CN219560526U - Intelligent sorting equipment for turbine blades - Google Patents

Abstract

The utility model relates to intelligent sorting equipment for turbine blades, which comprises the following components: the system comprises a main controller, a conveying line, a three-dimensional scanning device, a defective product unloading mechanism, a metal component analysis device, a laser marking machine and a loading and unloading robot, wherein the conveying line, the three-dimensional scanning device, the defective product unloading mechanism, the metal component analysis device and the laser marking machine are respectively and electrically connected with the main controller, and are sequentially distributed on the conveying line or on one side along the product flowing direction on the conveying line; the feeding and discharging robot is arranged between a feeding opening and a discharging opening of the conveying line, and a clamping jaw is arranged on a horn of the feeding and discharging robot. The beneficial effects of the utility model are as follows: the automatic sorting defective products replace manual work, so that the sorting efficiency is improved; the defective product can be offline by the linkage defective product unloading mechanism according to the defect judging result; the sorting problem of turbine blades made of different materials can be solved, automatic sorting is used for replacing manual work, and sorting efficiency is improved; and the sorting and laser marking are automatically linked, so that one-to-one correspondence of sorting and marking is realized, and the data uploading is traceable.

Description

Intelligent sorting equipment for turbine blades

Technical Field

The utility model relates to the field of turbine blade sorting, in particular to intelligent sorting equipment for turbine blades.

Background

The turbine blade is a core component of the turbine generator set, and factors such as structural design, geometric shape, aerodynamic performance and the like have decisive influence on the safety and reliability of the set.

The processing materials of the blade comprise stainless steel, heat-resistant steel, alloy structural steel and the like, and the blade has different application scenes composed of different metal components. In actual production, mixing of turbine blades made of different materials is easy to occur, and elements of the turbine blades are classified at high speed, so that the turbine blade is one of the difficulties in the existing turbine blade manufacturing factories.

At present, a handheld WKX steel inspection mirror is adopted in a production factory to conduct manual detection, the instrument adopts a spark direct reading mode to conduct element measurement, the surface of a product is damaged, elements can only be subjected to visual qualitative and semi-quantitative analysis, an operator with abundant experience on accurate element content can judge through a comparison method, the error is within five percent, in addition, the efficiency is low, the error rate is high, the damage to eyes is large in a manual handheld measurement mode, each person can only detect about 2000 pieces every day, and the operator needs to be in a bending and humpback posture for a long time.

Secondly, the blade has mechanical scratches after production, file traces and cutting traces as representative surface defects; the local size, the molded line and other sizes of the products are inconsistent; the font size and direction of the mark are inconsistent.

At present, the appearance detection is carried out in a manual visual observation mode, and the detection efficiency and accuracy are greatly affected by human factors.

Disclosure of Invention

The utility model aims to solve the technical problem of providing intelligent separation equipment for turbine blades, so as to overcome the defects in the prior art.

The technical scheme for solving the technical problems is as follows: an intelligent sorting device for turbine blades, comprising: the system comprises a main controller, a conveying line, a three-dimensional scanning device, a defective product unloading mechanism, a metal component analysis device, a laser marking machine and a loading and unloading robot, wherein the conveying line, the three-dimensional scanning device, the defective product unloading mechanism, the metal component analysis device and the laser marking machine are respectively and electrically connected with the main controller, and are sequentially distributed on the conveying line or on one side along the product flowing direction on the conveying line; the feeding and discharging robot is arranged between a feeding opening and a discharging opening of the conveying line, and a clamping jaw is arranged on a horn of the feeding and discharging robot.

The beneficial effects of the utility model are as follows:

1) The automatic sorting defective products replace manual work, so that the sorting efficiency is improved;

2) The defective product can be offline by the linkage defective product unloading mechanism according to the defect judging result;

3) The sorting problem of turbine blades made of different materials can be solved, automatic sorting is used for replacing manual work, and sorting efficiency is improved;

4) The sorting and laser marking are automatically linked, so that one-to-one correspondence of sorting and marking is realized, and the data uploading is traceable;

5) The turbine blade to be detected can be sent to the conveying line through the feeding and discharging robot, and the turbine blade after marking can be taken down from the conveying line, so that the machine is dual-purpose, and the cost is saved.

