CN108152306A - A kind of digital radial automatic checkout system and detection method for detecting wheel-class parts - Google Patents
A kind of digital radial automatic checkout system and detection method for detecting wheel-class parts Download PDFInfo
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- CN108152306A CN108152306A CN201810187200.0A CN201810187200A CN108152306A CN 108152306 A CN108152306 A CN 108152306A CN 201810187200 A CN201810187200 A CN 201810187200A CN 108152306 A CN108152306 A CN 108152306A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The present invention relates to a kind of digital radial automatic checkout systems and detection method for detecting wheel-class parts.Including：PLC consoles, the CR imaging devices being arranged on outside protective lead room；Two industrial robots, X-ray production apparatus, quick change gripper frame, quick change handgrip, storing compartment, transmission device, rotary table, gate slot cover board, small-sized cantilever crane, the automatic lead door being arranged in protective lead room.The X-ray production apparatus is mounted on big robot end, and the PLC consoles control X-ray production apparatus by Profinet bus marcos two industrial robots, rotary tables by 232 serial ports of RS, quick change handgrip is controlled by I/O module, transmission device, storing compartment, automatic lead door and gate slot cover board.Beneficial effects of the present invention：1st, detection efficiency is improved, eliminates the artificial time put with lead door switch；2nd, accuracy of detection is improved；3rd, testing cost is reduced.
Description
Technical field
The present invention relates to a kind of nondestructive detection system, especially a kind of automatic detection system of digital radial for detecting wheel-class parts
System and detection method.
Background technology
To ensure that product safety uses, the defects of product is carried out qualitative, quantitative, detection and localization be it is essential,
The detection of the defects of currently for wheel-class parts such as aero-engine casing, wheel hub etc. is mainly completed by manually, and worker is in lead room
It is interior that film is put into detection position by manually putting part to test pose, it exits behind lead room and closes lead door and open ray, treat
After the completion of shooting, open lead door and take out then shooting that film carries out next position, the method for this artificial detection exist with
Lower Railway Project:1st, detection efficiency is low, often detects a position, and worker need to pass in and out lead room and open and close lead door, and need to seek
The placing attitude of small change part and film increases a large amount of non-detection times, significantly reduces detection efficiency.2nd, accuracy of detection
Low, consistency is poor, and wheel-class parts such as casing detection position is more, and manually going to put part and film can not ensure to put every time
Equally, thus cause film shoot every time come image it is different, to the review of a film by the censor, personnel make troubles.3rd, testing cost
Height since traditional detection all uses the form of film, can not just be reused after film price and exposure once, detected
Film cost accounts for very one piece big in cost.
With the arrival of made in China 2025, country advocates development robot and intelligence manufacture energetically, improves industry
Automatization level, traditional detection method can not meet the detection demand of present aerospace industry, it is therefore necessary to seek
A kind of new digital radial automatic checkout system.
Invention content
The object of the present invention is to provide one kind can improve detection efficiency, accuracy of detection, reduce a kind of inspection of testing cost
Survey the digital radial automatic checkout system and detection method of wheel-class parts.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of digital radial automatic checkout system for detecting wheel-class parts, it is characterized in that, including：It is arranged on outside protective lead room
PLC consoles, CR imaging devices；Two industrial robots being arranged in protective lead room, are big robot and small machine respectively
Device people；X-ray production apparatus is mounted on big robot end, quick change gripper frame and the quick change handgrip setting being arranged on quick change gripper frame
In small machine people side, the storing compartment for storing IP plates is arranged on small machine people's opposite side, and small-sized cantilever crane is arranged on big machine
Device people side, rotary table are arranged on big robot opposite side, and gate slot cover board is arranged on protective lead room side, and automatic lead door is set
It puts in the protective lead room homonymy equipped with gate slot cover board；The PLC consoles pass through two industrial machines of Profinet bus marcos
People, rotary table control X-ray production apparatus by RS-232 serial ports, and quick change handgrip, transmission device, storage are controlled by I/O module
Cabinet, automatic lead door and gate slot cover board.
