CN114486213B - Integral liquid flow test device with automatic clamping nozzle - Google Patents
Integral liquid flow test device with automatic clamping nozzle Download PDFInfo
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- CN114486213B CN114486213B CN202111669092.9A CN202111669092A CN114486213B CN 114486213 B CN114486213 B CN 114486213B CN 202111669092 A CN202111669092 A CN 202111669092A CN 114486213 B CN114486213 B CN 114486213B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/02—Details or accessories of testing apparatus
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses an integrated liquid flow test device for automatically clamping a nozzle, which comprises a liquid flow test table, a robot automatic test table and a water return system, wherein the liquid flow test table is connected with the robot automatic test table; the robot automatic test bed and the water return system are respectively arranged on two sides of the liquid flow test bed: the liquid flow test bed comprises a frame, a measurement and control cabinet, a C-shaped support panel and a plurality of test stations; the test station comprises a lifting cylinder, a water guide tool, an upper tool, a lower tool, two sliding blocks, two guide rails, two water pipes and two hoses; the robot automation test bed comprises an integrated rack and a six-axis robot arranged on the integrated rack; an installation large plate is paved on the integral rack, a plurality of material boxes and a plurality of pairs of limiting slide rails are arranged on the installation large plate, and detection sensors are installed on the side edges of the material boxes. According to the invention, through cooperation of all parts, the automation of the whole flow of the liquid flow test process of the nozzle product is effectively realized, the working efficiency is improved, the manpower is greatly saved, and meanwhile, the accuracy of the test result is improved.
Description
Technical Field
The invention belongs to the technical field of automatic liquid flow tests, relates to automatic clamping, automatic coding identification and liquid flow tests of nozzle products, and in particular relates to an integrated liquid flow test device for automatic clamping of nozzles.
Background
The nozzle product is an important component in the aerospace liquid oxygen kerosene engine product, the nozzle product becomes a nozzle assembly product after the test is completed from a single part form, and the nozzle assembly can be formed into a complete engine product through a plurality of round procedures such as welding and assembling with other parts. The efficiency of the test of the nozzle part product is therefore a key factor affecting the efficiency of the test of the engine product. The nozzle product is in a hollow cylindrical shape, and no integrated liquid flow test device for automatically clamping the nozzle of the nozzle product exists in the current industry.
The traditional method is to manually take the products one by one, transcribe the product codes, manually assemble and disassemble the plugs and the nozzle products required in the simulation test process, finally put the plugs and the nozzle products into a test tool for water-through test, and operate the test in reverse order. The test fixture is divided into an upper part and a lower part, and is connected through bolts, and the test fixture needs to be manually assembled and disassembled before and after the test.
The whole test process is complicated, depends on manpower and has low efficiency. As the number of nozzle products increases dramatically, traditional manual test modes are no longer applicable. In order to improve the current situation, it is highly desirable to design an integrated liquid flow test device for automatically clamping a nozzle product of a liquid oxygen kerosene engine, which satisfies automatic feeding and discharging, automatic code input and automatic liquid flow test, and completely realizes automation of each link so as to improve test efficiency and reliability.
Disclosure of Invention
Aiming at the defects or shortcomings in the background technology, the invention aims to provide an integrated liquid flow test device for automatically clamping a nozzle.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
an integrated liquid flow test device for automatically clamping a nozzle comprises a liquid flow test bed, a robot automatic test bed, a water return system, a coding identification system and an automatic assembly and disassembly system; wherein the robot automatic test bed and the water return system are respectively arranged at two sides of the liquid flow test bed;
the liquid flow test bed comprises a frame, a measurement and control cabinet, a C-shaped support panel and a plurality of test stations; wherein the C-shaped support panel is mounted on the frame; each test station comprises a lifting cylinder, a water guide tool, an upper tool, a lower tool, two sliding blocks, two guide rails, two water pipes and two hoses; the lifting cylinder is arranged at the top of the C-shaped support panel, the guide rails are arranged on the vertical surface of the C-shaped support panel, the water guide tool is respectively arranged on the two guide rails through two symmetrical sliding blocks, the water guide tool is fixedly connected with the piston rod of the lifting cylinder, and the water guide tool can move up and down along the vertical direction under the driving of the piston rod of the lifting cylinder; the water guide mechanism is provided with two water inlets and one water outlet, the lower end of the water outlet is connected with an upper tool, and the bottom surface of the C-shaped support panel is provided with a lower tool which is coincident with the corresponding upper tool axis; the two water inlets are respectively communicated with two water pipes which freely pass through the through holes on the upper end surface of the C-shaped support panel, and each water pipe is respectively communicated with a water source through a hose; the water outlet of the lower tool is connected to the water return system through a pipeline;
the robot automation test bed comprises an integrated rack and a six-axis robot arranged on the integrated rack; the integrated rack is paved with a large installation plate, a plurality of material boxes and a plurality of pairs of limit sliding rails are arranged on the large installation plate, and detection sensors are arranged on the side edges of the material boxes; the coding recognition system and the automatic assembly and disassembly system are respectively arranged on the installation large plate.