On the basis of the technical scheme, the utility model can be improved as follows.

Further, the three-dimensional scanning device includes: the industrial scanner is arranged on the transmission line, and is electrically connected with the scanner controller, and the scanner controller is electrically connected with the master controller.

Further, the industrial scanner includes: the blue light grating projection unit and the two industrial CCD cameras are distributed left and right and are respectively electrically connected with the scanner controller.

Further, a laser correlation sensor and a blocking mechanism are arranged on the scanning station of the three-dimensional scanning device, the component analysis station of the metal component analysis device and the marking station of the laser marking machine on the conveying line, and are respectively and electrically connected with the master controller.

The adoption of the method has the further beneficial effects that: when the turbine blade on the transmission line enters the scanning station, the component analysis station or the marking station, the laser correlation sensor is triggered, the laser correlation sensor sends a trigger signal to the master controller, the master controller controls the blocking mechanism to act after acquiring the trigger signal, then the blocking mechanism blocks the turbine blade on the transmission line to continue to transmit so as to carry out the subsequent scanning task, the component analysis task or the marking task, after the scanning, the component analysis or the marking is finished, the master controller controls the blocking mechanism to reset again so as to lead the turbine blade to leave the station, and the laser correlation sensor is triggered again after the next turbine blade enters the station, so that the operation can be repeated.

Further, the inferior goods unloading mechanism is an unloading robot arranged at one side of the conveying line, and a clamping jaw is arranged on a horn of the unloading robot; further comprises: and the defective product bin is arranged on one side of the unloading robot.

The adoption of the method has the further beneficial effects that: simple structure can high-efficiently unload the defect product.

Further, the method further comprises the following steps: the material box to be tested and the material box to be finished are respectively arranged at two sides of the feeding and discharging robot.

The adoption of the method has the further beneficial effects that: the material box to be detected is used for storing the turbine blades to be detected, and the product material box is used for storing the turbine blades after marking and is stored in a concentrated mode.

Further, AGV dollies are arranged at the bottoms of the to-be-detected feed box and the finished product feed box.

The adoption of the method has the further beneficial effects that: so as to transfer the material box to be tested and the finished product material box, and when the material box to be tested is empty or full, the material box can be automatically removed from the material bin to be fetched or discharged from the feeding and discharging robot; when the finished product material box is empty or full, the material can be automatically taken from the feeding and discharging robot or discharged from the material bin.

Further, the conveying line is a closed-loop conveying line, and the workpiece trays are arranged on the conveying line.

The adoption of the method has the further beneficial effects that: the work piece tray is used for temporarily storing the turbine blade to be detected, so that the turbine blade to be detected is prevented from being damaged in the conveying process due to the fact that the turbine blade to be detected is directly contacted with the conveying line, the conveying line is a closed-loop conveying line, and the work piece tray can be recycled without being taken off.

Further, a rotary conveying turntable is arranged at each corner of the conveying line.

The adoption of the method has the further beneficial effects that: reversing the workpiece tray and the turbine blades thereon can be achieved at the corners.

Further, a laser correlation sensor and a blocking mechanism are arranged on the conveying line at the upper and lower feeding stations and are respectively electrically connected with the master controller.

The adoption of the method has the further beneficial effects that: after the loading and unloading robot unloads the turbine blade, the loading and unloading robot drops the turbine blade to be detected on the conveying line, the master controller controls the blocking mechanism to reset so that the turbine blade to be detected leaves the station, and the next turbine blade to be marked enters the station to trigger the laser correlation sensor again, so that the operation can be repeated.

Further, a vibrating mirror is arranged in a laser marking head of the laser marking machine.

The adoption of the method has the further beneficial effects that: after the laser marking machine receives a marking instruction, a laser in the laser marking machine outputs high-energy laser and transmits the laser to a laser marking head, and the transmission path of the laser is changed by means of high-frequency swing of a vibrating mirror in the laser marking head, so that marking of different fonts or patterns is realized.