In a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, transmission device include conveyer belt and
The stereotype protective cover being arranged on above conveyer belt, IP plates receive the lower section that box is arranged on conveyer belt one end, and conveyer belt passes through driving
Mechanism kinematic, the stereotype protective cover are provided with transmission mouth, and transmission mouth is equipped with top shields, and top shields control it by cylinder
Folding after the completion of the shooting of IP plates, opens top shields, and the IP plates that IP plates are transmitted to outside lead room by conveyer belt receive box
In；The gate slot cover board is controlled to cover lead door sliding slot by cylinder, and fork truck is facilitated to pass in and out.
In a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, the automatic lead door passes through driver
Structure automatic shutter, transmission mechanism are rack-and-pinion or belt or chain.
In a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, the rotary table includes U-shaped
Mounting base, mounting base top be equipped with bearing block one and bearing block two, to clamping parts scroll chuck by being arranged on machine
Servo motor one on shell drives its rotation, and one output terminal of servo motor mating retarder one, casing both ends are set by drive shaft
It puts on bearing block one and bearing block two, drive shaft drives its rotation, the mating of two output terminal of servo motor by servo motor two
Retarder two；Casing is driven to carry out the rotation of two degree of freedom so as to convert posture by two servo motors.
In a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, the imaging mode is imaged for CR,
Using carrier of the IP plates substitution film as image information, digitlization letter is formed after X-ray exposure, scanning reading and digital processing
The image of breath；The quick change handgrip is used for capturing different specification size IP plates there are many model, and handgrip is using quick change form and fills
Flexible vacuum cup.
It can be stored in a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, quick change gripper frame a variety of
Model quick change handgrip；The rotary table carries out position control by two servo motors and speed reducer, and there are two certainly for tool
By spending, front end is equipped with scroll chuck to clamping parts；The storing compartment is closed by stereotype outer cover, passes through the gas on cabinet
The folding of cylinder or electric cylinders and the guide rail being fixed in cabinet door and sliding block control cabinet door, is internally provided with compartment for storing difference
Specification IP plates.
In a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, detection part is disk class wheel class zero
Part or can on chuck clamping part.
In a kind of digital radial automatic checkout system of above-mentioned detection wheel-class parts, the big robot model ABB
The IRB4600 series of company, the IRB2600 series of described small machine people model ABB AB, the small-sized cantilever crane is man of great strength
12V up to production is 500 kilograms a whole set of, and the quick change handgrip is using the production of ATI companies.
A kind of detection method for the digital radial automatic checkout system for detecting wheel-class parts, it is characterized in that, including following step
Suddenly：
Step 1, in lead room by parts fixation on rotary table, selected on the HMI of PLC consoles after exiting lead room
Part numbers are selected, click starts.
Step 2, rotary table, which are rotated part to detection position by the control of PLC, corresponds to posture.
Step 3, small machine people install corresponding quick change handgrip in quick change gripper frame, and storing compartment cabinet door is opened, and small machine people grabs
Corresponding IP board placings are taken to piece test position corresponding position, the storage cabinet door closing of IP plates.
Step 4, big robot make X-ray machine X reach the corresponding position of detection position by pose adjustment, open X-ray machine X into
Row shooting.
Step 5, take pictures after small machine people capture IP plates and be moved to above transmission device, shield is beaten above transmission device
It opens, small machine people captures IP plates and is positioned on conveyer belt, and subsequent top shields are closed.
Step 6, IP plates are transmitted to by the conveyer belt of transmission device in the reception box of lead outdoors, pass through CR imaging devices pair
IP plates carry out the image that processing forms digital information.
Step 7 repeats step 2 to step 6 until completing the detection of all sites.
In a kind of detection method of the digital radial automatic checkout system of above-mentioned detection wheel-class parts, the detection wheel
The detection of the digital radial automatic checkout system of class part, which is operated in protective lead room, to be carried out；The number of the detection wheel-class parts
The CR image forming jobs of ray automatic checkout system and control operation carry out outside protective lead room；The detection wheel-class parts
Posture changing in digital radial automatic checkout system is by capturing the small machine people of IP plates, being equipped with the big robot of X-ray production apparatus
And the rotary table of clamping parts is completed jointly.
