CN117214164A - Detection equipment and method for outer surface laminating rate of motor rotating shaft - Google Patents
Detection equipment and method for outer surface laminating rate of motor rotating shaft Download PDFInfo
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- CN117214164A CN117214164A CN202310978984.XA CN202310978984A CN117214164A CN 117214164 A CN117214164 A CN 117214164A CN 202310978984 A CN202310978984 A CN 202310978984A CN 117214164 A CN117214164 A CN 117214164A
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- 238000001514 detection method Methods 0.000 title claims abstract description 96
- 238000010030 laminating Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims description 18
- 238000004140 cleaning Methods 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 239000003973 paint Substances 0.000 claims abstract description 25
- 238000000889 atomisation Methods 0.000 claims abstract description 19
- 239000011248 coating agent Substances 0.000 claims abstract description 19
- 238000000576 coating method Methods 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims abstract description 19
- 238000003475 lamination Methods 0.000 claims abstract description 12
- 238000001035 drying Methods 0.000 claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims abstract description 10
- 239000000049 pigment Substances 0.000 claims description 38
- 239000002184 metal Substances 0.000 claims description 29
- 238000009826 distribution Methods 0.000 claims description 21
- 238000012423 maintenance Methods 0.000 claims description 13
- 238000005507 spraying Methods 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 10
- 238000012797 qualification Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 239000002699 waste material Substances 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims 1
- 230000008569 process Effects 0.000 description 9
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
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- 230000008878 coupling Effects 0.000 description 6
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- 239000003638 chemical reducing agent Substances 0.000 description 3
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- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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- 238000003384 imaging method Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
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- 239000000725 suspension Substances 0.000 description 1
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Abstract
The invention discloses a detection device and a detection method for the lamination rate of the outer surface of a motor rotating shaft. The self-walking addressing unit performs automatic identification, positioning and addressing on the workpiece to be detected. The automatic coating unit of the motor rotating shaft comprises a robot, a claw and a second camera. The automatic ring gauge replacement unit comprises an atomization cavity and a cleaning cavity, the robot clamps the ring gauge to spray paint in the atomization cavity, and cleaning and drying are performed in the cleaning cavity. The laminating rate automatic detection unit comprises a center plate detection mechanism. The detection equipment can automatically address, accurately sleeve the ring gauge on the periphery of the motor rotor, automatically calculate the surface area of the coating on the outer surface of the motor rotating shaft and automatically judge the laminating rate, automatically paint and clean the inner surface of the ring gauge, and realize unmanned and automatic motor rotating shaft laminating rate detection operation.
Description
Technical Field
The invention belongs to the technical field of detection of the outer surface laminating rate of a motor rotating shaft, and particularly relates to detection equipment and method for the outer surface laminating rate of the motor rotating shaft.
Background
At present, china has become the country with the most complete high-speed railway system technology, the strongest integration capability and the longest operation mileage, and the largest railway regulation model is built again, so that the new trend of the railway industry is led. Rail vehicles are divided into two modes of power dispersion and power concentration according to different forms of power distribution. The power-distributed traction and braking adhesion is good, and the power-distributed traction and braking adhesion has good accelerating capacity and kinetic energy storage. The power dispersion mode is adopted in the bogie of the high-speed motor train unit, a motor suspension is adopted, the typical structure of a gearbox holding shaft is adopted, the driving force of a driving motor is transmitted to the gearbox through a coupling, the power is transmitted to a wheel set main shaft through the gearbox, in the process, the matching of a motor output rotating shaft and the coupling plays an important role in transmission, the installation position in the bogie is shown in figure 1, the driving motor output rotating shaft and the coupling adopt a connection mode which is in keyless interference fit, the mode has very high requirements on the assembly quality, unreasonable assembly can lead the contact area of the shaft and a hole to be not reach the requirements, creep or abrasion phenomenon occurs, the transmission torque becomes small, and the train is hidden in serious potential safety hazard in operation, so the contact area of the motor rotating shaft and the coupling is required to be tested before the assembly of the motor rotating shaft and the coupling is not less than the area percentage requirement specified by the process.
At present, manual detection is adopted for the field operation of a motor train section, and the specific method is as follows: (1) Taking a standard ring gauge for detecting the attachment rate of a motor rotating shaft, checking whether the ring gauge surface is damaged or scratched, and cleaning by using clean wiping paper; (2) Uniformly coating a small amount of paint on the surface of an inner hole of a standard ring gauge; (3) Horizontally placing a motor rotor to be detected and an output shaft, and lightly sleeving a standard ring gauge coated with pigment on the outer surface of the output shaft of the motor rotor (the standard ring gauge does not touch the end surface edge of a motor rotating shaft in the placing process so as not to damage the inner surface of the ring gauge coated with pigment); (4) The worker holds the ring gauge by hand and rotates the ring gauge by 45 degrees left and right, applies a force inwards slightly along the axis of the motor rotor, knows to hear sharp matching sound, ensures that the inner hole surface of the ring gauge is fully contacted with the outer surface of the motor rotor shaft, and then slowly takes out the ring gauge along the horizontal axis (the outer surface of the motor shaft is not touched in the taking-out process so as not to influence the judging result); (5) And (3) judging the result of the paint distribution condition on the outer surface of the motor rotating shaft by an operator, wherein the paint distribution area accounts for the outer surface of the whole motor rotor shaft, and if the paint distribution area is larger than the percentage specified by the process requirement, the paint distribution area is qualified, and otherwise, the paint distribution area is unqualified.