Further, a linear guide rail is respectively arranged below two through holes of the upper end face of the C-shaped support panel corresponding to each test station, and the water pipe passes through the through holes freely through the linear guide rail.
Further, a plurality of balls are axially arranged between the water pipe and the linear guide rail.
Further, each hose is respectively installed in a drag chain, and the drag chain is installed at the top of the C-shaped support panel.
Furthermore, the limiting slide rails are L-shaped, and a fluent strip, a photoelectric sensor and an RFID system are arranged between the two limiting slide rails;
further, a plurality of waterproof joints with different apertures are arranged on the installation large plate.
Further, the code recognition system comprises a visual mounting plate arranged on a large mounting plate of the robot automation test bed, a light source, a camera component and a rotating tool are arranged on the visual mounting plate, and the camera component is arranged on the visual mounting plate through a rodless cylinder and can be driven to adjust the height position.
Further, the automatic assembly and disassembly system comprises a bottom plate and a plug bracket which are parallelly arranged on a large installation plate of the robot automatic test bed, and a two-finger air cylinder, two fixed dies and a detection sensor are arranged on the bottom plate.
Further, the water return system comprises a water tank, and the included angle between the bottom plate of the water tank and the ground is no more than 8 degrees.
Further, a safety protection system is arranged outside the liquid flow test bed.
Compared with the prior art, the invention has the following beneficial effects:
the invention is applicable to nozzle products which need to be loaded and unloaded, coded and identified and clamped, and the whole device effectively realizes the automation of the whole flow of the flow test process of the nozzle products through the cooperation of all parts, improves the working efficiency, greatly saves the manpower and improves the accuracy of the test result. The concrete steps are as follows:
(1) through design a plurality of parallel test stations on the liquid flow test bench, can carry out the test of a plurality of nozzle products simultaneously, effectively improve work efficiency. The upper and lower tools in the nozzle product liquid flow test can be automatically and accurately butted by being provided with the lifting air cylinder, the water guide tool, the upper and lower tools, the sliding block, the guide rail, the water pipe and the hose in each test station, so that the working efficiency and the result accuracy are improved;
(2) the six-axis robot provided with the robot automatic test bed can realize automatic grabbing and placing of products through different two finger clamps matched with the appearance of the products according to the appearance characteristics of the products; meanwhile, due to the arrangement of the limiting sliding rail, the photoelectric sensor and other parts on the test bed, the material tray can be quickly and accurately installed in place; in addition, the deviation of the planning position and the actual position of the target point position is automatically acquired and compensated through the auxiliary positioning of the high-precision laser displacement sensor, so that the accurate in-place of the equipment can be ensured each time, the in-place precision of the equipment is improved, and the position information can be automatically acquired, the product can be automatically grasped, the material tray can be automatically positioned, and the material tray information can be read;
(3) the code recognition system can automatically and clearly collect character code information of the circumferential surface electric carving of the product, has an automatic recognition and reading function, reduces the manual operation intensity, improves the working efficiency, and simultaneously effectively improves the accuracy;
(4) the automatic assembly and disassembly system can be tightly matched with a six-axis robot of the robot automatic test bed, and the assembly and disassembly of the nozzle product with the plug can be automatically and accurately carried out.
(5) Noise reduction grids (505) are arranged in the water tank of the water return system through the grid support (504), so that noise of water media can be effectively reduced when the flow is large, and the water tank is made of rust-proof materials.
