KR20130037586A - Portable pressure leak checker and test methods - Google Patents

Portable pressure leak checker and test methods Download PDF

Info

Publication number
KR20130037586A
KR20130037586A KR1020110102069A KR20110102069A KR20130037586A KR 20130037586 A KR20130037586 A KR 20130037586A KR 1020110102069 A KR1020110102069 A KR 1020110102069A KR 20110102069 A KR20110102069 A KR 20110102069A KR 20130037586 A KR20130037586 A KR 20130037586A
Authority
KR
South Korea
Prior art keywords
air
pressure
robot
assembly robot
articulated
Prior art date
Application number
KR1020110102069A
Other languages
Korean (ko)
Inventor
박태갑
천상필
Original Assignee
현대중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대중공업 주식회사 filed Critical 현대중공업 주식회사
Priority to KR1020110102069A priority Critical patent/KR20130037586A/en
Publication of KR20130037586A publication Critical patent/KR20130037586A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Examining Or Testing Airtightness (AREA)

Abstract

PURPOSE: A portable leakage inspecting device for a multi-joint assembled robot is provided to easily and safely inspect the existence of lubricating oil leakage from a multi-joint assembled robot before injecting lubricating oil in the assembling process of the multi-joint assembled robot. CONSTITUTION: A portable leakage inspecting device for a multi-joint assembled robot comprises a primary coupler(110), a filter regulator(120), a precise regulator(130), a first valve(140), a power supply device, a secondary coupler(170), and a second valve(150). The primary coupler is connected to an air compressor. The filter regulator filters moisture contained in the air supplied through the primary coupler. The precise regulator is connected to the filter regulator, thereby precisely and automatically controlling the supply pressure of the air in which moisture is removed to be satisfied with a preset pressure.

Description

Portable pressure leak checker and test methods for articulated robots

The present invention relates to a portable leakage inspection apparatus and a leak inspection method of a multi-joint assembling robot, and more particularly, after the assembly of a device equipped with a reducer such as a multi-joint assembling robot, before grease or lubricating oil is injected. It relates to a leakage inspection method of a multi-joint assembly robot that inspects the leakage of lubricant.

In general, unmanned automated assembly lines such as ships, automobiles, electronic equipment, etc. are used devices such as articulated assembly robots to be able to produce products quickly and precisely through unmanned.

The articulated assembly robot has three or more types of working operations, and three or more rotary motion mechanisms are used to perform assembly work or painting or welding in a production line.

A device such as an articulated joint robot has an assembly corresponding to a joint such as a shoulder, an arm, an elbow, a wrist, and can move similarly to a human exercise, and a reducer is provided for controlling the assembly.

In particular, the reducer provided in the articulated assembly robot is filled with grease (GREASE) or lubricating oil for smooth driving of the apparatus, and the grease or lubricating oil is generally filled after the articulated assembly robot is assembled.

Thus, grease or lubricating oil injected for smooth lubrication between parts is injected into the articulated assembly robot before charging and after a certain trial run after injection to check whether the grease or lubricating oil leaks from the gear units of each axis of the articulated assembly robot. Leak test is performed.

This leakage test is generally injecting pressurized air through the grease or lubricating oil inlet formed in the articulated assembly robot to determine the leakage by measuring the pressure change in the articulated assembly robot.

In some cases, apply developer such as soapy water to areas where grease or lubricant is easy to leak, and then blow air through the grease or lubricant inlet, and apply the soapy water to the joints. The bubbles generated when exhausted are visually identified to determine whether they leak.

However, in the case of the conventional leak inspection method as described above, when the air blowing into the interior of the articulated assembly robot is injected at a state higher than the allowable design pressure of the seals for the reduction gear part, the oil-sea installed inside the articulated assembly robot. (OIL-SEAL) is pushed in place under high air pressure to form a gap, which causes the grease or lubricant to leak.

The present invention is to solve the above problems, it is injected into the reducer of the assembly articulated robot to check whether the grease or lubricant is leaked before filling the grease or lubricating oil in the reducer of the articulated assembly robot. The pressure of the compressed air is precisely regulated below the designed internal pressure at the inspection area, so that the joint of oil-seal at the reducer area is pushed in place by excessively pressurized air and grease or lubricant does not form a gap. The purpose of the present invention is to provide a portable leakage inspection device and a leakage inspection method of the assembled robot.

