JPS6235238A - Automatic inspection system for rotating machine - Google Patents

Abstract

PURPOSE:To automate an inspection by setting a rotating machine to an inspection instrument by a chuck mechanism, by executing a preset inspection on the rotating machine by using an inspecting instrument and the motor for driving and by releasing the setting after the inspection. CONSTITUTION:A controller 6 decides the rejection on the inspection item exceeding the threshold by comparing with the threshold set on each inspection item with respect to each inspection item and in case of the rejection being decided on one inspection item this cyclo-speed reducer is decided as rejection. The controller 6 then moves an arm 12 to the upper part by removing the chuck of the output shaft of the cyclo-speed reducer by controlling an inspection instrument 7 and thereafter by releasing the clamp mechanism. THe cyclo-speed reducer is then returned to the original position of a transfer truck by holding it by a robot mechanism. The inspection is taken as completed if the inspection of all cyclo-speed reducers on the transfer truck 30 be completed and in case of the inspection being not completed the inspection is performed on the following cyclo-speed reducer further.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention particularly relates to an automatic inspection device for automatically inspecting the characteristics of a rotating machine.

(Prior Art) Conventionally, rotating mechanisms such as reducers (for example, cyclo reducers:
registered trademark) characteristics (e.g. transmission error.

When measuring running torque, starting torque, spring constant, paraclarity, etc., the characteristics of the reducer are inspected after setting the reducer to the test equipment and adjusting the test equipment itself. That is.

Conventionally, when testing the characteristics of a speed reducer, the setting and testing steps for the speed reducer are all performed manually.

(Problems to be Solved by the Invention) Conventionally, when inspecting the characteristics of a rotating mechanism such as a reducer, it is necessary to change the inspection device for each inspection item, and the setting of the reducer must be changed each time.

There is a problem in that the inspection equipment must be adjusted, it takes a long time (for example, 1 to 2 hours) to inspect one reducer, and there are individual differences in the inspection results. .

(Means for Solving the Problems) The present invention includes a mounting table on which a rotating machine having an input/output shaft is placed, a drive motor, a sensor for detecting the rotation angle of the input/output shaft, and a load torque generation mechanism. A detector is provided, a clamp mechanism holds the rotary machine on the mounting table, and the input shaft is connected to the drive motor.

An inspection device having a chuck mechanism that connects the output shaft to the load torque generation mechanism and a two-rotator are placed on a mounting table,
Alternatively, it has a robot mechanism equipped with a recognition means and a gripping mechanism for the rotating machine to remove it from the mounting table, and a controller to control the robot mechanism and the inspection device, and the controller controls the 2-rotet mechanism. After the rotating machine is placed on the above-mentioned mounting table, the inspection device is controlled by the controller, the rotating machine is set on the inspection device by the clamp mechanism and the chuck mechanism,
A predetermined inspection is performed on the rotating machine using the above inspection device and drive motor, and after this inspection, the above setting is released and the rotating machine is removed from the mounting table by the robot mechanism. This is an automatic inspection system for rotating machines.

(Example) The present invention will be explained below with reference to Examples.

First, the configuration of an automatic inspection system for rotating machines according to the present invention will be described with reference to FIGS. 1 and 2. .

An arm mechanism 2 extending perpendicularly to the support 1 is attached to the support 1 extending left and right so as to be movable in the X-axis direction and the y-axis direction. A grip and support mechanism 3 extending in the vertical direction (y-axis direction) are attached to the tip of the arm mechanism 2, and the grip and support mechanism 3 are movable in the y-axis direction. An ITV camera 5 is provided near the grip mechanism 4. And these arm mechanisms 2. Grip support mechanism 3. Grip machine @4. The ITV camera 5 is connected to a controller 6 having functions to be described later, and is controlled by the controller 6.

Here, to outline the structure of the grip mechanism 4 with reference to FIG. 3, cylinders 4a and 4b are arranged one above the other to form a so-called double acting cylinder. The cylinder 4a is provided with air holes 4a1 and 4a2 as shown, while the cylinder 4b is provided with air holes 4b1 and 4b2. A piston 4c is disposed in the cylinder 4a so as to be slidable in the vertical direction, and a piston 4d is disposed in the cylinder 4/ so as to be slidable in the vertical direction.

A plate body 4e is provided at the lower end of the double-acting piston.
A positioning error correcting means (hereinafter referred to as a remote center compliance (RCC) device) 4f is disposed between approximately the center of the outer surface of the double-acting piston and the plate 4e.

The RCC device 4f has a rubber element 4f3 made of special rubber installed between a pair of plays 4f1 and 4f2.

At both ends of the piston 4c there are rods 4g extending vertically.
One end is attached to the rod (one not shown), and the other end of the rod 4g is connected to a link member 4h, and this link member 4h forms a link structure with four link members. . A claw mechanism 4J is connected to this link member 4h+4+. On the other hand, a grip presser portion 4k is provided at the lower end of the piston 4d so as to be movable in the vertical direction.

