CN109613009B - Rotor blade detection line based on robot technology - Google Patents
Rotor blade detection line based on robot technology Download PDFInfo
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- CN109613009B CN109613009B CN201811648638.0A CN201811648638A CN109613009B CN 109613009 B CN109613009 B CN 109613009B CN 201811648638 A CN201811648638 A CN 201811648638A CN 109613009 B CN109613009 B CN 109613009B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a rotor blade detection line based on robot technology, wherein in the process of detecting a rotor blade, a multi-degree-of-freedom hoisting robot hoists the produced rotor blade to a positioning mechanism, and the positioning mechanism can position the rotor blade so as to facilitate the detection operation. Considering rotor blade's structural feature is irregular curved surface structure, consequently, the material manipulator that moves of this application is not conventional manipulator structure, and it has realized a plurality of position changes and the adjustment that move the material suction head through unique structure to make move the material suction head and can fully contact with rotor blade, and then realize closely adsorbing fixedly, ensure the security of hoist and mount, simultaneously, because negative pressure adsorption, can avoid rotor blade surface to receive the damage when hoist and mount safely, avoid influencing the detection precision.
Description
Technical Field
The invention relates to the technical field of robot devices, in particular to a rotor blade detection line based on a robot technology.
Background
With the gradual increase of global energy crisis, environmental protection energy sources such as wind energy and solar energy are receiving more and more attention from people. For a wind driven generator, a rotor blade is an indispensable component, captures wind power and transmits the wind power to an axis, and further conversion from wind energy to electric energy is realized. The quality of the rotor blades is related to whether the operation of the wind driven generator is stable or not.
The existing rotor blade detection line adopts hoisting equipment to place a rotor blade on a positioning jig so as to detect the quality of the surface of the rotor blade, and the hoisting equipment and the rotor blade are usually connected and fixed by a steel wire rope, so that the rotor blade is easy to damage, the detection precision is influenced, and the detection equipment is difficult to judge whether the surface damage is the damage in the machining process or the damage in the hoisting process; meanwhile, the conventional jig is complex in structure, time and labor are wasted in the positioning or unlocking process, and the requirement for rapid detection is difficult to meet.
Disclosure of Invention
The invention aims to provide a rotor blade detection line based on robot technology aiming at the defects of the prior art.
The technical solution of the invention is as follows:
a rotor blade detection line based on a robot technology comprises a multi-degree-of-freedom hoisting robot, a positioning mechanism, a detection unit and a control system, wherein the multi-degree-of-freedom hoisting robot is fixedly arranged on a base; the tail end of the multi-degree-of-freedom hoisting robot is connected with a material moving manipulator; the multi-degree-of-freedom hoisting robot comprises a base, wherein a supporting seat is arranged at the upper part of the base, a rotating seat is rotatably arranged at the upper part of the supporting seat, and the rotating seat is in transmission connection with a rotating motor fixedly arranged on the supporting seat; a swing arm is rotatably arranged on the side surface of the rotating seat and is in transmission connection with a swing motor fixedly arranged on the rotating seat; the upper end of the swing arm is provided with a pitching arm which is in transmission connection with a pitching motor fixedly arranged on the swing arm; the front end of the pitching arm is connected with a telescopic arm which is fixedly connected with a telescopic cylinder fixedly arranged at the front end of the pitching arm; a fork arm is formed at the front end of the telescopic arm, an angle adjusting seat is fixed on the fork arm, and the material moving manipulator is fixedly arranged at the front end of the angle adjusting seat; a sensor used for sensing the operation position of the material moving manipulator is arranged at the top of the telescopic arm; the material moving manipulator comprises a material moving support plate, a support plate auxiliary plate is formed on the bottom side of the material moving support plate, a first material moving electric cylinder and a second material moving electric cylinder are respectively hinged to two sides of the material moving support plate, and a first pushing electric cylinder and a second pushing electric cylinder are respectively hinged between the first material moving electric cylinder, the second material moving electric cylinder and the support plate auxiliary plate; a third pushing electric cylinder and a manipulator mounting block are fixed on the upper side of the material moving support plate, and the top of the manipulator mounting block is fixedly connected to the front end of the angle adjusting seat through a bolt; a pushing part of a third pushing electric cylinder is inserted into the manipulator mounting block, and an electric cylinder mounting plate is fixedly connected to the front end part of the pushing part; a third material moving electric cylinder is fixed on the electric cylinder mounting plate; an optical axis for telescopically guiding the electric cylinder mounting plate is also fixed on the electric cylinder mounting plate; the number of the optical axes is two, and the optical axes are arranged in the manipulator mounting block in an inserting manner; the end sides of the first material moving electric cylinder, the second material moving electric cylinder and the third material moving electric cylinder are all fixed with mounting rods, the mounting rods are connected with suction head fixing blocks, and the material moving suction heads are fixedly embedded on the suction head fixing blocks.