Drawings
FIG. 1 is a perspective view of an integrated flow test apparatus with automatic clamping of a nozzle in accordance with the present invention;
fig. 2 is a schematic perspective view of the device of fig. 1 after a safety shield system is disposed externally;
FIG. 3 is a schematic perspective view of a flow stand;
fig. 4 is a front view of fig. 3;
FIG. 5 is a left side view of FIG. 3;
FIG. 6 is an enlarged view of a portion of the flow stand;
FIG. 7 is a schematic perspective view of a water return system;
FIG. 8 is a schematic perspective view of a code recognition system;
FIG. 9 is a schematic perspective view of a robotic automation test stand;
FIG. 10 is a schematic perspective view of an automated assembly and disassembly system;
FIG. 11 is a flow chart of the operation of the device of the present invention;
the marks in the figures represent:
1. the device comprises a liquid flow test bed, 101, a frame, 102, a measurement and control cabinet, 103, a waterproof enclosure, 104, a lifting cylinder, 105, a drag chain, 106, a water pipe, 107, a water guiding tool, 108, an upper tool, 109, a guide rail, 110, a slide block, 111, a lower tool, 112, a C-shaped support panel, 113, a linear guide rail, 114, a hose, 115 and a nozzle product;
2. robot automation test bed 201, integrated bench 202, installation large plate 203, six-axis robot 204, heavy-duty ground leg 205, L-shaped ground leg 206, material box 207, detection sensor 208, material tray 209, RFID system 210, limit slide rail 211, photoelectric sensor 212, waterproof joint 213, fluency strip 214, T-shaped adapter plate 215, claw clip 216, laser displacement sensor;
3. the device comprises a code identification system 301, a visual mounting plate 302, a motor 303, a rotating tool 304, a light source 305, a rodless cylinder 306 and a camera component;
5. the system comprises a water return system 501, a water tank 502, adjustable feet 503, a splash cover plate 504, a grid bracket 505 and a noise reduction grid;
6. the automatic assembling and disassembling system comprises an automatic assembling and disassembling system 601, a bottom plate 602, a two-finger air cylinder 603, a fixed die 604, a plug bracket 605, a plug 606, a detection bracket 607 and a detection sensor;
7. the safety protection system comprises a safety protection system 701, a section bar outer frame, 702, a cantilever operation screen 703, a movable anchor, 704, a three-color warning lamp, 705 and an acrylic panel.
The invention is further explained below with reference to the drawing and the specific embodiments.
Detailed Description
The invention provides an integrated liquid flow test device for automatically clamping a nozzle, which comprises a liquid flow test table 1, a robot automatic test table 2, a water return system 5, a code identification system 3 and an automatic assembly and disassembly system 6; wherein, robot automation test bench 2 and return water system 5 are installed respectively in the both sides of liquid flow test bench 1:
as shown in fig. 3-6, the flow stand 1 comprises a frame 101, a measurement and control cabinet 102, a C-shaped support panel 112, and a plurality of test stations (preferably 4); the measurement and control cabinet 102 is arranged on the side surface of the frame 101 and is used for installing electric control components required by system operation, and the integrated installation structure is convenient for equipment maintenance; the C-shaped support panel 112 is arranged on the frame 101, is of a C-shaped structure formed by welding stainless steel plates, and releases stress after welding so that the C-shaped structure has the advantages of water resistance, rust resistance and high strength; each test station comprises a lifting cylinder 104, a water guide tool 107, an upper tool 108, a lower tool 111, two sliding blocks 110, two guide rails 109, two water pipes 106 and two hoses 114; the lifting cylinder 104 is mounted on the top of the C-shaped support panel 112, the guide rail 109 is mounted on the vertical surface of the C-shaped support panel 112, the water guide tool 107 is T-shaped, the water guide tool 107 is respectively mounted on the two guide rails 109 through two symmetrical sliding blocks 110, and the water guide tool 107 is fixedly connected with the piston rod of the lifting cylinder 104, and the water guide tool 107 can move up and down along the vertical direction under the driving of the piston rod of the lifting cylinder 104; the water guide tool 107 is provided with two water inlets and a water outlet, the lower end of the water outlet is connected with the upper tool 108, and the bottom surface of the C-shaped support panel 112 is provided with a lower tool 111 which coincides with the axis of the corresponding upper tool 108; the two water inlets are respectively communicated with two water pipes 106 which freely pass through the through holes on the upper end surface of the C-shaped support panel 112, and each water pipe 106 is respectively communicated with a water source through a hose 114 so as to realize the water supply of the water source to the water guide tool 107; the water outlet of the lower tool 111 is connected to the water return system 5 through a pipeline, so that drainage in the test process is realized. In the structure, each water guide tool 107 corresponds to two water pipes 106 for supplying water, and the structure can not only meet the water supply requirement, but also be symmetrical and stable; the guide positioning of the water guide tool 107 along the vertical direction is realized by the slide block 110 and the guide rail 109, the accurate motion of the water guide tool 107 along the vertical direction is realized by adopting the guide rail 109 and the slide block 110, and the problem that the upper tool and the lower tool of the water guide tool 107 cannot be accurately aligned due to the upward motion of the C plate caused by overlarge water flow of the hose 114 when the flow is large is avoided. Preferably, a linear guide rail 113 is respectively installed below two through holes on the upper end face of the corresponding C-shaped support panel 112 of each test station, the water pipe 106 passes through the linear guide rail 113 so as to freely pass through the through holes, and the linear guide rail gives the water pipe 106 directional guidance. In addition, a plurality of balls may be axially provided between the water pipe 106 and the linear guide 113, so that the water pipe 106 moves up and down in the linear guide 113 more smoothly.