The above operation has high requirement on the experience of operators and needs professional engineering technicians to finish the operation; the worker manually operates the gauge, so that the labor intensity is high; the worker applies the paint to the surface of the inner hole of the ring gauge, the application amount and the uniformity of the pattern layer are controlled to be completely dependent on personal hand feeling, quantitative records are lacking, and the thickness and the uniformity of the paint coating are easy to be differentiated; because of adopting manual visual observation, the main pipe has randomness, lacks quantification means and has low detection efficiency; meanwhile, image data recording cannot be carried out on the detection result of a single workpiece, laminating rate detection data cannot be shared in the whole operation process of motor overhaul, and quality control of motor rotating shaft laminating rate detection is affected.
The whole operation process has simple detection and measurement tools, poor operation equipment and low operation efficiency.
Disclosure of Invention
Aiming at the problems that the detection of the lamination rate of the motor rotor surface in the prior art is basically manual detection, the operation efficiency is low, the detection quality cannot be controlled, and the invention provides the detection equipment for the lamination rate of the motor rotating shaft outer surface so as to contact the problems.
In order to achieve the above object, the present invention provides a detection apparatus for a fit rate of an outer surface of a motor shaft, including: the self-walking addressing unit receives the coordinate information of the motor rotor and automatically performs addressing and positioning; the ring gauge automatic replacement unit is positioned at one end of the top of the self-walking addressing unit and comprises a sheet metal electric cabinet, and an atomization cavity and a cleaning cavity which are arranged at the top of the sheet metal electric cabinet; the motor rotating shaft automatic coating unit arranged at the top of the sheet metal electric cabinet comprises a robot, an atomization barrel arranged at the tail end of the robot, a claw positioned at the bottom of the atomization barrel, a second camera positioned at the front end of the top of the atomization barrel and a light source; the automatic laminating rate detection unit is positioned at the other end of the top of the self-walking addressing unit and comprises a Z-direction telescopic power distribution cabinet, a Y-direction feeding mechanism, a control cabinet and a central panel detection mechanism, wherein the Y-direction feeding mechanism, the control cabinet and the central panel detection mechanism are arranged at the top of the Z-direction telescopic power distribution cabinet; a control module is arranged in the control cabinet; the center disc detection mechanism comprises a top shaft arranged along the Y direction, and a plurality of groups of first cameras which are arranged on the periphery of the top shaft in a circumferential direction; the control module controls the second camera to photograph a camera overhaul line, determines the position of a motor rotor to be detected, and controls the self-walking addressing unit to travel to a specified coordinate point; the robot grabs the ring gauge in the cleaning cavity with corresponding specification by using the clamping claw, puts the ring gauge into the atomizing cavity, sprays pigment with corresponding spraying quantity on the inner surface of the ring gauge, and sleeves the ring gauge on the motor rotor; after the completion, the ring gauge is pulled out from the motor rotor and put into a cleaning cavity for cleaning and drying; the Z-direction telescopic power distribution cabinet rises upwards along Z until the tip shaft rises to be aligned with the motor rotor; the Y-direction feeding mechanism pushes the center plate detection mechanism to move linearly along the Y direction, the plurality of first cameras rotate with the center shaft as the axis, image acquisition is carried out on the electronic rotor, the images are combined and processed according to a visual algorithm, and after the color areas on the pigment are extracted, the laminating rate percentage data of the motor rotor shaft is automatically calculated, and qualification judgment is carried out.
Further, the atomizing cavities are provided with a plurality of groups according to the specification of the ring gauge, are arranged in a line along the top of the sheet metal electric cabinet, the cavities are internally provided with atomizing nozzles, and the bottoms of the cavities are provided with discharge holes; the atomizing nozzle is sequentially connected with an electronic valve, a metering valve, a power pump and a pigment supply box which are arranged in the sheet metal electric cabinet through pipelines, and the discharge hole is connected with the pigment supply box through the pipelines.
Further, the number and the specification of the cleaning cavities are the same as those of the atomizing cavities, the bottoms of the cleaning cavities are provided with openings, and the openings are positioned above a waste liquid collecting box arranged in the sheet metal electric cabinet; the cleaning spray head, the brush roller and the heating head which are arranged in the sheet metal electric cabinet sequentially enter the ring gauge from the opening at the bottom of the cleaning cavity, and spray cleaning liquid, rolling brush cleaning and drying are carried out on the inner surface of the ring gauge, so that the automatic cleaning operation of the ring gauge is realized.
Further, the center plate detection mechanism further comprises an L-shaped plate, a rotary support, a second servo motor, an L-shaped bracket and a flange plate; the L-shaped plate comprises a transverse plate and a vertical plate, wherein the transverse plate is fixedly connected with the Y-direction feeding mechanism, and is pushed by the Y-direction feeding mechanism to move along the Y direction; the vertical plate is vertically fixed at the front end of the transverse plate, and an arc-shaped opening is formed in the top of the vertical plate; the rotary support inner ring is fixed on the vertical plate through a bolt, the outer ring gear is driven by a second servo motor to rotate, and the front end surface of the outer ring is fixedly provided with a flange plate; bolt holes are formed in the circumferential direction of the flange plate, and a plurality of groups of L-shaped brackets are fixed on the flange plate through bolts; the L-shaped support is fixedly provided with a first camera.
Further, the self-walking addressing unit is of a frame structure, a sheet metal part is fixedly arranged outside the self-walking addressing unit, an AGV chassis is arranged at the bottom of the self-walking addressing unit, radar modules are arranged around the self-walking addressing unit, and a navigation module is arranged inside the self-walking addressing unit.
Further, Z is to flexible switch board it includes support column, four even lead screw servo elevating system, support base and locates outside sheet metal component.