The positioning mechanism comprises a suction fixing disc, and the suction fixing disc is fixedly arranged on the base through a plurality of supporting legs arranged at the lower part of the suction fixing disc; a suction cavity communicated with an external negative pressure air source is formed in the suction disc, and a plurality of uniformly arranged suction passages are formed in the upper part of the suction cavity; the suction passage comprises a suction upper path, a suction middle path and a suction lower path which are sequentially communicated, wherein the suction upper path is communicated with the upper end face of the suction fixing disc, the suction lower path is communicated with the suction cavity, the suction upper path and the suction lower path are vertically arranged, the suction middle path is horizontally arranged, a rotary top block is formed on the lower side wall face of the suction middle path, a Z-shaped sealing plate is arranged in the suction passage, and the Z-shaped sealing plate realizes the opening and closing of the suction lower path by taking the rotary top block as a fulcrum.
The Z-shaped sealing plate comprises an upper support arm, a waist plate and a lower support arm, wherein the waist plate is hinged to the rotary top block, the upper support arm is embedded in the upper suction path, and the lower support arm is arranged at the upper part of the lower suction path; when not sucking the solid, the top of upper arm protrudes the solid dish up end setting of inhaling, and lower support arm bottom fixedly connected with closing plate, the closing plate can be with the complete shutoff of suction way down.
A return spring is arranged between the bottom side part of the waist plate and the bottom end surface of the suction middle path.
The negative pressure air source is an air suction fan, and the air suction fan is communicated with a suction cavity of the suction disc through a ventilation pipeline.
The detection unit comprises a door-shaped frame fixedly arranged on the base, a first slideway is formed at the top of the door-shaped frame, and a detection supporting beam is movably arranged on the first slideway; a supporting beam sliding seat is fixed on the side part of the detection supporting beam and is arranged on the first slideway in a sliding manner; a second directional slideway is formed at the top of the detection supporting beam, and a detection head mounting frame is movably mounted on the second directional slideway; a mounting frame sliding seat is fixed at the top of the detection head mounting frame and is slidably mounted on the second directional slideway; the bottom of the detection head mounting frame is fixed with a detection element which is a CCD camera.
The suction head fixing block is made of a flexible vulcanized rubber material.
The material moving suction head comprises an air pipe connected with an external fan in a sealing manner, a sleeve is inserted into the lower part of the air pipe in a sealing manner, an air channel is arranged inside the sleeve, a ring-shaped end plate is integrally formed at the lower end of the air pipe, an installation block is connected to the lower part of the ring-shaped end plate, a conical cavity communicated with the air channel is formed inside the installation block, a suction disc part is connected to the outer part of the installation block in a sealing manner, a seal head is arranged at the lower part of the suction disc part, the lower end face of the seal head is arranged in a parallel and level manner, uniformly distributed air suction holes are formed in the seal head, a stepped groove is formed in the upper end face of the seal head, a magnetic ball mounting frame is fixedly connected to the outer side of the stepped groove, the upper end of the magnetic ball mounting frame is inserted into the conical cavity, and an inclined air channel is formed between the magnetic ball mounting frame and the conical cavity; the middle part of the magnetic ball mounting rack is provided with an electrified magnetic ball, and the lower part of the electrified magnetic ball is provided with a spring fixedly connected with the center of the stepped groove; the air passage channel, the inclined air passage, the air vent on the magnetic ball mounting rack and the air suction hole on the end enclosure are communicated with each other.