Preferably, the frame 101 is formed by welding stainless steel square tubes, and has the advantages of stable structure and difficult deformation; preferably, a waterproof enclosure 103 is arranged on the periphery of the frame 101, so that splashing of an aqueous medium during a test is effectively prevented; the lifting cylinder 104 is a high-precision single-rod lifting cylinder. Preferably, each hose 114 is respectively installed in a drag chain 105, the drag chain 105 is installed at the top of the C-shaped support panel 112, and the drag chain 105 is used for guiding the hoses 114, so that the equipment wiring is attractive and maintenance is convenient.
When the liquid flow test stand 1 is used for testing, a nozzle product 115 to be tested is placed into the lower tool 111, and the upper tool 108 descends under the action of the lifting cylinder 104 until the upper tool is attached to the end face of the lower tool 111, so that the nozzle product 115 is sealed, and the test water medium is prevented from leaking; the water pipe 106 freely passes through the through hole on the upper end surface of the C-shaped support panel 112, so that the movement in the vertical direction is not limited, namely, the water pipe 106 can synchronously realize reciprocating lifting along with the water guide tool 107 under the action of the lifting cylinder 104 through the linear guide rail 113. It can be seen that when a nozzle product 115 is tested, only one lifting cylinder 104, one water guiding tool 107, one upper tool 108, one lower tool 111, two sliders 110, two guide rails 109, two water pipes 106, two hoses 114 and two drag chains 105 are required. In order to improve the efficiency of the liquid flow test, the liquid flow test stand realizes multi-station parallel test, and a plurality of test stations are arranged according to the number of nozzle products 115, and fig. 3 shows a state that four stations are parallel.
As shown in fig. 9, the robot automation test stand 2 comprises an integrated stand 201 and a six-axis robot 203, wherein, preferably, the integrated stand 201 is integrally formed by welding a stainless steel square steel tube, has the advantages of high strength and firmness, is fixed on the ground through a heavy-duty anchor 204 and an L-shaped anchor 205, and the L-shaped anchor (104) is of a safe and redundant design, so that the weight is effectively and uniformly dispersed; the six-axis robot 203 has the advantages of high precision and high degree of freedom, the six-axis robot 203 is arranged on an integrated rack 201, the tail end of the six-axis robot 203 is provided with a T-shaped adapter plate 214, the T-shaped adapter plate 214 is provided with a claw clamp 215 and a laser displacement sensor 216, wherein the claw clamp 215 adopts a gas-driven two-finger power cylinder, the grabbing and loosening of products are realized through the opening and closing of the claw clamp, the laser displacement sensor 216 is used for realizing the position detection of cylindrical products or tools (such as nozzle products in liquid oxygen kerosene products, and the like), and an upper computer fits offset data of a target point through data acquired by the laser displacement sensor 216 and compensates in real time through the six-axis robot 203, so that the high-precision target in place is ensured; the integrated rack 201 is paved with a large installation plate 202, the large installation plate 202 is used for setting all parts in the working range of the six-axis robot 203, a plurality of material boxes 206 and a plurality of pairs of limit sliding rails 210 are arranged on the large installation plate 202, wherein each material box stores different types of objects according to requirements, a detection sensor 207 (preferably a photoelectric induction sensor is used for detecting whether the material box 206 at the current position is empty or not) is arranged on the side edge of each material box 206, the area between each pair of limit sliding rails 210 is used for placing a material tray 208, and the plurality of pairs of limit sliding rails 210 are used for correspondingly placing material trays with different functions (such as an upper material tray, a lower material tray, an unidentified material tray and the like).