Referring again to FIGS. 1 and 2, an inspection device 7 for inspecting the characteristics of the cyclo reducer is arranged in front of the arm mechanism 2. The inspection device 7 includes a rectangular parallelepiped-shaped housing 8, and a pair of guide rods 9 extending upward are attached to the housing 8. The upper ends of the guide rods 9 are connected by a regulating plate 10, and a rod screw 11 extending downward is rotatably attached to the regulating plate 10. The lower end of the rod screw 11 is inserted into the housing 8.

It is connected to a motor (not shown) disposed within the housing 8. An arm 12 is supported on the guide rod 9 and extends to face the support 1, and when the rod screw 11 is rotated by the drive of a shear motor, the arm 12 moves in the vertical direction. A drive motor 13 is installed at the upper end of the arm 12.
On the other hand, a clamping cup 14 is attached to the lower end via positioning error correcting means (not shown in FIGS. 1 and 2), which will be described later.

Here, to further explain the inspection device 7 with reference to FIG. A coupling 17 equipped with a chuck mechanism is attached to the holder. A brake mechanism 18 for locking the shaft 16 is provided in the flange cup 14, and a touch roller 16a is attached to the shaft 16, and this touch roller 168 is in strong contact with the touch roller 16b. . A rotation angle detection sensor 19 is connected to the touch roller 16b.

On the other hand, the clamping cup 14 is supported by the shaft 15 via a bearing 14a, and is attached to the lower end of the above-mentioned positioning error correction means (hereinafter referred to as remote center compliance (RCC) device) 20. . The RCC device 20 with a pair of plays) 20a,
A rubber element 20c made of special rubber is installed between 20b. As shown in FIG.
A is fixed to the lower surface of the arm 12, and the RC
The C device 20 is supported by the shaft 16 via bearings 20d and 20e.

On the upper surface of the inspection device housing 8, a cyclo reducer 22 is placed on a mounting adapter 21 via a clamping cup 14 as described later, and is held (clamped) on the adapter 21.
A clamp mechanism 23 is provided for this purpose. Opposing the output shaft 22b of the cyclo reducer 22 placed on the mounting adapter 21, a shaft 25 equipped with a chuck mechanism 24 is supported by the housing 8 via bearings 8a and 8b, A rotation angle detection sensor 29 is attached to the approximate center of the shaft 25, and a load inertia disk 26 is attached to the lower end of the shaft 25. A vibration measurement pickup 27 is attached to the load inertia disk 26. It is arranged. on the other hand.

The load inertia disk 26 includes a load torque generation mechanism 28.
is provided. Then, the inspection device 7 having the above-described configuration
is connected to controller 6.

It is controlled as described below.

Here, an example of the load torque generating mechanism 28 will be described with reference to FIG. 5. Electromagnets 28b and 28c are attached to a support body 28a having a U-shaped cross section so as to face each other. The approximately central portion of the arm portion 28a1 of the support body 28a is thinner than the other portions, and a total of four strain gauges 28d are fixed to this central portion, and the load torque generating mechanism 2
8 are made up. A protrusion 26a provided on the load inertia disc 26 is inserted between the electromagnets 28b and 28c of the load torque generating mechanism 28.

Next, the operation of the automatic inspection system according to the present invention will be explained with reference to FIGS. 1 to 6.

First, check the controller 6 for inspection items (for example, transmission error, running torque, starting torque, spring constant).

Backlash, repeatability, vibration) and judgment criteria (threshold) for each inspection item are input. When these inspection items and judgment criteria are input, the controller 6 drives the rodet mechanism. While the rodet mechanism is controlled by the controller 6, the arm mechanism 2 moves in the left direction of the X-axis shown in FIG. Next, the cyclo reducer (not shown on the carry-in cart 30) placed on the cyclo reducer carrying cart 30 and the grid.

The arm mechanism 2 moves in the axle direction in order to accommodate the gripping mechanism 4. The controller 6 recognizes the cyclo reducer using the ITV camera 5 attached to the arm mechanism 2 (type of cyclo reducer, center position).

Finely adjust the arm mechanism 2 while turning the input shaft (in one direction). When the grip mechanism 4 completely corresponds to the cyclo reducer by recognition by the ITV camera 5, the grip support mechanism 3
moves downward on two axes, and the grip mechanism 4 is located directly above the cyclo reducer. Here, as shown in FIG. 3, air is introduced into the cylinder 4a through the air hole 4a1, the piston 4c moves downward, and the link mechanisms 4h and 41 are driven via the rod 4g. , the cyclo reducer 22 is gripped by the claw mechanism 4h. Next, air hole 4b
1, air is introduced into the cylinder 4b, and the piston 4d
moves downward, and as a result, the grip holding part 4j holds down the cyclo reducer 22, and the input shaft (not shown) of the cyclo reducer 22 is inserted into the center thereof.

