Automatic balancing machine and dynamic balancing detection and compensation structure thereof

Abstract

The present invention relates to the field of crossflow blade processing equipment. A dynamic balance detection and compensation structure includes a frame, and a dynamic balance detection mechanism and a balance piece assembly mechanism arranged on the frame; the dynamic balance detection mechanism includes a third fixed axis frame and a third movable axis frame arranged on the frame, and the third fixed axis frame is provided with a dynamic balance rotary motor to drive the workpiece to rotate; the third fixed axis frame and the third movable axis frame are both provided with a displacement speed sensor, and the displacement speed sensor is used to detect the dynamic balance data of the workpiece; the balance piece assembly mechanism includes a three-dimensional walking bracket arranged on the frame, and a clamping assembly, a blade detection assembly and a glue injection assembly arranged on the three-dimensional walking bracket. The above-mentioned dynamic balance detection and compensation structure can automatically perform dynamic balancing and automatically assemble the balance block for dynamic balance compensation, which greatly simplifies the balance piece assembly process and improves efficiency and balance piece assembly accuracy.

Description

Technical Field

[0001] The invention relates to the field of crossflow fan blade processing equipment, and in particular to an automatic balancing machine and a dynamic balancing detection and compensation structure thereof. Background Art

[0002] The crossflow fan blade is one of the important accessories in the air conditioner. It is made of multiple middle sections connected by processing. The middle section is composed of a circular middle disk and multiple blades that are integrally injection-molded. The rear end of the blade is connected to the front end of the circular middle disk. The rear end of the circular middle disk is provided with multiple blade mounting grooves that match the shape and number of the front end of the blade; the front end of the blade of the rear middle section is inserted into the blade mounting groove of the previous middle section.

[0003] According to relevant statistics, the total output of air conditioners in my country in 2015 was 150 million units, making China the world's largest air conditioner producer and exporter. Crossflow fan blades have the advantages of large air volume, stable air supply and low noise. They are an important part of the indoor air supply system of air conditioners. They are composed of end covers, shaft covers and several middle sections. Crossflow fan blades are generally made of ABS, AS or modified plastics by injection molding. The main production processes include: batching, injection molding, welding (generally ultrasonic welding) and dynamic balancing. The main sources of imbalance of crossflow fan blades include: 1) imbalance caused by injection molding process: due to uneven shrinkage of plastics and errors of molds; 2) imbalance caused by welding process: due to alignment errors, ultrasonic bias welding, welding overflow, etc. In the actual production process, the maximum imbalance of a single side of a 9-section crossflow fan blade can reach 50g·mm.

[0004] In the traditional method, the main process of dynamic balancing of crossflow fan blades includes: using the unbalance acquisition system to measure the unbalance of the crossflow fan blades, manually clamping the metal balancing sheet at the corresponding phase of the end face according to the equivalent unbalance of the end face calculated by the control system, and then fixing it with glue, and then re-performing the unbalance acquisition test. If the unbalance exceeds the requirement, it needs to be re-calibrated; generally, manual dynamic balancing of crossflow fan blades requires 2-3 times of unbalance acquisition and balancing sheet pasting to complete, and the minimum residual unbalance of the crossflow fan blades after manual dynamic balancing is about 10-12g·mm, which may still cause serious problems such as unbalanced air supply, noise and blade damage of the crossflow fan blades.

[0005] The Chinese utility model patent with the publication number "CN203385513U" discloses a dynamic unbalancing machine for unbalance measurement, including a main machine body, a left support mechanism, a right support mechanism, a value sensor, a phase sensor, a judgment sensor and a counting sensor, wherein one is provided on each side of the left and right support mechanisms, a counting sensor is provided on the left vibration swing frame of the left support mechanism, a judgment sensor is provided on the right vibration swing frame of the right support mechanism, and a phase sensor opposite to the judgment sensor is provided on the right support mechanism. When in use, the value sensor and the phase sensor detect the value and phase signal of the dynamic unbalance of the measured part, the judgment sensor and the counting sensor detect the measured part on and off the machine, and accumulate the number of qualified parts. The current patent solution can only identify the workpiece with unbalanced tolerance, and cannot compensate for the dynamic balance of the workpiece.

[0006] A dynamic balancing machine for detecting crossflow blades is disclosed in the Chinese utility model patent text with the publication number "CN202676372U". The dynamic balancing machine for detecting the unbalanced position of the crossflow blades includes a frame, a display, a controller, two sets of clamps for axially clamping the crossflow blades, and a dividing plate for driving the crossflow blades to rotate. The two sets of clamps and the display are all arranged on the frame, and the dividing plate is connected to one set of the clamps; the controller is respectively connected to the display, the dividing plate and the two sets of clamps; the cursor indicating device includes a bracket and an indicator light emitting a surface light source, the light outlet of the indicator light emitting the surface light source is downward, and the indicator light emitting the surface light source is connected to the controller through a connecting line. The advantages of the dynamic balancing machine for detecting the unbalanced position of the crossflow blades are novel structure, high accuracy and efficiency of unbalanced position weighting. The patent scheme can only check the unbalanced position of the crossflow blades, and still requires manual or other equipment to coordinate the assembly of the balancing block.

