CN107152943B

CN107152943B - Device for detecting assembling quality of turbine pre-twisted blade

Info

Publication number: CN107152943B
Application number: CN201710337427.4A
Authority: CN
Inventors: 秦大朋; 于忠海; 王佳茂; 田宇晟; 王启明; 谢金龙; 陆晔
Original assignee: Shanghai Dianji University
Current assignee: Shanghai Dianji University
Priority date: 2017-05-15
Filing date: 2017-05-15
Publication date: 2020-02-04
Anticipated expiration: 2037-05-15
Also published as: CN107152943A

Abstract

The invention discloses a device for detecting the assembling quality of a turbine pre-twisted blade, which comprises a first sliding track and a second sliding track, wherein a blade detection unit is arranged on the ground between the first sliding track and the second sliding track, the blade detection unit is arranged on a blade shaft supporting seat, a blade shaft is arranged between the blade shaft supporting seats, and a plurality of rows of turbine blades to be detected are arranged on the blade shaft; a first manipulator is installed on a moving guide frame of the first sliding track, a CDD camera is arranged at the end part of the first manipulator, and a PLC control center obtains the position of a gap of a turbine blade in image data; and the second mechanical arm is arranged on a moving guide frame of the second sliding track, a detection feeler gauge is arranged on the second mechanical arm, and the detection feeler gauge is used for detecting the position of a gap of the turbine blade under the control of the PLC control center.

Description

Device for detecting assembling quality of turbine pre-twisted blade

Technical Field

The invention relates to the field of detection devices, in particular to a device for detecting the assembling quality of a turbine pre-twisted blade.

Background

At present, most of solutions for steam turbine assembly at home and abroad are manual assembly and detection, blades are generally assembled, and a clearance gauge is adopted to detect the position of a shroud ring at the top end of each blade to judge whether the assembly is qualified or not. The detection method is time-consuming and labor-consuming, and the labor cost is too high.

Disclosure of Invention

The invention aims to provide a device for detecting the assembling quality of a turbine pre-twisted blade, aiming at overcoming the defects in the prior art, and aims to solve the problems in the prior art.

The technical problem solved by the invention can be realized by adopting the following technical scheme:

a device for detecting assembling quality of turbine pre-twisted blades comprises a first sliding track and a second sliding track which are arranged oppositely, wherein the first sliding track and the second sliding track comprise a movable guide frame installed on the ground and a movable sliding table movably arranged on the movable guide frame, a trapezoidal groove is formed in the movable guide frame, the trapezoidal groove extends along the length direction of the movable guide frame and penetrates through the whole movable guide frame, and the movable sliding table is movably connected with the trapezoidal groove through a trapezoidal fit block arranged at the bottom and can move on the movable guide frame;

a blade detection unit is arranged on the ground between the first sliding track and the second sliding track, and comprises a first manipulator, a second manipulator and a PLC control center; the blade detection unit is arranged on a group of blade shaft supporting seats, positioning grooves are formed in the tops of the blade shaft supporting seats, blade shafts are arranged between the blade shaft supporting seats, two ends of each blade shaft are respectively arranged in the positioning grooves in the tops of the blade shaft supporting seats, and a plurality of rows of turbine blades to be detected are arranged on the blade shafts;

a first manipulator is installed on a moving guide frame of the first sliding track, a CDD camera is arranged at the end part of the first manipulator, the CDD camera is fixed on the first manipulator through a CDD camera frame, and the CDD camera can be driven by the first manipulator to acquire images of the turbine blade; the image data output end of the CDD camera is in communication connection with the PLC control center and is used for sending the image data acquired by the CDD camera to the PLC control center, and the PLC control center acquires the position of a gap of a turbine blade in the image data and converts the position to a control signal and sends the control signal to the second manipulator;

the second mechanical arm is arranged on a moving guide frame of the second sliding track, a detection feeler gauge is arranged on the second mechanical arm, and the detection feeler gauge is used for detecting the gap position of the turbine blade under the control of a PLC control center.