Beneficial effects of the present invention：1st, detection efficiency is improved, X-ray production apparatus is carried out using the form of dual robot cooperation
Posture changing is captured and is put automatically to IP plates, is controlled rotary table that part is made to reach specified test pose by PLC, is clapped
The IP plates taken the photograph are transmitted to by transmission device outside lead room, and whole process realizes full-automation, eliminate artificial put and lead
The time of door switch；It is imaged compared to conventional film, CR reduces the flow for washing film, does not need to developing machine, liquid medicine, dark
Room.Digitized image stores, and facilitates storage, retrieval and quality control.Flow reduces, and is improved relative to efficiency, and penetrates
Line shooting time is also as short as few 1/3rd than film.These all greatly improve efficiency.2nd, accuracy of detection, ray are improved
The posture of machine and IP plates is put to be completed by industrial robot, and industrial robot repetitive positioning accuracy reaches 0.05mm, Ke Yibao
It is the same to demonstrate,prove each placing attitude；Part orientation is converted by the rotary table that servo motor is housed, and servo motor precision height is protected
The placing attitude of part has been demonstrate,proved, therefore has greatly improved accuracy of detection.3rd, testing cost is reduced, patent of the present invention uses CR
The mode of detection replaces film using IP plates, and IP plates are reusable, IP plates shoot primary cost be only a film into
In addition this 1/10th also save costs and the problem of environmental pollutions such as developing machine, liquid medicine, useless medicine processing.
Description of the drawings
Fig. 1 is the integral layout X-Y scheme of the present invention.
Fig. 2 is the integral layout graphics of the present invention.
Fig. 3 is the rotary table structure chart of the present invention.
Fig. 4 is the transmission device structure chart of the present invention.
Fig. 5 is the quick change gripper frame structure chart of the present invention.
Fig. 6 is the automatic lead door figure of the present invention.
Fig. 7 is the control structure figure of the present invention.
Specific embodiment
Patent for a better understanding of the present invention with reference to the accompanying drawings and detailed description makees into one patent of the present invention
The explanation of step.
As shown in Fig. 1 Fig. 2, a kind of digital radial automatic checkout system for detecting wheel-class parts includes：It is arranged on protective lead
PLC consoles 14, CR imaging devices 1 outside room；It is arranged on big robot 10 in protective lead room, small machine people 6, IP plates 8, X
It is X-ray machine X 9, quick change gripper frame 4, quick change handgrip 5, storing compartment 7, transmission device 2, rotary table 11, gate slot cover board 3, small-sized outstanding
Arm hangs 12, automatic lead door 13.The IRB4600 series of described 10 model ABB AB of big robot, 6 model of small machine people
For the IRB2600 series of ABB AB, the 12V that the small-sized cantilever crane 12 reaches production for man of great strength is 500 kilograms a whole set of.The quick change
Handgrip is using the production of ATI companies, and due to needing plurality of specifications, model is unlimited.
As shown in figure 3, the rotary table 11, by mounting base 15, one 16 He of servo motor, servo motor 2 22 subtracts
Fast device 1 and retarder 2 21, bearing block 1 and bearing block 2 20 and scroll chuck 19 form, and pass through two servo electricity
Machine 1 and servo motor 2 22 drive workpiece to carry out the rotation of two degree of freedom so as to convert posture.Specific to the present embodiment,
Rotary table carries out position control by two servo motors and speed reducer, and there are two degree of freedom for tool, and front end is equipped with three-jaw
Chuck is to clamping parts；The storing compartment is closed by stereotype outer cover, and opening for cabinet door is controlled by cylinder, guide rail and sliding block
It closes；Compartment is internally provided with for storing different specification size IP plates.
As shown in figure 4, the transmission device 2, box 23 is received by IP plates, conveyer belt 24, stereotype protective cover 25, cylinder 26,
Top shields 27 form.Cylinder 26 controls the folding of top shields 27, after the completion of the shooting of IP plates 8, opens top shields 27, IP
Plate 8 is received by the IP plates that conveyer belt 24 is transmitted to outside lead room in box 23.
As shown in figure 5, the quick change handgrip 5 of different size is housed, by replacing different size on the quick change gripper frame 4
Quick change handgrip 5 draws the IP plates 8 of different specification size.
As shown in fig. 6, the automatic lead door 13 is made of rack 28, lead door 29, gear 30, decelerating motor 31, by subtracting
Speed motor 31 drives the movement of lead door 29 by rack pinion with moving gear 30.Specific to the present embodiment, automatic lead door
By transmission mechanism automatic shutter, automatic lead door includes the rack being fixed on doorframe, the deceleration electricity being fixed on automatic lead door
Machine and gear are coupled, and automatic lead door bottom end is arranged in sliding slot, by decelerating motor band moving gear, by rack pinion come
Drive the movement of lead door.
