an electrical control cabinet (10) to electrify the equipment, and at the moment, the three-color lighthouse on the electrical control cabinet (10) is lightened, and a computer is automatically started;
s4, logging in software: setting a 'manual/automatic' knob as a 'manual' position, opening detection software, logging in, and filling related information of the detected materials into a system;
s5, initializing: clicking a system reset button of a software interface to initialize a system, and enabling the three-axis coordinate manipulator (8), the material taking clamping jaw, the detection tool (17), the tool selection mechanism (21) and the rocker arm detection sensor (5) to restore to initial positions;
s6, starting detection: setting a manual/automatic knob to be an automatic position, then pressing a start button, and releasing the start button when the rocker arm detection sensor (5) starts to move, wherein the system starts to operate automatically, and a system operation indicator lamp on software is lightened, so that the system is set to start automatic measurement after the start button is pressed for 2s in order to avoid false collision;
s7, starting automatic detection, which comprises the following steps:
s701, rotating a detection tool (17) of the current detected material to a detection position;
s702, the rocker arm detection sensor (5) descends to the detection height of the current material;
s703, according to the set coordinates, the Z axis of the three-axis coordinate manipulator (8) descends to the lifting height Z1 of the material taking, and then the X axis and the Y axis of the manipulator move to the set first material coordinate position;
s704, the Z axis is lowered to a material taking height Z2, and a material taking clamping jaw clamps and clamps the tested material;
s705, the Z axis rises to the Z1 height, and the X axis and the Y axis start to move to the detection tool position;
s706, the Z axis descends to the discharging height Z3, the clamping jaw is loosened, and the material is placed on the detection tool (17);
s707, the Z axis rises to a detection waiting height Z4;
s708, ejecting the tool ejection device, so that the material is ejected forwards to limit, and pressing a spring pressing block attached to the ejection device onto the material while ejecting, so that one end of the material is prevented from tilting;
s709, after the detection software receives the tightening signal, starting to measure the size of the material, and displaying the result on a software interface;
s710, after detection is completed, the jacking cylinder retreats and loosens to drive the spring pressing block to move away;
s711, the Z axis descends to the height Z3, and the material taking clamping jaw clamps the material and then ascends to the height Z4;
s712, the X axis and the Y axis move to the coordinates of the material taking of the profiling material tray I (15) or the profiling material tray II (16);
s713, the Z axis descends to the height Z2, the material taking clamping jaw is loosened, and the material is put down;
s714, the Z axis rises to the height Z1, and the X axis and the Y axis move to the next material coordinate;
s715, repeating the steps S703-S713 until all the materials are measured;
s716, after the material measurement is completed, the rocker arm detection sensor (5) rises to the waiting height;
s717, the detection tool (17) automatically rotates by 90 degrees, so that the detection tool (17) of the next material is positioned right below the rocker arm detection sensor (5);
s718, the rocker arm detection sensor (5) descends to a corresponding detection height;
s719, the X axis and the Y axis of the three-axis coordinate manipulator (8) move to the first piece coordinate of the next material, and the automatic measurement work is continued;
s8, when the profiling tray I (15) or the profiling tray II (16) is not fully filled, the system judges whether the material is clamped at the time according to whether the rocker detection sensor (5) detects data, if so, the step S707-S710 is not executed, and the system directly jumps from the step S706 to the step S711;
s9, after all materials are detected, the Z axis of the three-axis coordinate manipulator (8) rises to a height Z1, and the X axis and the Y axis move to the middle position of the equipment;
s10, operators can perform operations such as data storage, screening and report generation, in the range of qualified products, workpiece serial numbers of each stage are screened according to the rule that the maximum and minimum deviation of the products at the same stage is less than or equal to 0.03mm, and the workpieces with the number meeting the requirement are identified, if the current batch fails to screen the workpieces with the number meeting the requirement, the current batch is screened out, the number meeting the number is enough from the workpieces to be tested, different schemes are selected according to the service life, the batch and the figure number, and a database is updated in real time;
s11, after finishing the data operation of the software, taking down the materials and loading the materials into the original storage position;
and S12, when other detection is not performed, the detection software is firstly exited, then the computer is turned off, and then the power supply and the air source of the equipment are turned off.
2. The automated detection device for a compressor stator rocker arm assembly of claim 1, wherein: the V-shaped finger (6) is made of brass material.
3. The automated detection device for a compressor stator rocker arm assembly of claim 1, wherein: the measurement system includes a high-precision digital micrometer.
CN202110832250.1A 2021-07-22 2021-07-22 Automatic detection device and detection method for stator rocker arm assembly of gas compressor Active CN113600500B (en)

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