Preferably, as shown in fig. 9, the limiting slide rail 210 is L-shaped, so that the tray 208 can be pushed to the short side of the limiting slide rail 210 along the long side of the L-shape and stopped. Preferably, a fluent strip 213 is installed between the two limiting slide rails 210, for reducing friction resistance with the bottom of the tray 208; meanwhile, a photoelectric sensor 211 and an RFID system 209 are also arranged between the two limit sliding rails 210 and are respectively used for detecting whether the material tray 208 is in place or not and detecting the information (such as product number and date) of the material tray 208; in addition, a plurality of waterproof joints 212 with different apertures are installed on the installation large plate 202, so that the installation large plate is used for orderly induction and maintenance of cables on a table top and has waterproof capability.
Preferably, the code recognition system 3 includes a visual mounting plate 301 mounted on the mounting plate 202 of the robotic automation test stand 2. As shown in fig. 8, a light source 304, a camera assembly 306 and a rotating tool 303 are installed on the visual installation plate 301, and the camera assembly 306 is installed on the visual installation plate 301 through a rodless cylinder 305 and can adjust the height position under the driving of the camera assembly 306; preferably, camera assembly 306 is a high resolution camera and lens combination for capturing coded characters of the product surface; the light source 304 is used for polishing a product during shooting, so that a good shooting effect is realized; the rotating tool 303 is configured with a motor 302, and can rotate at a constant speed and a constant angle under the driving action of the motor 302, and the rotating tool 303 is used for installing a nozzle product and driving the product to rotate in the shooting process. In the code recognition system 3, the shooting parameters of the camera component 306 on the rodless cylinder 305 are adjusted, so that the code character information on the circumferential direction of a product can be clearly shot and collected, and then the character data in the code character information can be extracted through an image recognition algorithm in an upper computer, so that the automatic code recognition and input functions are realized.
Preferably, as shown in fig. 10, the automatic assembling and disassembling system 6 comprises a base plate 601 and a plug bracket 604 which are installed on the installation large plate 202 of the robot automation test stand 2 in parallel, the plug bracket 604 is used for placing a buffer plug 605, a two-finger cylinder 602, two fixed dies 603 and a detection sensor 607 are installed on the base plate 601, wherein the fixed dies 603 (main fixed dies) close to the two cylinders are used as operation tables for assembling nozzle products and plugs, the other fixed die 603 is used as a standby (standby fixed dies), and the next nozzle product 115 to be assembled is temporarily placed; the two-finger cylinder 602 is used to clamp the nozzle product 115 on the main stationary mold against movement; the detecting sensor 607 is mounted on the base plate through the detecting bracket 606 for detecting whether the fixing mold has the nozzle product. By the structural design, when the qualified nozzle product 115 is conveyed to the automatic assembly and disassembly system 6 by the six-axis robot 203, the six-axis robot installs the nozzle product on a main fixed die, the two-finger air cylinder 602 clamps the nozzle product 115, and the six-axis robot 203 further installs the plug 605 and the nozzle product 115 coaxially in place, so that the automatic assembly and disassembly of the plug 605 on the qualified nozzle product 115 are realized, and the plug 605 is used for being installed on the nozzle product 115 to realize the plugging effect; when the nozzle product with the plug is tested, the nozzle product with the plug is sent to the main fixed die by the six-axis robot 203, the plug 605 is clamped by the two-finger air cylinder 602, and the six-axis robot 203 pulls the nozzle product 115 from the plug 605 to complete automatic detachment.