When the cyclo reducer is gripped by the grip mechanism 4, the controller 6 moves the grip support mechanism 3 upward by two axes.
Next, move the arm mechanism 2 in the y-axis radial direction.

When the arm mechanism 2 moves in the X-sleeve cloth direction and reaches a position corresponding to the inspection device 7, the arm mechanism 2 stops moving.

Next, under control from the controller 6, the arm mechanism 2
moves forward on the y-axis, and when the cyclo reducer 22 corresponds to the mounting adapter 21, the movement of the arm mechanism 2 stops.

The robot mechanism and inspection equipment have already been precisely aligned. after that.

The grip support mechanism 3 moves downward two axes and places the main body of the cyclo reducer 22 on the mounting adapter 21. At this time, the output shaft 22b of the cyclo reducer 22 is inserted into the chuck adapter 24a. As described above, since the grip mechanism 4 is equipped with the RCC device, the output shaft 22b can be inserted following the chuck adapter 24a. When the cyclo reducer 22 is placed on the inspection device 7.

The grip mechanism 4 releases its grip on the cyclo reducer 22,
The grip support mechanism 3 moves upward. Thereafter, the arm mechanism 2 returns to its original position.

When the installation of the cyclo reducer 22 is completed, the controller 6 controls the inspection device 7 to set the cyclo reducer 22. That is, a motor (not shown) is driven, and the arm 12 moves downward, and the clamping cup 1 is moved downward.
4 is placed over the main body of the cyclo reducer 22. At this time,
The input shaft 22 & of the cyclo reducer 22 is inserted into the taper cassilling ring 17 and chucked. Note that an RCC device 20 is installed between the clamping cup 7° 14 and the arm 12.
is attached to the drive shaft 13 of the drive motor 13.
a is the shaft 1 via the flexible coupling 15
6, the input shaft 22a of the cyclo reducer 22 is inserted following the taper cylinder 17. The input shaft 22a of the cyclo reducer 22 is chucked,
When connected to the drive shaft 13a of the drive motor 13, the cyclo reducer 22 is clamped by the clamp mechanism 23 via the clamp cup 7'14. after that.

The output shaft 22b is chucked by the chuck mechanism 24, and the setting of the cyclo reducer 22 is completed.

After completing the setting of the cyclo reducer 22.

The controller 6 inspects the cyclo reducer 22. The items of this inspection are as shown in the flowchart in Figure 6.
(1) Measurement of transmission error, (2) Measurement of running torque, (3) Measurement of starting torque, (4) Measurement of spring constant and backlash, (5) Measurement of repeatability, (6)
This is done in the order of vibration measurements.

(1) Measurement of transmission error Drive the drive motor 13 to rotate the input shaft 22a of the cyclo reducer 22 at a constant speed.

The rotation angle detection sensor 29 samples the angular displacement of the output shaft 22b, and this sample value is input to the controller 6. Since the output shaft angular displacement with respect to a predetermined input shaft rotational speed is input in advance to the controller 6, a transmission error is calculated from this, and this calculated transmission error is compared with a threshold.

(2) Measuring running torque The drive motor 13 is driven with no load.

The input shaft 22a is rotated at a constant speed. At this time, the controller 6 calculates the torque (running torque) of the input shaft from the current flowing through the drive motor 13, and compares it with a threshold.

(3) Measurement of starting torque Drive the drive motor 13 and rotate the 9 rotation angle detection sensor 19
detects the start of rotation of the input shaft 22a, and
A starting torque (static friction torque) is calculated from the current flowing through the drive motor I3 just before a starts rotating, and compared with a threshold.

(4) Measurement of spring constant and packlash First, the shaft 16 is fixed by the brake mechanism 18, and the input shaft 22a of the cyclo reducer 22 is substantially fixed. Electromagnet 2
When power is applied to 8b.

As shown in FIG. 5, the load inertia disk 26 is slightly displaced in the direction indicated by the solid arrow. At this time, support 2
8a is deformed in proportion to the displacement of the load inertia disk 26, the amount of deformation is detected by the strain gauge 28d,
The load torque applied to the load inertia disk 26, that is, the output shaft 22b of the cyclo reducer 22 is detected. On the other hand, the displacement of the output shaft 22b is detected by the rotation angle detection sensor 29.

Next, the electromagnet 28c is energized to displace the load inertia disk 26 in the direction indicated by the broken line arrow.

The strain gauge 28d detects the load torque applied to the output shaft 22b, and the rotation angle detection sensor 29 detects the displacement of the output shaft 22b.