According to another aspect of the present invention, there is also provided a method for detecting a fit rate of an outer surface of a rotating shaft of a motor, including the steps of:
s100: starting the equipment, resetting and self-checking each functional unit;
s200: advancing from the walking addressing unit to a coordinate point to be detected;
s300: the robot grabs the ring gauge coated with the pigment and completely sleeves the ring gauge on the corresponding motor rotor;
s400: taking down the ring gauge, and putting the ring gauge into a cleaning cavity for cleaning and drying;
s500: the laminating rate automatic detection unit is aligned with the motor rotor and performs image acquisition on the electronic rotor;
s600, merging and processing the images according to a visual algorithm, automatically calculating the laminating rate percentage data of the rotor shaft of the motor after extracting the color areas on the pigment, and judging the qualification;
s700: and detecting the next group of motor rotors.
Further, the step S200 includes:
s210: the navigation module controls the AGV chassis to move towards the motor maintenance line;
s220: the maintenance equipment moves in parallel along a motor maintenance line, a second camera at the tail end of a second camera at the front end of the robot works with a light source, a motor rotor on the motor maintenance line is photographed, a control module determines the position of the motor rotor to be detected according to image parameters, and coordinate information of the position is sent to a self-walking addressing unit;
s230: and the navigation module receives the coordinate information of the motor rotor and the motor rotor, and controls the AGV chassis to move to the motor to the corresponding coordinate point.
Further, the step S300 includes:
s310: according to the specification information of the motor rotor identified by the second camera, the robot grabs ring gauges in the cleaning cavity with corresponding specifications by using the clamping jaws and puts the ring gauges in the atomizing cavity;
s320: spraying pigment with corresponding spraying quantity on the inner surface of the ring gauge by utilizing an atomization nozzle;
s330: after the completion, the robot sets forward and reverse rotation for a specified angle according to the technological parameters, and the ring gauge is sleeved on the motor rotor;
s340: after the ring gauge is completely sleeved on the motor rotor, the end part of the motor rotor is abutted against the tail end of the robot, and the pressure sensor is arranged on the robot to detect the pressure change, so that the pigment coating on the surface of the motor rotor is judged to be finished.
Further, the step S500 includes:
s510: according to the motor rotor coordinates, controlling the distance of the AGV chassis to transversely move one end, and enabling the automatic lamination rate detection unit to be aligned with the motor rotor;
s520: a four-connection screw rod servo lifting mechanism in the Z-direction telescopic power distribution cabinet is controlled to lift the tip shaft to be aligned with a motor rotor;
s530: the Y-direction feeding mechanism pushes the center disc detection mechanism to move linearly along the Y direction, and meanwhile, the rotary support drives the plurality of first cameras to rotate, so that image acquisition is carried out on the electronic rotor.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
1. compared with manual operation, the detection equipment provided by the invention adopts the first camera and the second camera to respectively acquire and position images, utilizes the robot to automatically grab the ring gauge and accurately sleeve the ring gauge on the electronic rotor according to the standard requirement, can automatically spray paint on the inner wall surface of the ring gauge and clean and dry the inner wall surface of the ring gauge, reduces the labor intensity of manual operation, quantifies the operation process data, and improves the working efficiency.
2. According to the detection equipment, a plurality of groups of first cameras are circumferentially distributed to form the area array camera, the center disc detection mechanism is pushed by the Y-direction feeder to move linearly along the Y direction through the rotary support rotation of the center disc detection mechanism, visual acquisition and automatic data analysis and calculation are carried out on the outer surface of the motor rotor, the reality of on-site data acquisition is improved, and the functions of automatic calculation of the surface area of the coating on the outer surface of the motor rotor 7 and automatic judgment of the attachment rate are realized.
3. According to the detection equipment, the self-walking addressing unit receives the position information of the workpiece to be detected through the AGV chassis and the radar module and automatically identifies and positions the position of the workpiece through the navigation module, so that unmanned and automatic motor shaft laminating rate detection operation is realized.
4. According to the detection equipment disclosed by the invention, a plurality of groups of atomizing cavities are arranged according to the specification of the ring gauge, the atomizing spray heads are arranged in the atomizing cavities, the openings at the two ends of the ring gauge are plugged by matching with the atomizing cylinder to form a closed cavity, after pigment is atomized by the atomizing spray heads, the pigment can be uniformly sprayed on the inner surface of the ring gauge, and the pigment with corresponding spraying quantity is measured according to the ring gauges with different specifications through the metering valve, so that the thickness and uniformity of the pigment coating are kept consistent, the defect that the pigment is unevenly coated by manpower can be avoided, and the pigment coating efficiency is improved.
5. According to the detection equipment, the cleaning cavity is formed, and the telescopic cleaning spray head, the brush roller and the heating head sequentially enter the ring gauge from the cavity bottom of the cleaning cavity, so that cleaning liquid is sprayed on the inner surface of the ring gauge, the rolling brush is used for cleaning and drying, and the automatic cleaning operation of the ring gauge is realized.
Drawings
FIG. 1 is a schematic diagram of a connection structure between an output shaft of a driving motor and a coupling;
FIG. 2 is a side view of a device for detecting a fit rate of an outer surface of a motor shaft according to an embodiment of the present invention;
FIG. 3 is a front view of a detection apparatus in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an automatic detection unit for bonding rate according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating an internal structure of an automatic lamination rate detection unit according to an embodiment of the present invention
FIG. 6 is a schematic structural diagram of a center plate detection mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a detection operation of a detection device according to an embodiment of the present invention;
fig. 8 is a control schematic diagram of the detection apparatus in the embodiment of the present invention.