In the technical idea of the present invention for achieving the above object, in the method for checking whether the grease or lubricating oil filled in the articulated assembly robot leaks, the grease or lubricating oil in each shaft reducer of the articulated assembly robot Compressed air cleansing step of blowing dry air from the inlet provided in the articulated assembly robot into which the grease or lubricating oil is injected before filling the air, and when the compressed air cleansing step is completed, air exceeding a preset pressure is automatically discharged. And a supply pressure adjustment step of automatically adjusting the pressure to be equal to the set pressure, a standby step of blocking air supplied to the articulated assembly robot and waiting for a predetermined time when the supply pressure adjustment step is completed; Measurement to measure the pressure change of air enclosed in the reduction gear part of the robot And determining, based on the pressure value of the air measured in the measuring step, whether to leak or exhausting the compressed air sealed in the reducer after the measuring step is completed. It is achieved by inspection method.

Here, in the determining step, it is preferable to determine that the articulated assembly robot leaks when the pressure value of the air obtained in the measuring step is lower than the set pressure.

On the other hand, in another technical spirit of the present invention for achieving the above object, the moisture contained in the air is supplied through the primary coupler, the primary coupler and the primary coupler connected to the air compressor and the flow path connected to the primary compressor A filter regulator for filtering the filter, a precision regulator connected to the filter regulator to precisely and automatically adjust the supply pressure of the air from which water is removed according to a preset pressure, and a first to control the flow of air passing through the precision regulator. A power supply including a valve, a pressure switch and a power switch for measuring and visually displaying the air pressure in the air of the articulated assembly reduction gear unit sealed by the first valve, and grease provided in the articulated assembly robot. Secondary coupler connected to the injection hole into which lubricating oil is injected and deceleration after the leak test is completed It is achieved by a portable leakage inspection apparatus of a multi-joint assembly robot comprising a; a second valve for reducing the pressure by exhausting the closed compressed air of the base.

According to the present invention, a portable leakage inspection apparatus and a leak inspection method of an articulated assembly robot can easily and safely inspect the articulated robot's leakage before injecting grease or lubricant in an assembly process of the articulated assembly robot. This improves the quality and reliability of the manufactured jointed-arm robot, as well as shortens the follow-up time due to leakage.

In addition, by preventing excessive air pressure from being supplied to the articulated robot during the leak test, parts such as oil-sea due to air pressure are pushed in place and do not generate a gap, thereby enabling a more stable leak test.

1 is a flow chart illustrating a leak inspection method of a multi-joint assembly robot according to the present invention.
2 is a hydraulic circuit diagram showing an embodiment of a leak inspection apparatus based on a leak inspection method of a multi-joint assembly robot according to the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor may properly define the concept of the term to describe its invention in the best possible way And should be construed in accordance with the principles and meanings and concepts consistent with the technical idea of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a flow chart illustrating a leak inspection method of a multi-joint assembly robot according to the present invention. Referring to the drawings, the method for testing leakage of the articulated assembly robot according to the present invention is largely provided in the articulated assembly robot into which the grease or lubricant is injected before the grease or lubricant is charged to each axis reducer of the articulated assembly robot. Compressed air cleansing step (S110) for blowing dry air to remove the moisture in the inlet, and when the compressed air cleansing step (S110) is finished, the air exceeding a predetermined pressure is automatically discharged and supplied to automatically adjust to be equal to the set pressure When the pressure adjustment step (S120) and the supply pressure adjustment step (S120) is completed, the standby step (S130) for shutting off the air supplied to the articulated joint robot and waiting for a predetermined time, and the multi-joint of the standby step (S130) Measuring step (S140) of measuring the pressure change value of the air sealed in the reducer portion of the assembly robot, the measurement of the air in the measuring step (S140) After ryeokchi according to the determining step (S150) and ends the measuring step for determining whether the leakage consists of the compressed air enclosed in the deceleration contribution to the exhaust step (S160) to the exhaust.

In other words, the leakage inspection method of the articulated assembly robot according to the present invention, after the articulated assembly robot is assembled, each drive unit (power transmission system formed in the articulated assembly robot or reducer part of each axis) After the grease or lubricant is filled, it is used to check whether the grease or the lubricant leaks.