The lower part of the electrified magnetic ball is fixedly connected with an insertion tube, and the insertion tube is inserted at the upper end of the spring.
The invention has the beneficial effects that: in the rotor blade detection process, the multi-degree-of-freedom hoisting robot hoists the produced rotor blade to the positioning mechanism, and the positioning mechanism can position the rotor blade so as to facilitate detection operation. Considering rotor blade's structural feature is irregular curved surface structure, consequently, the material manipulator that moves of this application is not conventional manipulator structure, and it has realized a plurality of position changes and the adjustment that move the material suction head through unique structure to make move the material suction head and can fully contact with rotor blade, and then realize closely adsorbing fixedly, ensure the security of hoist and mount, simultaneously, because negative pressure adsorption, can avoid rotor blade surface to receive the damage when hoist and mount safely, avoid influencing the detection precision.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of a suction plate;
FIG. 3 is a partial sectional view of the structure of the chuck plate during the chucking process;
FIG. 4 is a schematic structural diagram of a multi-degree-of-freedom hoisting robot;
FIGS. 5-6 are schematic structural views of the material-moving manipulator from different viewing angles;
fig. 7-8 are cross-sectional views of the material-transferring suction head in different operating states.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1-8, a rotor blade detection line based on robot technology includes a multiple-degree-of-freedom hoisting robot 4 fixedly disposed on a base 1, a positioning mechanism 2 for fixing a rotor blade 7, a detection unit 3 for detecting the rotor blade 7, and a control system (not shown in the figure), wherein the positioning mechanism 2 is disposed between the multiple-degree-of-freedom hoisting robot 4 and the detection unit 3, and the control system is electrically connected with the multiple-degree-of-freedom hoisting robot 4, the positioning mechanism 2, and the detection unit 3; the tail end of the multi-degree-of-freedom hoisting robot 4 is connected with a material moving manipulator 5.
The positioning mechanism 2 comprises a suction fixing disc 21, and the suction fixing disc 21 is fixedly arranged on the base 1 through a plurality of supporting legs 24 arranged at the lower part of the suction fixing disc 21; a suction cavity 210 communicated with an external negative pressure air source is formed in the suction disc 21, and a plurality of uniformly arranged suction passages are formed in the upper part of the suction cavity 210; the suction passage comprises a suction upper passage 212, a suction middle passage 211 and a suction lower passage 213 which are sequentially communicated, wherein the suction upper passage 212 is communicated with the upper end surface of the suction disc 21, the suction lower passage 213 is communicated with the suction cavity 210, the suction upper passage 212 and the suction lower passage 213 are vertically arranged, the suction middle passage 211 is horizontally arranged, a rotary top block 214 is formed on the lower side wall surface of the suction middle passage 211, a Z-shaped sealing plate 22 is arranged in the suction passage, and the Z-shaped sealing plate 22 realizes the opening and closing of the suction lower passage 213 by taking the rotary top block 214 as a fulcrum.
The Z-shaped sealing plate 22 comprises an upper support arm 221, a waist plate 220 and a lower support arm 222, wherein the waist plate 220 is hinged on the rotating top block 214, the upper support arm 221 is embedded in the suction upper path 212, and the lower support arm 222 is arranged at the upper part of the suction lower path 213; when the suction is not performed, the top of the upper arm 221 protrudes from the upper end surface of the suction tray 21, and the bottom of the lower arm 222 is fixedly connected with a sealing plate 223, so that the sealing plate 223 can completely seal the suction lower path 213.
A return spring 23 is arranged between the bottom side part of the waist plate 220 and the bottom end surface of the middle suction path 211.
The negative pressure air source is a suction fan 20, and the suction fan 20 is communicated with the suction cavity 210 of the suction disc 21 through a ventilation pipeline 201.