Furthermore, as described above, the electromagnets 28b and 28c are energized to determine the load torque and output shaft displacement, and the controller 6
calculates the spring constant and packlash from these load torque and output shaft displacement, and compares them with the threshold.

(5) Measurement of repeatability The drive motor 13 is driven to rotate the input shaft 22a of the Cyclo reducer 22 from a predetermined position to the right by a predetermined angle, and then the input shaft 22a is rotated to the predetermined position again. (detected by the rotation angle detection sensor 19). At this time, output shaft 2
The position of 2b is detected by the rotation angle detection sensor 29. Similarly, after rotating the input shaft 22a from a predetermined position to the left by a predetermined angle, the input shaft is returned to the predetermined position again, and the output shaft 22a
Detect the position of 2b. From this result, the difference in the position of the output shaft 22b when the input shaft 22a is rotated clockwise and when it is rotated counterclockwise is calculated. That is, the positioning error is detected and compared with the threshold P.

(6) Drive the vibration measurement drive motor 13 at a constant acceleration. That is, the input shaft 22a of the cyclo reducer 22 is accelerated at a constant rate, and the vibration acceleration and vibration displacement are detected by the vibration measurement big gear f27 provided on the load inertia disk 26 and compared with a threshold.

In this way, the controller 6 compares each inspection item with the threshold set for each inspection item, determines that an inspection item that exceeds the threshold is a failure, and determines a failure for one inspection item. If so, the cyclo reducer is determined to be rejected.

Next, the controller 6 controls the inspection equipment R7.

The output shaft 22b of the cyclo deceleration 22 is unzipped, and then the clamp mechanism 23 is released and the arm 12 is moved upward. Next, the robot mechanism is controlled to grip the Scyclo reducer 22 with the grip mechanism 4 and return it to its original position on the carry-in cart 30. If the inspection of all the cyclo reducers on the carry-in cart 30 has been completed, the inspection is completed.
If the inspection has not been completed, the primary cyclo reducer is further inspected as described above.

(Effects of the Invention) As explained above, according to the automatic inspection system according to the present invention, it is possible to automatically transport rotating machines such as reducers to the inspection equipment, and also to set and rotate the rotating machine inspection equipment. Machine inspection will be performed automatically.

This inspection allows you to immediately determine whether the rotating machine is good or bad, so there is no need to spend time setting the rotating machine on an inspection device, inspecting it, and determining whether it is good or bad, unlike in the past.
Furthermore, there are no individual differences in testing.

Below margin

[Brief explanation of drawings]

Fig. 1 is a side view of the automatic inspection system according to the present invention, Fig. 2 is a view showing the automatic inspection system according to the present invention from above, and Fig. 3 is a partially cutaway view of the grip mechanism used in the present invention. 4 is a cutaway view of the main parts of the inspection device used in the present invention, FIG. 5 is a diagram showing the load torque generation mechanism used in the present invention, and FIG. 6 is a diagram showing the automatic It is a flowchart which shows an example of the operating procedure of an inspection system. DESCRIPTION OF SYMBOLS 1... Support body, 2... Arm mechanism, 3... Grip support mechanism, 4... Grip mechanism, 5... ITV camera, 6... Controller, 7... Inspection device, 8・
...Housing, 9...Guide rod, 10...Regulation plate, 11
... Rod screw, 12 ... Arm, 13 ... Drive motor, 14 ... Clamp cup, 15 ... Flexible coupling, 16 ... Shaft, 17 ...
Theno E coupling, 18...Brake mechanism, 19
...Rotation angle detection sensor, 20...RCC device, 2
1... Mounting adapter, 22... Cyclo reducer,
23... Clamp mechanism, 24... Chuck mechanism, 2
5... Shaft, 26... Load inertia disk,
27... Vibration measurement pin, 28... Load torque generation mechanism, 29... Rotation angle detection sensor. Figure 2 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] 1. A mounting table on which a rotating machine having an input/output shaft is placed, a drive motor, a sensor for detecting the rotation angle of the input/output shaft, and a detector equipped with a load torque generation mechanism, and the mounting table. An inspection device having a clamp mechanism that holds the rotating machine, a chuck mechanism that connects the input shaft to the drive motor and the output shaft to the load torque generation mechanism, and the rotating machine as described above. A robot mechanism including a recognition means for the rotating machine and a gripping mechanism for the rotating machine for placing it on a mounting table or removing it from the mounting table, and a controller for controlling the robot mechanism and the inspection device. The robot mechanism is controlled by the controller, and after the rotating machine is placed on the mounting table, the controller controls the inspection device, and the clamp mechanism and the chuck mechanism control the rotating machine. The rotating machine is set in an inspection device, a predetermined inspection is performed on the rotating machine using the inspection device and the drive motor, and after the inspection, the setting is released, and the rotating machine is operated by the robot mechanism as described above. An automatic inspection system for a rotating machine, characterized in that it is removed from a mounting stand.