Like reference numerals denote like technical features throughout the drawings, in particular:
1-self-walking addressing unit;
2-laminating rate automated inspection unit includes: the device comprises a 21-Z-direction telescopic power distribution cabinet, 211-supporting columns, 212-four-connecting-screw servo lifting mechanisms, 213-supporting bases, 22-Y-direction feeding mechanisms, 221-bottom plates, 222-first servo motors, 223-screw rods, 224-guide rails, 225-sliding tables, 23-control cabinets, 231-cabinet frames, 24-center plate detection mechanisms, 241-L-shaped plates, 242-rotary supports, 243-second servo motors, 244-tip shafts, 245-L-shaped supports, 246-first cameras and 247-flange plates;
a 3-motor spindle automatic paint unit comprising: 31-robot, 32-atomizing barrel, 33-claw, 34-second camera, 35-light source;
4 automatic replacement unit of ring gauge includes: 41-an atomization cavity, 42-a cleaning cavity and 43-a sheet metal electric cabinet;
5-ring gauge;
6-a motor overhaul line;
7-a motor rotor;
8-driving a motor;
a 9-coupling;
10-gearbox.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 2 to 8, the present invention provides a detection apparatus for the attachment rate of the outer surface of a motor shaft, which includes a self-walking addressing unit 1, an attachment rate automatic detection unit 2, a motor shaft automatic coating unit 3, and a ring gauge automatic replacement unit 4. The self-walking addressing unit 1 comprises an AGV chassis, a radar module and a navigation module, wherein the navigation module controls the AGV chassis to automatically recognize, position and address by receiving the position information of a workpiece and the information of surrounding obstacles recognized by the radar. The automatic coating unit 3 of motor shaft includes robot 31 to and locate jack catch 33 and the second camera 34 of robot 31 front end, the second camera 34 can fix a position motor rotor 7 position, and control robot 31 utilizes jack catch 33 to carry out centre gripping and accurate cover on motor rotor 7 periphery with ring gauge 5. The automatic ring gauge replacing unit 4 comprises an atomization cavity 41 and a cleaning cavity 42, the robot 31 clamps the ring gauge 5 to spray paint in the atomization cavity 41, and the cleaning cavity 42 is cleaned and dried. The automatic lamination rate detection unit 2 comprises a central disc detection mechanism 24, and can automatically detect the lamination rate of the outer surface of the motor rotor shaft. The detection equipment can automatically address and automatically identify and position the workpiece, accurately sleeve the ring gauge on the periphery of the motor rotor 7, automatically calculate the surface area of the coating on the outer surface of the motor rotating shaft and automatically judge the laminating rate, automatically paint and clean the inner surface of the ring gauge, and realize unmanned and automatic detection operation of the laminating rate of the motor rotating shaft.
As shown in fig. 2-3 and 8, the self-walking addressing unit 1 is of a frame structure, a sheet metal part is fixedly arranged outside, an AGV chassis is arranged at the bottom of the self-walking addressing unit, radar modules are arranged around the self-walking addressing unit, and a navigation module is arranged inside the self-walking addressing unit. The AGV chassis adopts a mode layout of middle driving wheels and surrounding universal wheels, so that the in-situ steering and transverse and oblique movement can be easily realized; the radar module can image surrounding obstacles and people through a deep learning algorithm, and sends detection information to the navigation module, so that the AGV chassis is controlled to automatically avoid; the navigation module plans a travel path by receiving position information of the workpiece to be detected, so that the equipment is ensured to travel along the prefabricated path without deviating. Preferably, the self-walking addressing unit 1 further comprises an AGV charging port and a status indicator lamp, the detection equipment can be charged and stored through the AGV charging port, the electric quantity change of the detection equipment can be observed through the color change of the status indicator lamp, and an operator can conveniently control the detection equipment in time to charge and store.
The motor rotating shaft automatic coating unit 3 comprises a robot 31, an atomization cylinder 32, a claw 33, a second camera 34 and a light source 35. The robot 31 is a six-axis cooperative robot, which can realize 6 degrees of freedom motions of the end, and has many advantages of high flexibility, ultra-large load, high positioning accuracy and the like. The atomizing cylinder 32 is arranged at the tail end of the robot 31, and the cylinder bottom is movably provided with a claw 33. The claw 33 clamps ring gauges 5 with different sizes by shrinking inwards at the bottom of the atomizing barrel 32 at the periphery Xiang Sheyu; the second camera 34 is arranged at the front end of the top of the atomizing barrel 32, can determine the position of the motor rotor 7, and further sends coordinate data to the self-walking addressing unit 1 for positioning; the light source 35 is a ring-shaped machine vision light source, which is located in front of the second camera 34, and illuminates the target to increase the brightness of the target, thereby forming an imaging effect most favorable for image processing.
The automatic ring gauge replacing unit 4 comprises an atomization cavity 41, a cleaning cavity 42 and a sheet metal electric cabinet 43. The sheet metal electric cabinet 43 is fixedly arranged at the top of the self-walking addressing unit 1, a pigment supply box, a power pump, an electronic valve, a metering valve, a cleaning liquid box and a waste liquid collecting box are arranged in the sheet metal electric cabinet, and an atomization cavity 41 and a cleaning cavity 42 are formed in the top of the sheet metal electric cabinet.
The atomizing cavities 41 are provided with a plurality of groups according to the specification of the ring gauge 5, are arranged along the top of the sheet metal electric cabinet 43 in a straight shape, are internally provided with atomizing nozzles, and are provided with discharge holes at the bottom; the atomizing nozzle is sequentially connected with an electronic valve, a metering valve, a power pump and a pigment supply box which are arranged in the sheet metal electric cabinet 43 through pipelines, and the discharge hole is connected with the pigment supply box through the pipelines. When the paint is sprayed on the inner wall surface of the ring gauge 5, the claw 33 clamps the ring gauge 5 and is placed in the atomizing cavity 41 with corresponding specification, the atomizing cylinder 32 and the atomizing cavity 41 are used for plugging openings at two ends of the ring gauge 5 to form a closed cavity, the paint can be uniformly sprayed on the inner surface of the ring gauge 5 by the atomizing nozzle after being atomized, the paint with corresponding spraying quantity can be metered out according to the ring gauges 5 with different specifications through the metering valve, the thickness and uniformity of the paint coating are kept consistent, after the spraying operation is finished, the paint is not attached to the inner surface of the ring gauge 5 and can be collected into a discharge hole at the bottom of the cavity of the atomizing cavity 41 under the action of gravity, and then the paint returns to the paint supply box along a pipeline for next recycling.