The detection unit 3 comprises a door-shaped frame 30 fixedly arranged on the base 1, a first slideway (not shown in the figure) is formed at the top of the door-shaped frame 30, and a detection supporting beam 31 is movably arranged on the first slideway; a support beam sliding seat 310 is fixed on the side of the detection support beam 31, and the support beam sliding seat 310 is slidably mounted on the first slideway; a second directional slide way (not shown in the figure) is formed on the top of the detection support beam 31, and a detection head mounting frame 32 is movably mounted on the second directional slide way; a mounting frame sliding seat 320 is fixed at the top of the detection head mounting frame 32, and the mounting frame sliding seat 320 is slidably mounted on the second directional slide way; the bottom of the detection head mounting frame 32 is fixed with a detection element which is a CCD camera.
The multi-degree-of-freedom hoisting robot 4 comprises a base 40, wherein a supporting seat 41 is arranged at the upper part of the base 40, a rotating seat 42 is rotatably arranged at the upper part of the supporting seat 41, and the rotating seat 42 is in transmission connection with a rotating motor 410 fixedly arranged on the supporting seat 41; a swing arm 43 is rotatably arranged on the side surface of the rotating base 42, and the swing arm 43 is in transmission connection with a swing motor 420 fixedly arranged on the rotating base 42; the upper end of the swing arm 43 is provided with a pitch arm 44, and the pitch arm is in transmission connection with a pitch motor 430 fixedly arranged on the swing arm 43; the front end of the pitching arm 44 is connected with a telescopic arm 45, and the telescopic arm 45 is fixedly connected with a telescopic cylinder 440 fixedly arranged at the front end of the pitching arm 44; a fork arm is formed at the front end of the telescopic arm 45, an angle adjusting seat 450 is fixed on the fork arm, and the material moving manipulator 5 is fixedly arranged at the front end of the angle adjusting seat 450; the top of the telescopic arm 45 is provided with a sensor 46 for sensing the operating position of the transfer manipulator 5.
The material moving manipulator 5 comprises a material moving support plate 50, a support plate subplate 501 is formed on the bottom side of the material moving support plate 50, a first material moving electric cylinder 51 and a second material moving electric cylinder 52 are respectively hinged on two sides of the material moving support plate 50, and a first pushing electric cylinder 513 and a second pushing electric cylinder 523 are respectively hinged between the first material moving electric cylinder 51, the second material moving electric cylinder 52 and the support plate subplate 501; a third pushing electric cylinder 54 and a manipulator mounting block 53 are fixed on the upper side of the material moving support plate 50, and the top of the manipulator mounting block 53 is fixed at the front end of the angle adjusting seat 450 through bolt connection; a pushing unit 541 of the third pushing electric cylinder 54 is inserted into the robot mounting block 53, and an electric cylinder mounting plate 55 is fixedly connected to the front end of the pushing unit 541; a third material moving electric cylinder 56 is fixed on the electric cylinder mounting plate 55; an optical axis 531 for telescopically guiding the electric cylinder mounting plate 55 is also fixed on the electric cylinder mounting plate 55; the number of the optical axes 531 is two, and the optical axes are inserted into the manipulator mounting block 53; the side parts of the telescopic ends of the first material moving electric cylinder 51, the second material moving electric cylinder 52 and the third material moving electric cylinder 56 are all fixed with mounting rods 511, the mounting rods 511 are connected with suction head fixing blocks 512, and the material moving suction heads 6 are fixedly embedded on the suction head fixing blocks 512.
The suction head fixing block 512 is made of a flexible vulcanized rubber material.