As shown in fig. 7, the water return system 5 comprises a water tank 501, and a tank body formed by bending stainless steel sheet metal, preferably, in order to facilitate the discharge of water medium, the included angle between the bottom plate of the water tank 501 and the ground is no more than 8 degrees; two adjustable feet 502 are arranged at the rear part of the water tank 501, and the front end of the water tank 501 is fixed on the frame 101 of the liquid flow test stand 1, so that the manual repeated push-pull and maintenance are convenient; a splash cover 503 is installed at the upper portion of the water tank 501 to prevent splashing of the aqueous medium when the flow rate is excessive; the noise reduction grid 505 is arranged in the water tank 501 through the grid bracket 504 so as to reduce the noise of the water medium when the flow is large and facilitate the diversion and evacuation of the water medium, and the noise reduction grid 505 is a crisscross hollow grid and is made of thick-wall stainless steel, so that the noise reduction grid has the advantages of stable strength and reliable rust prevention.
Preferably, in order to provide safety isolation protection for the flow stand 1, the apparatus of the present invention is provided with a safety protection system 7 external to the flow stand 1. As shown in fig. 2, the safety protection system 7 comprises a profile outer frame 701, which is constructed by profiles, and has the advantages of simple structure and convenient movement and assembly; the transparent acrylic panel 705 is arranged on the section outer frame 701, so that the safety protection is realized, and meanwhile, the operation condition of the equipment is convenient to observe manually; the profile outer frame 701 is fixed with the ground through the movable ground feet 703; the top of the section bar outer frame 701 is provided with a cantilever operation screen 702 connected with an upper computer, and the section bar outer frame can be manually moved and operated with multiple degrees of freedom; a three-color warning light 704 is mounted on the cantilever operation screen 702 for displaying the current status of the device. The man-machine isolation can be effectively realized through the safety protection system 7, and the personnel safety can be protected when the operation state of the equipment is observed manually.
As shown in fig. 11, the working process of the present invention comprises the following steps:
step 1, after the material tray 208 is put in place, one key is started;
step 2, the tail end grippers of the six-axis robot 203 grasp the nozzle products to be tested one by one according to the row-column sequence, and install the nozzle products to be tested on a rotating tool 303 of the coding recognition system 3;
step 3, adopting a code recognition system 3 to perform automatic visual code recognition of the product;
step 4, if the tray is not recognized, the tray is conveyed to an unidentified tray 208 on the large mounting plate 202 by the six-axis robot 203; if the identification is successful, the robot grabs the nozzle product 115 to the automatic assembly and disassembly system 6 for assembling the plug 605;
step 5, the robot grabs the assembled nozzle product to the liquid flow test stand 1 and installs the nozzle product in the lower tool 111;
step 6, the robot detects whether the product is installed in place on the lower tool 111 through the laser displacement sensor 216;
step 7, after the product is installed in place, under the driving action of the lifting cylinder 104, the upper tool 108 is pressed down until the product is tightly attached to the lower tool 111, and the water return system 5 is filled with water to perform a liquid flow test;
step 8, after the product is tested, grabbing the nozzle product 115 by a robot to an automatic assembling and disassembling system 6 for disassembling the plugs 605, and accurately placing the nozzle products 115 with the plugs 605 removed to a blanking tray one by one according to a row-column sequence;
and 9, after all the products in the material trays are tested, the upper computer sends a prompt for replacing the material tray, and the next material tray is manually replaced and sequentially and circularly reciprocated.
The process is carried out on nozzle products without plugs, and the assembly and disassembly links of the plugs are not needed.
Claims (10)
1. The integrated liquid flow test device for automatically clamping the nozzle is characterized by comprising a liquid flow test bed, a robot automatic test bed, a water return system, a code identification system and an automatic assembly and disassembly system; wherein the robot automatic test bed and the water return system are respectively arranged at two sides of the liquid flow test bed;
the liquid flow test bed comprises a frame, a measurement and control cabinet, a C-shaped support panel and a plurality of test stations; wherein the C-shaped support panel is mounted on the frame; each test station comprises a lifting cylinder, a water guide tool, an upper tool, a lower tool, two sliding blocks, two guide rails, two water pipes and two hoses; the lifting cylinder is arranged at the top of the C-shaped support panel, the guide rails are arranged on the vertical surface of the C-shaped support panel, the water guide tool is respectively arranged on the two guide rails through two symmetrical sliding blocks, the water guide tool is fixedly connected with the piston rod of the lifting cylinder, and the water guide tool can move up and down along the vertical direction under the driving of the piston rod of the lifting cylinder; the water guide mechanism is provided with two water inlets and one water outlet, the lower end of the water outlet is connected with an upper tool, and the bottom surface of the C-shaped support panel is provided with a lower tool which is coincident with the corresponding upper tool axis; the two water inlets are respectively communicated with two water pipes which freely pass through the through holes on the upper end surface of the C-shaped support panel, and each water pipe is respectively communicated with a water source through a hose; the water outlet of the lower tool is connected to the water return system through a pipeline;
the robot automation test bed comprises an integrated rack and a six-axis robot arranged on the integrated rack; the integrated rack is paved with a large installation plate, a plurality of material boxes and a plurality of pairs of limit sliding rails are arranged on the large installation plate, and detection sensors are arranged on the side edges of the material boxes; the coding recognition system and the automatic assembly and disassembly system are respectively arranged on the installation large plate.