Drawings

FIG. 1 is a block diagram of a turbine blade intelligent sorting apparatus according to the present utility model;

FIG. 2 is a flow chart of the intelligent sorting method of the turbine blades.

In the drawings, the list of components represented by the various numbers is as follows:

1. the device comprises a main controller, 2, a conveying line, 210, a laser correlation sensor, 220, a blocking mechanism, 230, a rotary conveying turntable, 3, a three-dimensional scanning device, 310, an industrial scanner, 320, a scanner controller, 4, a defective product discharging mechanism, 5, a metal component analysis device, 510, a metal component analyzer, 520, a component analysis controller, 6, a laser marking machine, 7, a defective product bin, 8, an feeding and discharging robot, 9, a to-be-detected bin, 10, a finished product bin, 11, a workpiece tray, 12 and an AGV trolley.

Detailed Description

The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model.

Example 1

As shown in fig. 1, a turbine blade intelligent sorting device includes: the automatic marking device comprises a main controller 1, a conveying line 2, a three-dimensional scanning device 3, a defective product discharging mechanism 4, a metal component analysis device 5, a laser marking machine 6 and a loading and unloading robot 8, wherein the conveying line 2, the three-dimensional scanning device 3, the defective product discharging mechanism 4, the metal component analysis device 5, the laser marking machine 6 and the loading and unloading robot 8 are respectively and electrically connected with the main controller 1;

the three-dimensional scanning device 3, the defective product unloading mechanism 4, the metal component analysis device 5 and the laser marking machine 6 are sequentially distributed on the conveying line 2 or on one side along the product flow direction on the conveying line 2; the feeding and discharging robot 8 is arranged between a feeding port and a discharging port of the conveying line 2, and a clamping jaw is arranged on a horn of the feeding and discharging robot 8;

when in operation, the device comprises:

the conveying line 2 is used for completing the conveying work of the whole process of detecting the turbine blades from the upper line to the lower line;

the three-dimensional scanning device 3 is used for scanning the turbine blade to generate grid data of the turbine blade;

the defective unloading mechanism 4 is used for taking the turbine blade judged to be defective off and on the conveyor line 2;

the metal component analysis device 5 adopts an X-ray fluorescence technology to determine component data contained in the turbine blade;

the laser marking machine 6 is used for marking the turbine blade with the determined component data;

the loading and unloading robot 8 can convey the turbine blade to be detected onto the conveying line 2, and can take down the turbine blade after marking from the conveying line 2, so that the turbine blade can be used in one machine;

the general controller 1 is used for controlling the operation of the conveying line 2, judging whether the turbine blade has defects according to the grid data, if so, sending an instruction for performing off-line processing on the turbine blade to the defective unloading mechanism 4, determining the type of the turbine blade according to the component data, determining the marking code according to the type of the turbine blade, and correspondingly sending a marking instruction to the laser marking machine 6.

Example 2

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 1, and is specifically as follows:

the three-dimensional scanning device 3 includes: an industrial scanner 310 and a scanner controller 320, the industrial scanner 310 is arranged on the conveying line 2, the industrial scanner 310 is electrically connected with the scanner controller 320, and the scanner controller 320 is electrically connected with the overall controller 1; the scanner controller 320 controls the industrial scanner 310 to perform a three-dimensional scan of the turbine blade entering the scanning station to obtain grid data (STL).

Example 3

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 2, and is specifically as follows:

the industrial scanner 310 includes: the blue light grating projection unit and the two industrial CCD cameras are distributed left and right, and are respectively and electrically connected with the scanner controller 320; the blue light grating projection unit projects a group of grating stripes with phase information onto the surface of the turbine blade to be detected, and two industrial CCD cameras distributed left and right synchronously perform 3D scanning so as to obtain grid data of the surface of the turbine blade in an extremely short time.