The material moving suction head 6 comprises an air pipe 60 which is connected with an external fan (not shown in the figure) in a sealing way, the lower part of the air pipe 60 is connected with a sleeve 61 in a sealing way, an air channel 610 is arranged inside the sleeve 61, a ring-shaped end plate 611 is integrally formed at the lower end of the sleeve 61, a mounting block is connected to the lower part of the ring-shaped end plate 611, a conical cavity communicated with the air channel 610 is formed inside the mounting block, a sucking disc part 62 is connected to the outside of the mounting block in a sealing way, a sealing head is arranged at the lower part of the sucking disc part 62, the lower end face of the sealing head is arranged in a flush way, uniformly distributed air suction holes (not shown in the figure) are formed in the sealing head, a stepped groove is formed in the upper end face of the sealing head, a magnetic ball mounting rack 63 is fixedly connected to the outer side of the stepped groove, the upper end of the magnetic ball mounting rack 63 is inserted into the conical cavity, and an inclined air channel is formed between the magnetic ball mounting rack 63 and the conical cavity 612; an electrified magnetic ball 64 is accommodated in the middle of the magnetic ball mounting rack 63, and a spring 65 fixedly connected with the center of the stepped groove is arranged at the lower part of the electrified magnetic ball 64; the air passage channel 610, the inclined air passage, the vent holes 630 on the magnetic ball mounting rack 63 and the air suction holes on the end socket are communicated with each other.
The lower part of the current-carrying magnetic ball 64 is fixedly connected with a cannula 641, and the cannula 641 is inserted at the upper end of the spring 65.
In the rotor blade detection process, the multi-degree-of-freedom hoisting robot hoists the produced rotor blade to the positioning mechanism, and the positioning mechanism can position the rotor blade so as to facilitate detection operation. Considering rotor blade's structural feature is irregular curved surface structure, consequently, the material manipulator that moves of this application is not conventional manipulator structure, and it has realized a plurality of position changes and the adjustment that move the material suction head through unique structure to make move the material suction head and can fully contact with rotor blade, and then realize closely adsorbing fixedly, ensure the security of hoist and mount, simultaneously, because negative pressure adsorption, can avoid rotor blade surface to receive the damage when hoist and mount safely, avoid influencing the detection precision.
Simultaneously, to rotor blade's curved surface structure, unique positioning mechanism has been set up in this application, adopts the negative pressure to adsorb the location promptly, through unique positioning mechanism, can ensure that rotor blade is fastened and adsorbs, and is concrete, before rotor blade placed on fixed establishment, the top protrusion of the last support arm of Z type shrouding ability inhales solid dish up end setting, and lower support arm bottom fixedly connected with closing plate, the closing plate can be with the complete shutoff of suction way down. And when rotor blade placed on fixed establishment, the position of rotor blade and positioning mechanism contact can push down the upper arm to the closing plate is kept away from the suction way of leaving, and at this moment, induced draft fan starts, and the position of rotor blade and fixing mechanism contact is tightly adsorbed, and the position of rotor blade not with it, Z type shrouding still are in the shutoff state, can not influence whole positioning mechanism's sealing performance, avoid taking place gas leakage.
Further, this application has still set up unique material suction head that moves, is adsorbing the in-process, and except that conventional negative pressure adsorbs, still has the electromagnetism and adsorbs, and circular telegram magnetism ball can adjust the electromagnetism adsorption affinity through the size that changes the access current, through the synergism of electromagnetism adsorption affinity and negative pressure suction, ensures the stability and the security of adsorbing the hoist and mount.
The examples are intended to illustrate the invention, but not to limit it. The described embodiments may be modified by those skilled in the art without departing from the spirit and scope of the present invention, and therefore, the scope of the appended claims should be accorded the full scope of the invention as set forth in the appended claims.