Compared with the prior art, the invention has the following beneficial effects:

the automatic structure design is adopted, the CCD camera acquires the position of a gap between two installation blades, then the position information is fed back to the image processor and recorded, the feeler is clamped by a manipulator (or a mechanism with four degrees of freedom and more than four degrees of freedom) to reach the recorded position for detection, and whether the feeler is plugged into the gap or not is judged according to the position of the feeler to judge whether the installation is qualified or not.

Drawings

FIG. 1 is a side view of an apparatus for testing the quality of a turbine pretwisted blade assembly in accordance with the present invention.

FIG. 2 is a top view of an apparatus for testing the quality of a turbine pretwisted blade assembly in accordance with the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Referring to fig. 1 and 2, the device for detecting assembly quality of a turbine pretwisted blade according to the present invention includes a first sliding rail 11 and a second sliding rail 12 which are oppositely disposed, where the first sliding rail 11 and the second sliding rail 12 include a moving guide frame 9 mounted on the ground, and a moving sliding table 10 movably disposed on the moving guide frame 9, a trapezoidal groove 91 is disposed on the moving guide frame 9, the trapezoidal groove 91 extends along a length direction of the moving guide frame 9 and penetrates through the entire moving guide frame 9, and the moving sliding table 10 is movably connected with the trapezoidal groove 91 through a trapezoidal engagement block 101 disposed at a bottom of the moving guide frame 9 and can move on the moving guide frame 9;

a blade detection unit 13 is arranged on the ground between the first sliding rail 11 and the second sliding rail 12, and the blade detection unit 13 comprises a first manipulator 3, a second manipulator 4 and a PLC control center; the blade detection unit is arranged on a group of blade shaft supporting seats 8, positioning grooves 81 are formed in the tops of the blade shaft supporting seats 8, blade shafts 1 are arranged between the blade shaft supporting seats 8, two ends of each blade shaft 1 are respectively arranged in the positioning grooves 81 in the tops of the blade shaft supporting seats 8, and a plurality of rows of turbine blades 2 to be detected are arranged on the blade shafts 1;

a first manipulator 3 is installed on a moving guide frame 9 of the first sliding rail 11, a CDD camera 6 is arranged at an end of the first manipulator 3, the CDD camera 6 is fixed on the first manipulator 3 through a CDD camera frame 5, and the CDD camera can be driven by the first manipulator 3 to acquire an image of the turbine blade 2; the image data output end of the CDD camera 6 is in communication connection with the PLC control center and is used for sending the image data acquired by the CDD camera 6 to the PLC control center, and the PLC control center acquires the gap position of the turbine blade 2 in the image data and converts the gap position into a control signal to send the control signal to the second manipulator 4;

the second mechanical arm 4 is installed on a moving guide frame 9 of the second sliding rail 12, a detection feeler 7 is installed on the second mechanical arm 4, and the detection feeler 7 is used for detecting the gap position of the turbine blade 2 under the control of a PLC control center.

The working process of the invention is as follows:

firstly, a CCD camera is carried by a first mechanical arm to acquire images of a first circle of turbine blades, information is fed back to a PLC control center after the images are acquired, after the images are processed, an instruction is sent out to find the position of a gap between the tops of the two blades, the position data is recorded, the position data is fed back to the PLC control center, the PLC control center makes a judgment to send out the instruction, and a second mechanical arm is controlled to carry a detection feeler to reach the recorded position to be detected. A is set as the distance from the front end of the detection feeler to the surface of the gap position of the turbine blade.