The number and the specification of the cleaning cavity 42 are the same as those of the atomizing cavity 41, the cavity bottom is provided with an opening and is positioned above the waste liquid collecting box, and the cleaning cavity 42 cavity bottom sequentially enters the ring gauge 5 through the telescopic cleaning spray head, the brush roller and the heating head, so that cleaning liquid is sprayed, the rolling brush is used for cleaning and drying the inner surface of the ring gauge 5, and the automatic cleaning operation of the ring gauge 5 is realized. The cleaning spray head, the brush roller and the heating head can be driven by the sliding table and the sliding rail to move along the bottoms of the plurality of groups of cleaning cavities 42, and cleaning operation is carried out on the inner surfaces of the ring gauges 5 of the cleaning cavities 42 with different specifications.
As shown in fig. 4 to 6, the automatic attachment rate detection unit 2 includes a Z-direction expansion power distribution cabinet 21, a Y-direction feeding mechanism 22, a control cabinet 23, and a center panel detection mechanism 24.
The Z-direction telescopic power distribution cabinet 21 is fixedly arranged at the other end of the top of the self-walking addressing unit 1 and comprises a support column 211, a four-connection screw rod servo lifting mechanism 212, a support base 213 and a sheet metal part arranged outside. The support column 211 is fixedly arranged at the top of the self-walking addressing unit 1 and supports the automatic lamination rate detection unit 2, and a four-connection screw rod servo lifting mechanism 212 is arranged at the top of the support column. The four-connection screw rod servo lifting mechanism 212 is characterized in that four groups of screw rod lifters which are distributed in a square shape are kept, each group of lifter supports are connected through transmission shafts, RV series worm and gear speed reducers are designed and installed on one group of transmission shafts, and servo motors are installed on flange plates of the speed reducers and used for driving the whole mechanism to move. The mechanism is connected with the supporting base 213 through a square nut on each group of screw rod lifters and a fastening screw and a locking washer; when the servo motor rotates, the worm gear reducer drives the transmission shaft to rotate, the transmission shaft drives the four groups of screw rod lifters to rotate together, and then the center screw rod of each group of lifters moves up and down, so that the whole laminating rate automatic detection unit 2 is driven to realize up and down lifting motion.
The Y-direction feeding mechanism 22 includes a bottom plate 221, a first servo motor 222, a screw 223, a guide rail 224, and a slide table 225. The bottom plate 221 is fixedly arranged at the top of the supporting base 213, a first servo motor 222 and a guide rail 224 are fixedly arranged at the top of the bottom plate, and an output shaft of the first servo motor 222 is fixedly connected with one end of a lead screw 223 through a coupler so as to drive the lead screw 223 to rotate; the guide rails 224 are symmetrically disposed on two sides of the first servo motor 222. The lead screw 223 is provided with a sliding block, the top of the sliding block is fixedly connected with a sliding table 225, and two sides of the bottom of the sliding table 225 are in sliding connection with a guide rail 224. The first servo motor 222 drives the screw 223 to rotate, so that the sliding table 225 arranged on the sliding block is driven to linearly displace along the Y direction, and the center disk detection mechanism 24 arranged on the Y-direction feeding mechanism 22 is driven to move along the Y direction.
The control cabinet 23 is fixedly arranged at the rear end of the bottom plate 221 and comprises a cabinet frame 231 and a sheet metal part fixedly arranged at the outer side of the cabinet frame 231, wherein the sheet metal at the rear end of the cabinet frame 231 is made into a slope-shaped structure and is used for installing an integrated computer, a display screen and an alarm indicator lamp, so that real-time operation data and alarm information can be conveniently displayed, and a control module and a communication module are arranged in the cabinet frame 231; the control module receives detection information of other functional units through the communication module and sends out instructions to control the other functional units to finish detection work.
The center plate detection mechanism 24 includes an L-shaped plate 241, a pivoting support 242, a second servo motor 243, a tip shaft 244, an L-shaped bracket 245, a first camera 246, and a flange 247. The L-shaped plate 241 comprises a transverse plate and a vertical plate, wherein the transverse plate is fixedly arranged at the top of the sliding table 225, the vertical plate is vertically fixed at the front end of the transverse plate, and an arc-shaped opening is formed in the top of the vertical plate. The inner ring of the rotary support 242 is fixed on the vertical plate through a bolt, and the outer ring gear is driven by a second servo motor 243 fixedly arranged on the vertical plate in a matched manner to rotate with the worm; the front end face of the outer ring is fixedly provided with a flange 247; the circumference of the flange 247 is provided with bolt holes, and a plurality of groups of L-shaped brackets 241 can be fixed on the flange 247 through bolts. The L-shaped bracket 241 is fixedly provided with a first camera 246. The rear end of the tip shaft 244 is fixed on the control cabinet 23, and the front end sequentially passes through the arc-shaped opening at the top of the L-shaped plate 241 and the flange hole of the flange 247, and the central axis of the tip shaft coincides with the central axis of the flange 247. When the image acquisition is carried out on the surface of the machine rotor 7, under the action of the self-walking addressing unit 1 and the Z-direction telescopic power distribution cabinet 21, the center shaft 244 is aligned with the center hole of the electronic rotor 7, the Y-direction feeding mechanism 22 pushes the center disc detection mechanism 24 to linearly displace forwards, the second servo motor 243 drives the outer ring of the rotary support 242 to rotate, the first cameras 246 on the plurality of groups of L-shaped supports 241 carry out the image acquisition on the electronic rotor 7, the images are combined and processed according to a visual algorithm, and after the color areas on the pigment are extracted, the laminating rate percentage data of the motor rotor shaft is automatically calculated, and the qualification judgment is carried out.