To this end, first, the compressed air cleaning step (S110) is performed. In the compressed air cleaning step (S110), after the articulated assembly robot is assembled, air is injected into the inlet provided in the articulated assembly robot into which the grease or the lubricant is injected before the grease or the lubricant is filled therein.

Then, after the compressed air cleaning step (S110) is performed, the supply pressure adjusting step (S120) is automatically performed to automatically discharge the air exceeding the predetermined pressure and to be equal to the set pressure.

In addition, when the supply pressure adjustment step (S120) is completed, the standby step (S130) for blocking the air supplied to the articulated assembly robot and waiting for a predetermined time is performed.

Measurement step (S140) of measuring the pressure change value of the air sealed in the reduction unit of the articulated assembly robot during the waiting step (S130) is carried out.

Determination step (S150) of determining whether the leakage according to the pressure value of the air measured in the measuring step (S140) is performed, and after the measuring step (S140) is finished to exhaust the compressed air sealed in the reduction gear unit The evacuation step S160 is performed.

Such a leak testing method of the multi-joint assembly robot according to the present invention can be made by the leak test device shown in Figure 2, the leak test device is not limited by the structure described below will be variously modified Can be.

2 is a hydraulic circuit diagram showing an embodiment of a leak inspection apparatus based on a leak inspection method of a multi-joint assembly robot according to the present invention.

Referring to the drawings, the leakage inspection apparatus 100 of the articulated assembly robot according to the embodiment is a primary coupler 110, the primary coupler 110 and the flow path is largely connected to an air compressor (not shown) Filter regulator 120 for filtering the water contained in the air supplied through the primary coupler 110 and connected to the, and precision connected to the filter regulator 120 to precisely control the supply of air from which moisture is removed When the air supplied to the regulator 130 and the first valve 140 to control the flow of air and the articulated assembly robot (not shown) is a predetermined pressure or more, a second valve 150 for exhausting a part of air to lower the pressure. And control the first valve 140 and the second valve 150 to supply air to the articulated assembly robot at a constant pressure, and measure and visually display the pressure of the air supplied to the articulated assembly robot. Pressure The switch 160 and the secondary joint coupler 170 is connected to an injection hole into which grease or lubricating oil is provided in the articulated assembly robot.

The filter regulator 120, the precision regulator 130, the first valve 140, the second valve 150, and the pressure switch 160 are provided in a row on a pipe through which air flows. The filter regulator 120 and the pressure switch 160 are connected to the primary coupler 110 and the secondary coupler 170, respectively.

In some cases, the damper or silencer 152 is provided on the second valve 150 side, so that the air is stable before the secondary coupler 170 is detached from the articulated robot. If the pressure of the air blowing into the multi-joint assembling robot is higher than the set value, the pressure of the air blowing into the multi-joint assembling robot is lower than the set value.

The filter regulator 120 and the precision regulator 130, the first valve 140 and the second valve 150 and the pressure switch (formed along the flow path to supply the air provided by the air compressor into the articulated assembly robot) The 160 is installed in a structure (not shown) having a structure such as a carriage that is easy to carry and move.

Leak test apparatus 100 of the embodiment based on the leak test method of the articulated assembly robot according to the present invention may be portable so that the leak test can be performed quickly and conveniently by convenient portability and installation.

Accordingly, in the leak test apparatus according to the exemplary embodiment, a battery module 180 including an rechargeable secondary battery is used, and the power provided from the battery module 180 supplies power to components requiring power. Will be supplied.

Using the leak test device 100 according to an embodiment as described above to check the leakage of the multi-joint assembly robot, the first coupler 110 and the secondary inlet of the air compressor and the articulated assembly robot, respectively. The coupler 170 is connected to allow pressurized air provided from the air compressor to be supplied to the inside of the articulated assembly robot.

When the power is supplied from the battery module 180 to each component of the leakage test apparatus 100 in the above state, the moisture contained in the air passing through the filter regulator 120 through the primary coupler 110 in the air compressor is It is removed by the filter regulator 120 to prevent the penetration of moisture into the interior of the articulated robot.