After the feeler gauge is detected to be inserted into the gap, if the feeler gauge can be inserted into the gap, the feedback displacement value is A + x, the system judges that the blade is not hit in place, the beating operation is continuously carried out on the root of the blade, and the detection is repeated after the beating. If the feeler gauge cannot be inserted, the feedback displacement value is unchanged, namely the feedback displacement value is still A, and the system judges that the blade is tightened to be qualified at the moment. And after the detection is qualified, continuously assembling the next blade, repeatedly beating and detecting the feeler gauge, and circulating the steps until the installation of one circle of blades is completed. And then, the first mechanical arm and the second mechanical arm are translated to reach the mounting position of the second circle of turbine blades, and the second circle of turbine blades are assembled and detected. Until all the blades are assembled satisfactorily.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A device for detecting assembly quality of turbine pre-twisted blades is characterized in that: the sliding device comprises a first sliding rail (11) and a second sliding rail (12) which are arranged oppositely, wherein the first sliding rail (11) and the second sliding rail (12) comprise a movable guide frame (9) installed on the ground and a movable sliding table (10) movably arranged on the movable guide frame (9), a trapezoidal groove (91) is formed in the movable guide frame (9), the trapezoidal groove (91) extends along the length direction of the movable guide frame (9) and penetrates through the whole movable guide frame (9), and the movable sliding table (10) is movably connected with the trapezoidal groove (91) through a trapezoidal conjunction block (101) arranged at the bottom and can move on the movable guide frame (9);

a blade detection unit (13) is arranged on the ground between the first sliding track (11) and the second sliding track (12), and the blade detection unit (13) comprises a first manipulator (3), a second manipulator (4) and a PLC control center; the blade detection unit is arranged on a group of blade shaft supporting seats (8), positioning grooves (81) are formed in the tops of the blade shaft supporting seats (8), blade shafts (1) are arranged between the blade shaft supporting seats (8), two ends of each blade shaft (1) are respectively arranged in the positioning grooves (81) in the tops of the blade shaft supporting seats (8), and a plurality of rows of turbine blades (2) to be detected are arranged on the blade shafts (1);

a first mechanical arm (3) is mounted on a moving guide frame (9) of the first sliding rail (11), a CDD camera (6) is arranged at the end part of the first mechanical arm (3), the CDD camera (6) is fixed on the first mechanical arm (3) through a CDD camera frame (5), and the image acquisition can be carried out on the turbine blade (2) under the driving of the first mechanical arm (3); the image data output end of the CDD camera (6) is in communication connection with the PLC control center and is used for sending image data acquired by the CDD camera (6) to the PLC control center, and the PLC control center acquires the gap position of the turbine blade (2) in the image data, converts the gap position into a control signal and sends the control signal to the second manipulator (4);

the second mechanical arm (4) is installed on a moving guide frame (9) of the second sliding rail (12), a detection feeler (7) is installed on the second mechanical arm (4), and the detection feeler (7) is used for detecting the position of a gap of the turbine blade (2) under the control of a PLC (programmable logic controller) control center;

the working process of the device is as follows:

firstly, a CCD camera (6) carried by a first mechanical arm (3) acquires images of a first circle of turbine blades, information is fed back to a PLC control center after the images are obtained, after image processing, an instruction is sent to find the position of a gap between the tops of two blades, the position data is recorded, the position data is fed back to the PLC control center, the PLC control center makes a judgment to send the instruction, and a second mechanical arm (4) carried with a detection feeler (7) is controlled to reach the recorded position for detection;

setting the distance from the front end part of the detection feeler gauge (7) to the surface of the position of the gap of the turbine blade as A; after the feeler gauge is detected to be inserted into the gap, if the feeler gauge can be inserted, the feedback displacement value is A + x, the system judges that the blade is not hit in place, the beating operation is continuously carried out on the root of the blade, and the detection is repeated after the beating operation; if the feeler gauge (7) cannot be inserted, the feedback displacement value is unchanged, namely the feedback displacement value is still A, and the system judges that the blade is tightened to be qualified; after the detection is qualified, continuously assembling the next blade, repeating the beating and detecting feeler gauge detection operation, and repeating the operation till the installation of a circle of blades is completed; then, the first mechanical arm (3) and the second mechanical arm (4) are translated to reach the mounting position of the second circle of turbine blades, and the second circle of turbine blades are assembled and detected; until all the blades are assembled satisfactorily.