As shown in fig. 7, in the embodiment of the present invention, when the detection device works, the driving motor is placed on the motor maintenance line 6, and the navigation module of the self-walking addressing unit 1 and the radar start-up self-check, determine the current position of the device according to the planning map, and control the AGV chassis to move towards the motor maintenance line 6; a second camera 34 at the tail end of the robot 31 photographs the machine overhaul line 6, determines the position of the motor rotor 7 to be detected, sends the information to a navigation module, and controls the AGV chassis to travel to a designated coordinate point; according to the specification information of the motor rotor 7 identified by the second camera 34, the robot 31 grabs the ring gauge 5 in the cleaning cavity 42 with corresponding specification by utilizing the clamping jaws 33, puts the ring gauge 5 in the atomizing cavity 42, and sprays pigment with corresponding spraying quantity on the inner surface of the ring gauge by utilizing the atomizing nozzle; after completion, the robot 31 sets forward and reverse rotation for a specified angle according to the technological parameters, and the ring gauge 5 is sleeved on the motor rotor 7; after the ring gauge 5 is completely sleeved on the motor rotor 7, the end part of the motor rotor 7 is abutted against the tail end of the robot 31, and the pressure change is detected through the pressure sensor arranged on the robot 31, so that the paint on the surface of the motor rotor 7 is judged to be finished; the robot 31 pulls the ring gauge out of the motor rotor 7 and puts the ring gauge into the cleaning cavity 42 for cleaning and drying; according to the coordinates of the motor rotor 7, controlling the distance of the transverse moving end of the AGV chassis to enable the automatic lamination rate detection unit 2 to be aligned with the motor rotor 7; a four-wire rod servo lifting mechanism 212 in the Z-direction telescopic power distribution cabinet 21 is controlled to lift a tip shaft 244 to be aligned with the motor rotor 7; the Y-direction feeding mechanism 22 pushes the central disc detection mechanism 24 to move linearly along the Y direction, meanwhile, the rotary support 242 drives the plurality of first cameras 246 to rotate, the electronic rotor 7 is subjected to image acquisition, the images are combined and processed according to a visual algorithm, after the colored areas of the pigment are extracted, the laminating rate percentage data of the motor rotor shaft are automatically calculated, and the qualification judgment is carried out; after the completion, the attachment rate automatic detection unit 2 is reset, and the next group of motor rotors 7 is detected.
In the embodiment of the invention, a method for detecting the fit rate of the outer surface of the motor rotating shaft is also provided, which comprises the following steps:
s100: starting the equipment, resetting and self-checking each functional unit;
s200: the self-walking addressing unit 1 advances to a coordinate point to be detected;
s300: the robot 31 grabs the ring gauge 5 coated with pigment and completely sleeves the ring gauge on the corresponding motor rotor 7;
s400: taking down the ring gauge 5, and putting the ring gauge into the cleaning cavity 42 for cleaning and drying;
s500: the laminating rate automatic detection unit 2 is aligned with the motor rotor 7 and performs image acquisition on the electronic rotor 7;
s600, merging and processing the images according to a visual algorithm, automatically calculating the laminating rate percentage data of the rotor shaft of the motor after extracting the color areas on the pigment, and judging the qualification;
s700: the next set of motor rotor 7 detection is performed.
In the embodiment of the invention, the step S100 of the detection method comprises a four-connection screw servo lifting mechanism 212, a Y-direction feeding mechanism 22, a center plate detection mechanism 24 and a robot 31 for zero reset; and the navigation module of the self-walking addressing unit 1 and the radar are subjected to startup self-checking, and the current position of the equipment is determined according to the planning map.
In the embodiment of the present invention, step S200 of the detection method includes:
s210: the navigation module controls the AGV chassis to move towards the motor overhaul line 6;
s220: the maintenance equipment moves in parallel along the motor maintenance line 6, the second camera 34 and the light source 35 at the tail end of the second camera 34 at the front end of the robot 31 work to take a picture of the motor rotor 7 on the motor maintenance line 6, and the control module determines the position of the motor rotor 7 to be detected according to image parameters and sends coordinate information of the position to the self-walking addressing unit 1;
s230: the navigation module receives the coordinate information of the motor rotor 7 and the motor rotor 7, and controls the AGV chassis to move to the motor to the corresponding coordinate point.
In the embodiment of the present invention, step S300 of the detection method includes:
s310: according to the specification information of the motor rotor 7 identified by the second camera 34, the robot 31 uses the claw 33 to grasp the ring gauge 5 in the cleaning cavity 42 with corresponding specification and put the ring gauge into the atomizing cavity 42;
s320: spraying pigment with corresponding spraying quantity on the inner surface of the ring gauge by utilizing an atomization nozzle;
s330: after completion, the robot 31 sets forward and reverse rotation for a specified angle according to the technological parameters, and sleeves the ring gauge on the motor rotor 7;
s340: after the ring gauge 5 is completely sleeved on the motor rotor 7, the end part of the motor rotor 7 is abutted against the tail end of the robot 31, and the pressure sensor is arranged on the robot 31 to detect the pressure change, so that the paint on the surface of the motor rotor 7 is judged to be finished.
In the embodiment of the present invention, step S500 of the detection method includes:
s510: according to the coordinates of the motor rotor 7, controlling the distance of the transverse moving end of the AGV chassis to enable the automatic lamination rate detection unit 2 to be aligned with the motor rotor 7;
s520: a four-wire rod servo lifting mechanism 212 in the Z-direction telescopic power distribution cabinet 21 is controlled to lift a tip shaft 244 to be aligned with the motor rotor 7;
s530: the Y-direction feeding mechanism 22 pushes the central disk detecting mechanism 24 to move linearly along the Y-direction, and meanwhile, the rotary support 242 drives the plurality of first cameras 246 to rotate, so that image acquisition is performed on the electronic rotor 7.