In addition, the air passing through the filter regulator 120 and the precision regulator 130 is an oil-sea (OIL-SEAL) installed inside the articulated assembly robot at a high air pressure when air is supplied to the articulated assembly robot. ) Is controlled to a pressure range that does not form a gap as it is pushed back in place.

This pressure range is set in advance in the precision regulator 130 based on the pressure value obtained by experience.

As described above, the controlled air passing through the precision regulator 130 passes through the first valve 140 and the second valve 150 and is supplied to the inside of the articulated assembly robot through the secondary coupler 170. At this time, the pressure switch 160 measures the pressure of the air supplied to the articulated assembly robot to visually display to the inspector.

As such, after the air is connected to the inside of the articulated assembly robot from the air compressor, the compressed air cleaning step S110 is performed to blow air into the articulated assembly robot from the air compressor.

Then, after the compressed air cleaning step (S110) is completed, the supply pressure adjustment step (S120) of waiting for a predetermined time in a state where the supply of air is stopped is performed. That is, after the compressed air cleaning step is completed, air exceeding a predetermined pressure is automatically discharged and automatically adjusted to be equal to the set pressure.

Thus, during the compressed air cleaning step (S110) and the supply pressure adjustment step (S120) is performed, the air is supplied to the inside of the articulated assembly robot, and has a predetermined pressure. If a defect occurs in the seal, the air escapes through the gap where the defect occurs.

However, when the articulated assembly robot is normally assembled, the pressure inside the articulated assembly robot is maintained at a constant pressure.

As described above, after the waiting step S120 is completed, the waiting step S130 is performed. The standby step (S120) is to block the air supplied to the articulated assembly robot when the supply pressure adjustment step is completed and wait for a predetermined time.

On the other hand, while the standby step (S130) is performed, a measuring step (S140) for measuring the pressure of the air supplied to the inside of the articulated joint robot through the pressure switch 160 is carried out, according to the pressure value obtained at this time A determination step (S150) of determining whether the assembly robot has been leaked is performed.

In other words, when the air supply to the inside of the articulated assembly robot is formed due to defects in assembly or oil-sealing of the articulated assembly robot while the standby step (S130) is performed, it is measured in the measurement step (S140). The pressure value of the pressure switch 160 is high, and when the articulated assembly robot is normally assembled, the pressure value is lowered, so that the joint joint robot can be inspected for leakage.

If the pressure value obtained in the measuring step (S140) is high, the multi-joint assembly robot is disassembled to find and eliminate the cause of leakage.

Then, after the measuring step is completed, the exhaust step (S160) of exhausting the compressed air sealed in the reducer to the second valve is performed, so that the leakage inspection of the articulated assembly robot is completed.

According to the leak testing method and apparatus of the articulated assembly robot according to the present invention as described above, it is possible to easily and safely check the leakage of the articulated assembly robot before injecting grease or lubricant in the assembly process of the articulated assembly robot. This improves the quality and reliability of the manufactured jointed-arm robot, as well as shortens the follow-up time due to leakage.

In addition, by preventing excessive air pressure from being supplied to the articulated robot during the leak test, parts such as oil-sea due to air pressure are pushed in place and do not generate a gap, thereby enabling a more stable leak test.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. .

100: Leakage testing device of multi-joint assembly robot
110: primary coupler 120: filter regulator
130: precision regulator 140: first valve (air supply)
150: second valve (exhaust) 152: silencer
160: pressure switch 170: secondary coupler
180: battery module

Claims (3)