Claims (9)
1. A rotor blade detection line based on robot technology which characterized in that: the device comprises a multi-degree-of-freedom hoisting robot (4) fixedly arranged on a base (1), a positioning mechanism (2) used for fixing a rotor blade (7), a detection unit (3) used for detecting the rotor blade (7) and a control system, wherein the positioning mechanism (2) is positioned between the multi-degree-of-freedom hoisting robot (4) and the detection unit (3), and the control system is electrically connected with the multi-degree-of-freedom hoisting robot (4), the positioning mechanism (2) and the detection unit (3); the tail end of the multi-degree-of-freedom hoisting robot (4) is connected with a material moving manipulator (5); the multi-degree-of-freedom hoisting robot (4) comprises a base (40), wherein a supporting seat (41) is arranged at the upper part of the base (40), a rotating seat (42) is rotatably arranged at the upper part of the supporting seat (41), and the rotating seat (42) is in transmission connection with a rotating motor (410) fixedly arranged on the supporting seat (41); a swing arm (43) is rotatably arranged on the side surface of the rotating seat (42), and the swing arm (43) is in transmission connection with a swing motor (420) fixedly arranged on the rotating seat (42); the upper end of the swing arm (43) is provided with a pitching arm (44), and the pitching arm is in transmission connection with a pitching motor (430) fixedly arranged on the swing arm (43); the front end of the pitching arm (44) is connected with a telescopic arm (45), and the telescopic arm (45) is fixedly connected with a telescopic cylinder (440) fixedly arranged at the front end of the pitching arm (44); a fork arm is formed at the front end of the telescopic arm (45), an angle adjusting seat (450) is fixed on the fork arm, and the material moving manipulator (5) is fixedly arranged at the front end of the angle adjusting seat (450); a sensor (46) used for sensing the operation position of the material moving manipulator (5) is arranged at the top of the telescopic arm (45); the material moving manipulator (5) comprises a material moving support plate (50), a support plate auxiliary plate (501) is formed on the bottom side of the material moving support plate (50), a first material moving electric cylinder (51) and a second material moving electric cylinder (52) are respectively hinged to two sides of the material moving support plate (50), and a first pushing electric cylinder (513) and a second pushing electric cylinder (523) are respectively hinged between the first material moving electric cylinder (51), the second material moving electric cylinder (52) and the support plate auxiliary plate (501); a third pushing electric cylinder (54) and a manipulator mounting block (53) are fixed on the upper side of the material moving support plate (50), and the top of the manipulator mounting block (53) is fixedly connected with the front end of the angle adjusting seat (450) through a bolt; a pushing part (541) of a third pushing electric cylinder (54) is inserted into the manipulator mounting block (53), and an electric cylinder mounting plate (55) is fixedly connected to the front end part of the pushing part (541); a third material moving electric cylinder (56) is fixed on the electric cylinder mounting plate (55); an optical axis (531) for telescopically guiding the electric cylinder mounting plate (55) is also fixed on the electric cylinder mounting plate (55); the number of the optical axes (531) is two, and the optical axes are inserted into the manipulator mounting block (53); the side parts of the telescopic ends of the first material moving electric cylinder (51), the second material moving electric cylinder (52) and the third material moving electric cylinder (56) are respectively fixed with a mounting rod (511), the mounting rods (511) are connected with a suction head fixing block (512), and the material moving suction head (6) is fixedly embedded on the suction head fixing block (512).
2. The robotically based rotor blade inspection line of claim 1 wherein: the positioning mechanism (2) comprises a suction fixing disc (21), and the suction fixing disc (21) is fixedly arranged on the base (1) through a plurality of supporting legs (24) arranged at the lower part of the suction fixing disc; a suction cavity (210) communicated with an external negative pressure air source is formed in the suction disc (21), and a plurality of uniformly arranged suction passages are formed in the upper part of the suction cavity (210); the suction passage comprises a suction upper passage (212), a suction middle passage (211) and a suction lower passage (213) which are sequentially communicated, wherein the suction upper passage (212) is communicated with the upper end face of the suction fixing disc (21), the suction lower passage (213) is communicated with the suction cavity (210), the suction upper passage (212) and the suction lower passage (213) are vertically arranged, the suction middle passage (211) is horizontally arranged, a rotary top block (214) is formed on the lower side wall face of the suction middle passage (211), a Z-shaped sealing plate (22) is arranged in the suction passage, and the Z-shaped sealing plate (22) realizes the opening and closing of the suction lower passage (213) by taking the rotary top block (214) as a fulcrum.