Example 4

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 1 or 2 or 3, and is specifically as follows:

a laser correlation sensor 210 and a blocking mechanism 220 are arranged on the conveying line 2 at a scanning station of the three-dimensional scanning device 3, a component analysis station of the metal component analysis device 5 and a marking station of the laser marking machine 6, the signal output of the laser correlation sensor 210 is electrically connected with the signal input of the master controller 1, and the signal input of the blocking mechanism 220 is electrically connected with the signal output of the master controller 1;

when the turbine blades on the conveying line 2 enter a scanning station, a component analysis station or a marking station, triggering a laser correlation sensor 210, sending a triggering signal to a master controller 1 by the laser correlation sensor 210, controlling a blocking mechanism 220 to act after the master controller 1 acquires the triggering signal, and then blocking the turbine blades on the conveying line 2 by the blocking mechanism 220 to continue conveying so as to carry out a subsequent scanning task, a component analysis task or a marking task;

the master controller 1 controls the three-dimensional scanning device 3, the metal component analysis device 5 or the laser marking machine 6 to start to execute the scanning task, the component analysis task or the marking task, and after the scanning, the component analysis or the marking is finished, the master controller 1 controls the blocking mechanism 220 to reset to enable the turbine blade to leave the station, and the laser correlation sensor 210 is triggered after the next turbine blade enters the station, so that the operation can be repeated.

Example 5

As shown in fig. 1, this embodiment is a further improvement on any one of embodiments 1 to 4, and specifically includes the following:

the inferior product unloading mechanism 4 is an unloading robot arranged on one side of the conveying line 2, and a clamping jaw is arranged on a horn of the unloading robot;

turbine blade intelligence is selected separately and is equipped still includes: the inferior product bin 7, inferior product bin 7 is arranged on one side of the unloading robot, AGV trolley 12 can be arranged below inferior product bin 7, so as to transfer inferior product bin 7, and when inferior product bin 7 is empty or full, the inferior product bin 7 can be automatically unloaded from the unloading robot to take materials or go to bin to unload materials; for the turbine blade determined to be defective, when flowing from the three-dimensional scanning device 3 to the metal component analysis device 5 through the conveying line 2, the turbine blade is gripped by a gripping jaw on the discharging robot and taken out from the conveying line 2 and transferred into the defective product bin 7 to complete defective product offline work.

Of course, in practical applications, it is not excluded to use other types of reject unloading mechanisms 4, such as a pushing cylinder, where the telescopic action of the pushing cylinder pushes the turbine blades from the conveyor line 2 into the reject bin 7.

Example 6

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 1, and is specifically as follows:

turbine blade intelligence is selected separately and is equipped still includes: the material box 9 to be detected and the material box 10 to be detected, the material box 9 to be detected and the material box 10 to be finished are respectively arranged at two sides of the feeding and discharging robot 8; the to-be-detected material box 9 is used for storing the turbine blades to be detected, and the product material box 10 is used for storing the turbine blades after marking and is stored in a concentrated mode.

Example 7

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 6, and is specifically as follows:

AGV dollies 12 are respectively arranged at the bottoms of the to-be-detected material box 9 and the finished product material box 10 so as to transfer the to-be-detected material box 9 and the finished product material box 10, and when the to-be-detected material box 9 is empty or full, the AGV dollies can be automatically moved to a material bin to take materials or discharged from a loading and unloading robot 8; when the finished product box 10 is empty or full, the material can be automatically taken from the feeding and discharging robot 8 or discharged by the material removing bin.

Example 8

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 6 or 7, and is specifically as follows:

the conveying line 2 is a closed-loop conveying line, each corner of the conveying line 2 is provided with a rotary conveying turntable 230, the rotary conveying turntable 230 can divide the conveying line 2 into a plurality of sections, and the operation among the sections can be mutually unaffected so as to meet different use requirements; a workpiece tray 11 is arranged on the conveying line 2, and the workpiece tray 11 is used for temporarily storing the turbine blades to be detected, so that the turbine blades to be detected are prevented from being directly contacted with the conveying line 2 to damage the turbine blades in the conveying process; in addition, the conveyor line 2 is a closed loop conveyor line, so that the workpiece tray 11 can be recycled without being taken off.

In the drawings given in this embodiment: the conveyor line 2 is a rectangular closed loop conveyor line, but may be of other forms.