Compared with manual operation, the detection equipment provided by the invention adopts the first camera 246 and the second camera 34 to respectively acquire and position images, utilizes the robot 31 to automatically grasp the ring gauge 5 and accurately sleeve the ring gauge on the electronic rotor 7 according to the standard requirement, can automatically spray paint on the inner wall surface of the ring gauge 5 and clean and dry the inner wall surface of the ring gauge, reduces the labor intensity of manual operation, quantifies the data in the operation process, and improves the working efficiency.
According to the detection equipment disclosed by the invention, a plurality of groups of first cameras 246 are circumferentially arranged to form an area array camera, the area array camera rotates through the rotary support 242 of the central disc detection mechanism 24, and the Y-direction feeding mechanism 22 pushes the central disc detection mechanism 24 to linearly move along the Y direction, so that visual acquisition and data automatic analysis and calculation are performed on the outer surface of the motor rotor 7, the reality of on-site data acquisition is improved, and the functions of automatic calculation of the surface area of the coating on the outer surface of the motor rotor 7 and automatic judgment of the attachment rate are realized.
According to the detection equipment disclosed by the invention, the self-walking addressing unit 1 receives the position information of the workpiece to be detected through the AGV chassis and the radar module and automatically identifies and positions the position of the workpiece through the navigation module, so that unmanned and automatic motor shaft laminating rate detection operation is realized.
According to the detection equipment disclosed by the invention, a plurality of groups of atomizing cavities 41 are arranged according to the specification of the ring gauge 5, the atomizing spray heads are arranged in the atomizing cavities, the two ends of the ring gauge 5 are plugged by matching with the atomizing cylinder 32 to form a closed cavity, after the pigment is atomized by the atomizing spray heads, the pigment can be uniformly sprayed on the inner surface of the ring gauge 5, and the pigment with corresponding spraying quantity is metered according to the ring gauges 5 with different specifications through the metering valve, so that the thickness and uniformity of the pigment coating are kept consistent, the defect that the pigment is unevenly coated manually is avoided, and the pigment coating efficiency is improved.
According to the detection equipment disclosed by the invention, the cleaning cavity 42 is arranged, and the telescopic cleaning spray head, the brush roller and the heating head sequentially enter the ring gauge 5 from the cavity bottom of the cleaning cavity 42, so that the inner surface of the ring gauge 5 is sprayed with cleaning liquid, cleaned by the rolling brush and dried, and the automatic cleaning operation of the ring gauge 5 is realized.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A check out test set for motor shaft surface laminating rate, its characterized in that includes:
the self-walking addressing unit (1) receives coordinate information of a motor rotor (7) and automatically performs addressing and positioning;
the ring gauge automatic replacement unit (4) is positioned at one end of the top of the self-walking addressing unit (1) and comprises a sheet metal electric cabinet (43), an atomization cavity (41) and a cleaning cavity (42) which are arranged at the top of the sheet metal electric cabinet (43);
the automatic coating unit (3) of the motor rotating shaft is arranged at the top of the sheet metal electric cabinet (43) and comprises a robot (31), an atomization cylinder (32) arranged at the tail end of the robot (31), a claw (33) arranged at the bottom of the atomization cylinder (32), a second camera (34) and a light source (35) which are arranged at the front end of the top of the atomization cylinder (32);
the automatic laminating rate detection unit (2) is positioned at the other end of the top of the self-walking addressing unit (1) and comprises a Z-direction telescopic power distribution cabinet (21), a Y-direction feeding mechanism (22), a control cabinet (23) and a central panel detection mechanism (24) which are arranged at the top of the Z-direction telescopic power distribution cabinet (21); a control module is arranged in the control cabinet (23); the center disk detection mechanism (24) comprises a top shaft (244) arranged along the Y direction, and a plurality of groups of first cameras (246) arranged on the periphery of the top shaft (244) in a circumferential direction;
the control module controls the second camera (34) to photograph the machine overhaul line (6), determines the position of the motor rotor (7) to be detected, and controls the self-walking addressing unit (1) to travel to a specified coordinate point; the robot (31) uses the claw (33) to grab the ring gauge (5) in the cleaning cavity (42) with corresponding specification, and puts the ring gauge into the atomizing cavity (42) to spray paint with corresponding spraying quantity on the inner surface of the ring gauge (5), and the ring gauge (5) is sleeved on the motor rotor (7); after the completion, the ring gauge (5) is pulled out from the motor rotor (7) and put into the cleaning cavity (42) for cleaning and drying; the Z-direction telescopic power distribution cabinet (21) rises upwards along Z until the tip shaft (244) rises to be aligned with the motor rotor (7); the Y-direction feeding mechanism (22) pushes the central disc detection mechanism (24) to move linearly along the Y direction, the plurality of first cameras (246) rotate by taking the top shaft (244) as the axis, the images of the electronic rotor (7) are collected, the images are combined and processed according to a visual algorithm, and after the colored areas of the pigment are extracted, the laminating rate percentage data of the motor rotor shaft is automatically calculated, and the qualification judgment is carried out.
2. The detection device for the outer surface laminating rate of the motor rotating shaft according to claim 1, wherein the atomizing cavities (41) are provided with a plurality of groups according to the specification of the ring gauge (5), are arranged in a line along the top of the sheet metal electric cabinet (43), are internally provided with atomizing nozzles, and are provided with discharge holes at the bottom; the atomizing nozzle is sequentially connected with an electronic valve, a metering valve, a power pump and a pigment supply box which are arranged in a sheet metal electric cabinet (43) through pipelines, and the discharge hole is connected with the pigment supply box through the pipelines.