As shown in fig. 7, whole system by PLC consoles 14 be master controller, PLC by Profinet buses with
IRB2600 robots 6 and IRB4600 robots 10 and rotary table 11 are controlled and are communicated, by RS232 serial ports with
X-ray production apparatus 9 communicates, and can control the opening and closing of X-ray production apparatus 9, voltage value and current value；It is controlled by I/O module
It the movement of transmission device 2 and the folding of top shields 27, the folding for storing cabinet door 7, the crawl of handgrip sucker 5 and puts down, door
The opening and closing of tank cover plate 3 and automatic lead door 13.
Entire testing process is as follows：
Worker controls automatic lead door 13 to open by PLC consoles 14, and gate slot cover board 3 is put down, and then opens equipped with part
Tooling trolley enter in lead room, by parts fixation on rotary table 11, be then log out lead room, pass through PLC consoles 14
Gate slot cover board 3 is put down, closes lead door 13.Part numbers are selected in the HMI operation interfaces of PLC consoles 14, click starts.This
When rotary table 11 part can be rotated to corresponding test pose according to the signals of PLC consoles 14, small machine people 6 is in quick change
Corresponding quick change handgrip 5 is captured on gripper frame 4, the cabinet door of storing compartment 7 receives signal opening, and small machine people 6 is moved to storing compartment 7
Inside crawl IP plates 8, the cabinet door for exiting rear storing compartment 7 receives signal-off.Small machine people 6 captures IP plates 8 and is placed into part
Corresponding detection position, X-ray production apparatus 9 are mounted in big robot 10, and big robot 10 moves X-ray production apparatus 9 by posture changing
To corresponding detection position, X-ray production apparatus 9 receives the signal from PLC consoles 14 at this time, opens ray and starts to shoot.Shooting
After the completion, small machine people 6 captures the top that IP plates 8 are moved to transmission device 2, and transmission device 2 opens top shields 27, small machine
IP plates 8 are placed on the conveyer belt 24 of transmission device 2 by people 6, and IP plates 8 are sent to the IP plates 23 outside lead room and receive in box, behaviour
Make that IP plates 8 are scanned it by CR imaging devices 1 by personnel and image procossing obtains being formed the image of digital information, this
Sample is the detection for completing a position, repeats aforesaid operations until all detection positions are completed.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can do various modifications or additions to described specific embodiment or replace in a similar way
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (9)
1. a kind of digital radial automatic checkout system for detecting wheel-class parts, it is characterized in that, including：It is arranged on outside protective lead room
Controller, imaging device；Two industrial robots being arranged in protective lead room, are big robot and small machine people respectively；X is penetrated
Line machine is mounted on big robot end, and quick change gripper frame and the quick change handgrip being arranged on quick change gripper frame are arranged on small machine
People side, the storing compartment for storing imaging plate are arranged on small machine people's opposite side, and small-sized cantilever crane is arranged on big robot one
Side, rotary table are arranged on big robot opposite side, and gate slot cover board is arranged on the inside of protective lead room, and automatic lead door is arranged on
On the outside of the protective lead room for having gate slot cover board；The controller is passed through by bus marco two industrial robots, rotary tables
Setting communications protocol control X-ray production apparatus, by I/O module control quick change handgrip, transmission device, storing compartment, automatic lead door and
Gate slot cover board.
2. a kind of digital radial automatic checkout system for detecting wheel-class parts as described in claim 1, it is characterized in that, transmission dress
It puts including conveyer belt and the stereotype protective cover being arranged on above conveyer belt, imaging plate receives box and is arranged under transmission end of tape
Side, conveyer belt are moved by driving mechanism, and the stereotype protective cover is provided with transmission mouth, and transmission mouth is equipped with top shields, top
Shield controls its folding by cylinder, after the completion of imaging plate shooting, opens top shields, imaging plate is transmitted to by conveyer belt
Imaging plate outside lead room is received in box；The gate slot cover board is controlled by cylinder for lead door sliding slot to be covered, facilitate fork truck into
Go out.
3. a kind of digital radial automatic checkout system for detecting wheel-class parts as described in claim 1, it is characterized in that, it is described from
For dynamic lead door by transmission mechanism automatic shutter, transmission mechanism is rack-and-pinion or belt or chain.