Example 9

As shown in fig. 1, this embodiment is a further improvement on the basis of embodiment 8, and is specifically as follows:

a laser correlation sensor 210 and a blocking mechanism 220 are arranged on the conveying line 2 at the feeding and discharging stations, and the laser correlation sensor 210 and the blocking mechanism 220 are respectively and electrically connected with the main controller 1;

when the turbine blade on the conveying line 2 is marked, after entering the loading and unloading station, the laser correlation sensor 210 is triggered, the laser correlation sensor 210 sends a trigger signal to the master controller 1, the master controller 1 controls the blocking mechanism 220 to act after acquiring the trigger signal, then the blocking mechanism 220 blocks the turbine blade on the conveying line 2 to continue to convey, so that the loading and unloading robot 8 unloads the turbine blade, after the unloading is finished, the loading and unloading robot 8 drops the turbine blade to be detected on the conveying line 2, the master controller 1 controls the blocking mechanism 220 to reset, so that the turbine blade to be detected leaves the station, and after the next turbine blade to be marked enters the station, the laser correlation sensor 210 is triggered again, and the operation can be repeated.

Example 10

As shown in fig. 1, this embodiment is a further improvement on any one of embodiments 1 to 9, and specifically includes the following:

the laser marking head of the laser marking machine 6 is provided with a vibrating mirror, after the laser marking machine 6 receives a marking instruction, a laser in the laser marking machine 6 outputs high-energy laser and transmits the laser to the laser marking head, and the transmission path of the laser is changed by means of high-frequency swing of the vibrating mirror in the laser marking head, so that marking of different fonts or patterns is realized.

Example 11

As shown in fig. 1, this embodiment is a further improvement on any one of embodiments 1 to 10, and specifically includes the following:

the metal component analysis device 5 includes: a metal component analyzer 510 and a component analyzer controller 520, the metal component analyzer 510 is provided on the conveyor line 2, the metal component analyzer 510 is electrically connected to the component analyzer controller 520, and the component analyzer controller 520 is electrically connected to the main controller 1.

Example 12

As shown in fig. 2, the intelligent sorting method for the turbine blades comprises the following steps:

s01, a conveying line 2 conveys the turbine blade to be detected to a three-dimensional scanning device 3;

s02, scanning the turbine blade by the three-dimensional scanning device 3 to generate grid data of the turbine blade;

s03, judging whether the turbine blade has defects according to grid data of the turbine blade, if so, taking the turbine blade off line by a defective product unloading mechanism 4, and if not, entering S04;

s04, continuously conveying the turbine blade without defects to the metal component analysis device 5 by the conveying line 2;

s05, determining component data contained in the turbine blade by the metal component analysis device 5;

s06, determining the category of the turbine blade according to the component data contained in the turbine blade;

s07, conveying the turbine blades with the determined types to a laser marking machine 6 by a conveying line 2;

s08, determining marking codes according to the types of the turbine blades, and marking corresponding codes on the turbine blades by a laser marking machine 6;

s09, off-line of the finished product.

Example 13

As shown in fig. 2, this embodiment is a further improvement on the basis of embodiment 12, and is specifically as follows:

s03, judging whether the turbine blade has defects according to the grid data, wherein the specific flow is as follows:

the method comprises the steps that a master controller 1 acquires grid data, and mark points in the grid data are removed firstly;

comparing the grid data of the turbine blade with standard turbine blade data (the data is normally imported in advance) in a product library;

to determine if a defect exists, if so, recording the product label of the turbine blade into a database of non-standard samples (or defective samples), and correspondingly generating a detection report so as to support subsequent data inquiry.

The content of the comparison may comprise: appearance and/or character;

and judging the surface type and the appearance:

performing differential visual presentation on the grid data in different depth colors, and performing intelligent classification and storage on profile errors and different appearance defects;

and judging the character:

the image is preprocessed, wherein the preprocessing can be denoising processing, character recognition and non-standardized discrimination are performed, and the preprocessing can be understood as character content, size, direction and the like.