3. The detection device for the outer surface laminating rate of the motor rotating shaft according to claim 1, wherein the number and the specification of the cleaning cavities (42) are the same as those of the atomizing cavities (41), and openings are arranged at the bottoms of the cavities and are positioned above a waste liquid collecting box arranged in the sheet metal electric cabinet (43); the cleaning spray head, the brush roller and the heating head which are arranged in the sheet metal electric cabinet (43) sequentially enter the ring gauge (5) from the cavity bottom opening of the cleaning cavity (42), and spray cleaning liquid, rolling brush cleaning and drying are carried out on the inner surface of the ring gauge (5), so that automatic cleaning operation of the ring gauge (5) is realized.
4. A device for detecting the fit ratio of the outer surface of a motor shaft according to any one of claims 1 to 3, wherein the center plate detecting mechanism (24) further comprises an L-shaped plate (241), a rotary support (242), a second servo motor (243), an L-shaped bracket (245) and a flange plate (247);
the L-shaped plate (241) comprises a transverse plate and a vertical plate, wherein the transverse plate is fixedly connected with the Y-direction feeding mechanism (22), and is pushed by the Y-direction feeding mechanism (22) to displace along the Y direction; the vertical plate is vertically fixed at the front end of the transverse plate, and an arc-shaped opening is formed in the top of the vertical plate;
an inner ring of the rotary support (242) is fixed on a vertical plate through a bolt, an outer ring gear is driven by a second servo motor (243) to rotate, and a flange (247) is fixedly arranged on the front end surface of the outer ring;
the circumference of the flange plate (247) is provided with bolt holes, and a plurality of groups of L-shaped brackets (241) are fixed on the flange plate (247) through bolts;
a first camera (246) is fixedly arranged on the L-shaped bracket (241).
5. A detection apparatus for a motor shaft outer surface lamination ratio according to any one of claims 1-3, characterized in that the self-walking addressing unit (1) is a frame structure, a sheet metal part is fixedly arranged outside, an AGV chassis is arranged at the bottom of the self-walking addressing unit, radar modules are arranged around, and a navigation module is arranged inside.
6. A device for detecting the fit rate of the outer surface of a motor shaft according to any one of claims 1 to 3, wherein the Z-direction telescopic power distribution cabinet (21) comprises a support column (211), a four-wire screw servo lifting mechanism (212), a support base (213) and a sheet metal part arranged outside.
7. The detection method for the outer surface laminating rate of the motor rotating shaft is characterized by comprising the following steps of:
s100: starting the equipment, resetting and self-checking each functional unit;
s200: advancing from the walking addressing unit (1) to a coordinate point to be detected;
s300: the robot (31) grabs the ring gauge (5) coated with the pigment and completely sleeves the ring gauge on the corresponding motor rotor (7);
s400: taking down the ring gauge (5), and putting the ring gauge into a cleaning cavity (42) for cleaning and drying;
s500: the laminating rate automatic detection unit (2) is aligned with the motor rotor (7) and performs image acquisition on the electronic rotor (7);
s600, merging and processing the images according to a visual algorithm, automatically calculating the laminating rate percentage data of the rotor shaft of the motor after extracting the color areas on the pigment, and judging the qualification;
s700: and detecting the next group of motor rotors (7).
8. The method for detecting the fit rate of the outer surface of the rotating shaft of the motor according to claim 7, wherein the step S200 includes:
s210: the navigation module controls the AGV chassis to move towards the motor maintenance line (6);
s220: the maintenance equipment moves in parallel along a motor maintenance line (6), a second camera (34) at the tail end of a second camera (34) at the front end of the robot (31) and a light source (35) work, a motor rotor (7) on the motor maintenance line (6) is photographed, a control module determines the position of the motor rotor (7) to be detected according to image parameters, and coordinate information of the position is sent to a self-walking addressing unit (1);
s230: the navigation module receives the coordinate information of the motor rotor (7) and controls the AGV chassis to move to the motor to the corresponding coordinate point.
9. The method for detecting the fit rate of the outer surface of the rotating shaft of the motor according to claim 7, wherein the step S300 includes:
s310: according to the specification information of the motor rotor (7) identified by the second camera (34), the robot (31) grabs the ring gauge (5) in the cleaning cavity (42) with the corresponding specification by utilizing the clamping jaw (33), and places the ring gauge into the atomizing cavity (42);
s320: spraying pigment with corresponding spraying quantity on the inner surface of the ring gauge by utilizing an atomization nozzle;
s330: after the completion, the robot (31) sets forward and reverse rotation for a specified angle according to the technological parameters, and the ring gauge is sleeved on the motor rotor (7);
s340: after the ring gauge 5 is completely sleeved on the motor rotor (7), the end part of the motor rotor (7) is abutted against the tail end of the robot (31), and the pressure sensor is arranged on the robot (31) to detect pressure change, so that pigment coating on the surface of the motor rotor (7) is judged to be completed.
10. The method for detecting the fit rate of the outer surface of the rotating shaft of the motor according to claim 7, wherein the step S500 includes:
s510: according to the coordinates of the motor rotor (7), controlling the distance of the transverse moving end of the AGV chassis to enable the automatic lamination rate detection unit (2) to be aligned with the motor rotor (7);
s520: a four-connection screw rod servo lifting mechanism (212) in the Z-direction telescopic power distribution cabinet (21) is controlled to lift a tip shaft (244) to be aligned with a motor rotor (7);
s530: the Y-direction feeding mechanism (22) pushes the central disc detection mechanism (24) to move linearly along the Y direction, and meanwhile the rotary support (242) drives the plurality of first cameras (246) to rotate so as to acquire images of the electronic rotor (7).
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| CN202310978984.XA CN117214164B (en) | 2023-08-04 | 2023-08-04 | Detection equipment and method for outer surface laminating rate of motor rotating shaft |
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