In the method of inspecting whether the grease or lubricant filled in the articulated assembly robot leaks,
Compressed air purifying step of blowing dry air from the inlet provided in the multi-joint assembly robot into which the grease or the lubricating oil is injected before filling the grease or the lubricating oil into each shaft reducer of the articulated assembly robot;
A supply pressure adjusting step of automatically discharging the air exceeding a predetermined pressure after the compressed air cleaning step is completed and automatically adjusting the same to the set pressure;
Waiting step of blocking the air supplied to the articulated joint robot when the supply pressure adjustment step is completed and waiting for a predetermined time;
A measurement step of measuring a pressure change value of air enclosed in the reduction gear unit of the articulated assembly robot during the waiting step;
A determination step of determining whether there is a leakage according to the pressure value of the air measured in the measuring step; And
And exhausting the compressed air sealed in the reduction gear part after the measuring step is completed.
The method according to claim 1,
The determining step is a leakage testing method for a multi-joint assembling robot, characterized in that it is determined that the articulated assembly robot leaks when the pressure value of the air obtained in the measuring step is lower than the set pressure.
A primary coupler connected to the air compressor;
A filter regulator connected to the primary coupler and a flow path for filtering moisture contained in air supplied through the primary coupler;
A precision regulator connected to the filter regulator to precisely and automatically adjust a supply pressure of air from which moisture is removed to a preset pressure;
A first valve for regulating the flow of air past the precision regulator;
A power supply device including a pressure switch and a power switch that measure and visually display the air pressure in real time in the articulated robot reduction gear unit sealed by the first valve; And
A secondary coupler connected to an injection hole into which grease or lubricating oil provided in the articulated assembly robot is injected; And
And a second valve configured to reduce the pressure by exhausting the sealed compressed air after the leak test is completed, thereby reducing the pressure.
KR1020110102069A 2011-10-06 2011-10-06 Portable pressure leak checker and test methods KR20130037586A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020110102069A KR20130037586A (en) 2011-10-06 2011-10-06 Portable pressure leak checker and test methods

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110102069A KR20130037586A (en) 2011-10-06 2011-10-06 Portable pressure leak checker and test methods

Publications (1)

Publication Number Publication Date
KR20130037586A true KR20130037586A (en) 2013-04-16

Family

ID=48438542

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110102069A KR20130037586A (en) 2011-10-06 2011-10-06 Portable pressure leak checker and test methods

Country Status (1)

Country Link
KR (1) KR20130037586A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104848991A (en) * 2015-06-05 2015-08-19 天津理工大学 Visual sense based active leakage gas detection method
CN111579182A (en) * 2020-06-30 2020-08-25 伯朗特机器人股份有限公司 Air tightness measuring detection tool for oil cavity of industrial robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104848991A (en) * 2015-06-05 2015-08-19 天津理工大学 Visual sense based active leakage gas detection method
CN111579182A (en) * 2020-06-30 2020-08-25 伯朗特机器人股份有限公司 Air tightness measuring detection tool for oil cavity of industrial robot

Similar Documents

Publication Publication Date Title
US4566310A (en) Method of inspecting the operation of a valve and mechanical test bench for performing the method
CN109813721A (en) Vision inspection apparatus and appearance detecting device
JP2006221790A5 (en)
US10571357B2 (en) Leak check system and method of checking leak using the same
KR20130037586A (en) Portable pressure leak checker and test methods
CN114324086B (en) System and method for evaluating high-temperature deposition degradation characteristics of aviation lubricating oil
CN203443754U (en) Air storage tank leakage detection system
KR20130087268A (en) Apparatus for testing leakage of an articulated robot and method thereof
CN103389193A (en) Detecting system and method of leakage of gas cylinder
CN204807453U (en) Aeroengine hub bucket class work piece fluorescent penetration test equipment
KR100694872B1 (en) Leak testing apparatus of a pipe
CN211855765U (en) Tractor complete machine assembly quality detection device
RU2666161C1 (en) Method of testing tube steels on stress corrosion cracking and device for its implementation
CN109709922A (en) Wizard-like adjustment method, commissioning device
CN104458312B (en) A kind of flexible manufacturing system cleaning machine incipient fault detection method
CN210033797U (en) Diesel engine water pump test bed
KR20180094382A (en) Multiaxial type auto leak test apparatus
KR19990054782A (en) Water leakage test device for compressor for pressure using pressure gauge
CN207882080U (en) A kind of device for the nuclear power plant voltage stabilizer pressure release case water pressure test
CN110987416A (en) Method for detecting wear state of robot speed reducer
CN114838973B (en) Utility tunnel is utility test platform of emergency response system for gas cabin
CN101200175A (en) Engineering machinery diagnosis vehicle
CN206021636U (en) Gas cylinder and cylinder valve air-tight test training on operation examination simulation system
KR100507505B1 (en) Leaky display system and method of displaying leakage using the same
KR20190000665U (en) Pressure leak-test equipment for generator rotor center hole

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application