4. a kind of digital radial automatic checkout system for detecting wheel-class parts as described in claim 1, it is characterized in that, the rotation
Revolving worktable includes the mounting base of U-shaped, and one output terminal of servo motor mating retarder one leads to the scroll chuck of clamping parts
It crosses the driving of servo motor one and carries out rotation；Mounting base left and right ends are equipped with bearing block, two output terminal of servo motor mating retarder
Two, servo motor one and scroll chuck mounted thereto drive cooperation two end axles bearing to be rotated by servo motor two；
The rotation of two degree of freedom is completed so as to convert posture by two servo motors.
5. a kind of digital radial automatic checkout system for detecting wheel-class parts as described in claim 1, it is characterized in that, it is described into
As plate is IP imaging plates or film；The quick change handgrip is used for capturing different specification size imaging plate there are many model, and handgrip is adopted
With quick change form and equipped with flexible vacuum chuck.
6. a kind of digital radial automatic checkout system for detecting wheel-class parts as described in claim 1, it is characterized in that, quick change is grabbed
Multiple Type quick change handgrip can be stored in hand cradle；The storing compartment is closed by stereotype outer cover, by the cylinder on cabinet or
The folding of electric cylinders and the guide rail being fixed in cabinet door and sliding block control cabinet door, is internally provided with compartment for storing different size
Size imaging plate.
7. a kind of digital radial automatic checkout system for detecting wheel-class parts as described in claim 1, it is characterized in that, detection zero
Part is wheel class or disk-like accessory.
8. a kind of detection method for the digital radial automatic checkout system for detecting wheel-class parts, it is characterized in that, include the following steps：
Step 1, in lead room by parts fixation on rotary table, select part on the HMI of controller after exiting lead room
Model, click start；
Step 2, rotary table, which are rotated part to detection position by the control of PLC, corresponds to posture；
Step 3, small machine people install corresponding quick change handgrip in quick change gripper frame, and storing compartment cabinet door is opened, small machine people crawl pair
Board placing should be imaged to piece test position corresponding position, imaging plate storage cabinet door is closed；
Step 4, big robot make X-ray machine X reach the corresponding position of detection position by pose adjustment, open X-ray machine X and are clapped
It takes the photograph；
Step 5, take pictures after small machine people capture imaging plate and be moved to above transmission device, shield is beaten above transmission device
It opens, small machine people captures imaging plate and is positioned on conveyer belt, and subsequent top shields are closed；
Step 6, imaging plate are transmitted to by the conveyer belt of transmission device in the reception box of lead outdoors, by imaging device to imaging
Plate carries out the image that processing forms digital information；
Step 7 repeats step 2 to step 6 until completing the detection of all sites.
9. a kind of detection method of digital radial automatic checkout system for detecting wheel-class parts as claimed in claim 8, special
Sign, which is that the detection of the digital radial automatic checkout system of the detection wheel-class parts is operated in protective lead room, to be carried out；It is described
The image forming job and control operation for detecting the digital radial automatic checkout system of wheel-class parts carry out outside protective lead room；It is described
Detection wheel-class parts digital radial automatic checkout system in posture changing by crawl imaging plate small machine people, be equipped with
The big robot of X-ray production apparatus and the rotary table of clamping parts are completed jointly.
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| CN108705513A (en) * | 2018-07-19 | 2018-10-26 | 华中科技大学无锡研究院 | The automatic loading and unloading robot of valve plate air-tightness detection device |
| CN108872276A (en) * | 2018-06-13 | 2018-11-23 | 奕瑞影像科技（太仓）有限公司 | A kind of tester table and test method |
| CN110962047A (en) * | 2018-09-28 | 2020-04-07 | 中国科学院沈阳自动化研究所 | Flexible automatic decomposition system suitable for solid rocket engine |
| CN111595872A (en) * | 2020-06-02 | 2020-08-28 | 西安航天发动机有限公司 | Nondestructive automatic detection tool for welding seam of special-shaped pipeline |
| CN111595871A (en) * | 2020-06-02 | 2020-08-28 | 西安航天发动机有限公司 | Flexible X-ray digital detection system for small-diameter conduit weld joint |
| CN112379109A (en) * | 2020-11-16 | 2021-02-19 | 无锡贝斯特精机股份有限公司 | Automatic detection system for surface of part |
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