2. The integrated liquid flow test device for automatic clamping of nozzles according to claim 1, wherein a linear guide rail is respectively installed under two through holes of the upper end face of the corresponding C-shaped support panel of each test station, and the water pipe passes through the linear guide rail so as to freely pass through the through holes.
3. The integrated flow assay device for automatic nozzle clamping of claim 1, wherein a plurality of balls are axially disposed between the water tube and the linear guide.
4. The integrated flow assay device for automatic nozzle clamping of claim 1, wherein each hose is mounted in a tow chain mounted on top of a C-support panel.
5. The integrated flow test device for automatic clamping of a nozzle according to claim 1, wherein the limiting slide rail is L-shaped, and a fluent strip, a photoelectric sensor and an RFID system are arranged between the two limiting slide rails.
6. The integrated flow test device for automatic clamping of nozzles according to claim 1, wherein a plurality of waterproof joints with different apertures are installed on the installation large plate.
7. The integrated flow test device for automatic clamping of nozzles according to claim 1, wherein the code recognition system comprises a visual mounting plate mounted on a mounting plate of the robot automation test stand, a light source, a camera assembly and a rotating tool are mounted on the visual mounting plate, and the camera assembly is mounted on the visual mounting plate through a rodless cylinder and can be driven to adjust the height position.
8. The integrated flow test device for automatic clamping of a nozzle according to claim 1, wherein the automatic assembling and disassembling system comprises a base plate and a plug bracket which are installed on a large installation plate of a robot automatic test bed in parallel, and a two-finger cylinder, two fixed dies and a detection sensor are installed on the base plate.
9. The integrated flow test device for automatic clamping of a nozzle according to claim 1, wherein the water return system comprises a water tank, and the included angle between the bottom plate of the water tank and the ground is no more than 8 degrees.
10. The integrated flow test apparatus for automatic clamping of a nozzle as claimed in claim 1, wherein a safety protection system is installed outside the flow test stand.
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| CN202111669092.9A CN114486213B (en) | 2021-12-31 | 2021-12-31 | Integral liquid flow test device with automatic clamping nozzle |
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| CN202111669092.9A CN114486213B (en) | 2021-12-31 | 2021-12-31 | Integral liquid flow test device with automatic clamping nozzle |
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| CN114486213B true CN114486213B (en) | 2023-08-25 |
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| RU135799U1 (en) * | 2013-07-15 | 2013-12-20 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Дальневосточный Федеральный Университет" (Двфу) | NOZZLE TEST STAND |
| CN109632324A (en) * | 2018-12-13 | 2019-04-16 | 西安航天动力研究所 | A kind of experimental rig for nozzle liquid flow test |
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| CN111912614A (en) * | 2020-08-11 | 2020-11-10 | 江苏深蓝航天有限公司 | Centrifugal nozzle liquid flow test device of liquid rocket engine |
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| RU135799U1 (en) * | 2013-07-15 | 2013-12-20 | Федеральное Государственное Автономное Образовательное Учреждение Высшего Профессионального Образования "Дальневосточный Федеральный Университет" (Двфу) | NOZZLE TEST STAND |
| CN109632324A (en) * | 2018-12-13 | 2019-04-16 | 西安航天动力研究所 | A kind of experimental rig for nozzle liquid flow test |
| CN109632322A (en) * | 2018-12-13 | 2019-04-16 | 西安航天动力研究所 | A kind of automatic testing system and test method for nozzle flow detection |
| CN111912614A (en) * | 2020-08-11 | 2020-11-10 | 江苏深蓝航天有限公司 | Centrifugal nozzle liquid flow test device of liquid rocket engine |
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| CN114486213A (en) | 2022-05-13 |
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