3. A robotically based rotor blade inspection line according to claim 2, wherein: the Z-shaped sealing plate (22) comprises an upper support arm (221), a waist plate (220) and a lower support arm (222), wherein the waist plate (220) is hinged to the rotating top block (214), the upper support arm (221) is embedded in the suction upper path (212), and the lower support arm (222) is arranged at the upper part of the suction lower path (213); when the suction is not fixed, the top of the upper support arm (221) protrudes out of the upper end face of the suction fixing disc (21), the bottom of the lower support arm (222) is fixedly connected with a sealing plate (223), and the sealing plate (223) can completely block the suction lower path (213).
4. A robotically based rotor blade inspection line according to claim 3, wherein: a return spring (23) is arranged between the bottom side part of the waist plate (220) and the bottom end surface of the suction middle path (211).
5. A robotically based rotor blade inspection line according to claim 2, wherein: the negative pressure air source is a suction fan (20), and the suction fan (20) is communicated with a suction cavity (210) of the suction disc (21) through a ventilation pipeline (201).
6. The robotically based rotor blade inspection line of claim 1 wherein: the detection unit (3) comprises a door-shaped frame (30) fixedly arranged on the base (1), a first-direction slideway is formed at the top of the door-shaped frame (30), and a detection supporting beam (31) is movably arranged on the first-direction slideway; a support beam sliding seat (310) is fixed on the side part of the detection support beam (31), and the support beam sliding seat (310) is arranged on the first slideway in a sliding manner; a second directional slideway is formed at the top of the detection supporting beam (31), and a detection head mounting frame (32) is movably mounted on the second directional slideway; a mounting rack sliding seat (320) is fixed at the top of the detection head mounting rack (32), and the mounting rack sliding seat (320) is slidably mounted on the second directional slideway; the bottom of the detection head mounting frame (32) is fixed with a detection element which is a CCD camera.
7. The robotically based rotor blade inspection line of claim 1 wherein: the suction head fixing block (512) is made of a flexible vulcanized rubber material.
8. The robotically based rotor blade inspection line of claim 1 wherein: the material moving suction head (6) comprises an air pipe (60) connected with an external fan in a sealing manner, a sleeve (61) is inserted into the lower portion of the air pipe (60) in a sealing manner, an air channel (610) is formed inside the sleeve (61), an annular end plate (611) is integrally formed at the lower end of the sleeve (61), a mounting block is connected to the lower portion of the annular end plate (611), a conical cavity communicated with the air channel (610) is formed inside the mounting block, a suction disc portion (62) is connected to the outer portion of the mounting block in a sealing manner, a sealing head is arranged on the lower portion of the suction disc portion (62), the lower end face of the sealing head is arranged in a parallel and level manner, uniformly distributed suction holes are formed in the sealing head, a stepped groove is formed in the upper end face of the sealing head, a magnetic ball mounting frame (63) is fixedly connected to the outer side of the stepped groove, the conical cavity is inserted into the upper end of the magnetic ball mounting frame (63), and an inclined air channel is formed between the magnetic ball mounting frame (63) and the conical cavity (612); the middle part of the magnetic ball mounting rack (63) is provided with an electrified magnetic ball (64), and the lower part of the electrified magnetic ball (64) is provided with a spring (65) fixedly connected with the center of the stepped groove; the air passage channel (610), the inclined air passage, the vent hole (630) on the magnetic ball mounting rack (63) and the air suction hole on the seal head are communicated with each other.
9. The robotically based rotor blade inspection line of claim 8 wherein: the lower part of the electromagnetic ball (64) is fixedly connected with an insertion tube (641), and the insertion tube (641) is inserted at the upper end of the spring (65).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811648638.0A CN109613009B (en) | 2018-12-30 | 2018-12-30 | Rotor blade detection line based on robot technology |
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| CN201811648638.0A CN109613009B (en) | 2018-12-30 | 2018-12-30 | Rotor blade detection line based on robot technology |
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| CN109613009B true CN109613009B (en) | 2021-12-10 |
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|---|---|---|---|---|
| CN110948422B (en) * | 2019-12-14 | 2021-06-01 | 山东科技大学 | Novel device capable of realizing integrated measurement of workpiece retention and multiple degrees of freedom |
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