Example 14

As shown in fig. 2, this embodiment is a further improvement on the basis of embodiment 12 or 13, and is specifically as follows:

in S05, the specific flow of the component data contained in the turbine blade determined by the metal component analysis device 5 is as follows:

the metal component analysis device 5 emits primary X-rays to the turbine blade to excite atoms in the turbine blade, so that electrons in the inner layer of the turbine blade are ionized to generate vacancies, and outer layer electron transition is caused;

acquiring secondary X-ray photons, namely characteristic fluorescent X-rays, radiated from elements contained in the turbine blade;

and carrying out qualitative and quantitative analysis according to the wavelength and the intensity of the element characteristic spectral line so as to determine the component data contained in the turbine blade.

Example 15

As shown in fig. 2, this embodiment is a further improvement on the basis of embodiment 12 or 13 or 14, which is specifically as follows:

in S06, the specific flow of determining the category of the turbine blade according to the component data of the turbine blade is as follows:

the determined composition data of the turbine blade is compared with each type of turbine blade composition data (which is typically pre-entered) in the product pool to determine the type of turbine blade.

Example 16

As shown in fig. 2, this embodiment is a further improvement on the basis of embodiment 12 or 13 or 14 or 15, which is specifically as follows:

in S08, the specific flow of marking codes according to the types of the turbine blades is as follows:

the determined class of turbine blades is compared to a database of marking criteria (which data is typically entered in advance) to determine a marking code.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims (10)

1. Turbine blade intelligence sorting equipment, its characterized in that includes: the automatic marking device comprises a main controller (1), a conveying line (2), a three-dimensional scanning device (3), a defective product unloading mechanism (4), a metal component analysis device (5), a laser marking machine (6) and a loading and unloading robot (8), wherein the conveying line (2), the three-dimensional scanning device (3), the defective product unloading mechanism (4), the metal component analysis device (5) and the laser marking machine (6) are respectively electrically connected with the main controller (1), and are sequentially distributed on the conveying line (2) or on one side along the flow direction of products on the conveying line (2); the feeding and discharging robot (8) is arranged between a feeding opening and a discharging opening of the conveying line (2), and a clamping jaw is arranged on a horn of the feeding and discharging robot (8).

2. The turbine blade intelligent sorting equipment according to claim 1, wherein the three-dimensional scanning device (3) comprises: an industrial scanner (310) and a scanner controller (320), wherein the industrial scanner (310) is arranged on the conveying line (2), the industrial scanner (310) is electrically connected with the scanner controller (320), and the scanner controller (320) is electrically connected with the overall controller (1).

3. The turbine blade intelligent sorting apparatus of claim 2, wherein the industrial scanner (310) comprises: the blue light grating projection unit and the two industrial CCD cameras are distributed left and right, and are respectively and electrically connected with the scanner controller (320).

4. The intelligent sorting equipment for turbine blades according to claim 1, wherein a laser correlation sensor (210) and a blocking mechanism (220) are arranged on the conveying line (2) at a scanning station of a three-dimensional scanning device (3), a component analysis station of a metal component analysis device (5) and a marking station of a laser marking machine (6), and the laser correlation sensor (210) and the blocking mechanism (220) are respectively electrically connected with the general controller (1).

5. The intelligent sorting equipment for the turbine blades according to claim 1, wherein the defective product discharging mechanism (4) is a discharging robot arranged on one side of the conveying line (2), and a clamping jaw is arranged on a horn of the discharging robot; further comprises: and the defective material box (7) is arranged on one side of the unloading robot.

6. The turbine blade intelligent sorting apparatus of claim 1, further comprising: the feeding and discharging machine comprises a feeding box (9) to be detected and a finished product box (10), wherein the feeding box (9) to be detected and the finished product box (10) are respectively arranged at two sides of the feeding and discharging robot (8).

7. The intelligent sorting equipment for turbine blades according to claim 6, wherein AGV trolleys (12) are arranged at the bottoms of the to-be-detected feed box (9) and the finished product feed box (10).

8. The intelligent sorting equipment for turbine blades according to claim 6, wherein the conveying line (2) is a closed-loop conveying line, and workpiece trays (11) are arranged on the conveying line (2).

9. The intelligent sorting equipment for turbine blades according to claim 8, wherein a rotary conveying turntable (230) is arranged at each corner of the conveying line (2).

10. The intelligent sorting equipment for turbine blades according to claim 1, characterized in that a vibrating mirror is arranged in a laser marking head of the laser marking machine (6).