[0007] The Chinese utility model patent document with the publication number "CN205614771U" discloses a dual-station multi-hole drilling crossflow fan blade automatic dynamic balancing machine, including a slide rail, a first rotating support, a second rotating support, a first drilling deweighting device and a second drilling deweighting device; the first drilling deweighting device is provided with a first drilling mechanism and a first end face tightening mechanism, and the second drilling deweighting device is provided with a second drilling mechanism and a second end face tightening mechanism. During operation, the first drilling mechanism and the second end face tightening mechanism act on both ends of the crossflow fan blade respectively, or the second drilling mechanism and the first end face tightening mechanism act on both ends of the crossflow fan blade respectively. The present invention has the following beneficial effects: 1) reducing the minimum residual imbalance of the crossflow fan blade; 2) improving the efficiency of dynamic balancing processing; 3) easy to realize automation. In this technical solution, CNC drilling and de-weighting are used to replace the traditional method of manually pasting balancing sheets to achieve dynamic balancing of the crossflow blades. The accuracy of CNC drilling is much higher than that of manually pasting balancing sheets, and the minimum residual imbalance can reach 1-2g·mm; however, the drilling and de-weighting method destroys the original structure of the crossflow blades, which is likely to affect the strength of the crossflow blades.

[0008] Based on the above-mentioned deficiencies in the prior art, the applicant intends to apply for an automatic balancing machine that can realize the processes of vibration detection, dynamic balance detection and balance piece assembly for the crossflow fan blades. Among the multiple patent technologies described above, the patent documents with publication numbers "CN203385513U" and "CN202676372U" only have a dynamic balance detection structure, but no dynamic balance compensation processing structure; the patent technology with publication number "CN205614771U" discloses a dynamic balance compensation processing structure by drilling and deweighting, but it has defects. Based on the traditional solution, the metal balance piece is manually clamped at the corresponding phase of the end face; this solution involves a dynamic balance detection and compensation structure, which can automatically and mechanize the dynamic balance detection and balance piece assembly process. Summary of the invention

[0009] In order to solve the above-mentioned problems, the purpose of the present invention is to provide an automatic balancing machine and a dynamic balancing detection and compensation structure thereof, which can automatically perform dynamic balancing and automatically assemble balancing blocks for dynamic balancing compensation, greatly simplifying the balancing piece assembly process and improving efficiency and balancing piece assembly accuracy.

[0010] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0011] A dynamic balancing detection and compensation structure, comprising a frame, and a dynamic balancing detection mechanism and a balancing block assembly mechanism arranged on the frame; characterized in that: the dynamic balancing detection mechanism comprises a third fixed axis frame and a third movable axis frame arranged on the frame, the third fixed axis frame is fixed on the frame, and the third movable axis frame is close to or far away from the third fixed axis frame; a third detection station is formed between the third fixed axis frame and the third movable axis frame, the motor shaft end of the workpiece is positioned on the third fixed axis frame, the steel shaft end of the workpiece is positioned on the third movable axis frame, and a dynamic balancing rotating motor is provided on the third fixed axis frame to drive the workpiece to rotate; the third fixed axis frame and the third movable axis frame are both provided with displacement speed sensors, and the displacement speed sensors are used to detect dynamic balancing data of the workpiece;

[0012] The balancing block assembly mechanism includes a three-dimensional walking bracket arranged on a frame, and a clamping assembly, a blade detection assembly and a glue injection assembly arranged on the three-dimensional walking bracket; the clamping assembly includes a clip rotating motor, and a clip cylinder arranged on the output end of the clip rotating motor, and the clip cylinder is provided with two clamping arms that can be relatively close or far away from each other to achieve clamping or releasing of the balancing block; the clip rotating motor is used to drive the clip cylinder and the clamping arms thereon to rotate an angle, thereby adjusting the assembly angle of the balancing block; the glue injection assembly includes a glue injection angle adjustment pair, and a glue hose and a glue gun arranged on the glue injection angle adjustment pair.

[0013] Preferably, a third slide rail is provided on the frame, and the third movable shaft frame is movably arranged on the third slide rail, wherein the third slide rail adopts a dynamic balancing length adaptation electric cylinder.

[0014] Preferably, the frame is provided with a screw tightening assembly, which includes a screw tightening motor, a downward pressure cylinder and a screwdriver. The downward pressure cylinder is used to press the screwdriver downward to support the screw, and the screw tightening motor drives the screwdriver to rotate.

[0015] Preferably, the dynamic balancing rotary motor is located below the table top of the frame, and is linked to the shaft via a belt; a dynamic balancing rotary encoder is also linked to the output end of the dynamic balancing rotary motor, and the rotating shaft of the dynamic balancing rotary encoder is linked to the shaft, and the dynamic balancing rotary encoder transmits the operating status of the dynamic balancing rotary motor to the motor controller in real time to achieve speed regulation and start and stop of the motor.

[0016] Preferably, the third movable shaft frame and the third fixed shaft frame are both provided with sensor assembly openings, and the displacement velocity sensor is interference-arranged in the sensor assembly opening. The third movable shaft frame and the third fixed shaft frame are both provided with sensing components that are against the steel shaft and the motor sleeve of the workpiece, and the displacement velocity sensor obtains the dynamic balance data of both ends of the workpiece with the help of the above-mentioned sensing components.

[0017] Preferably, the output end of the clip rotating motor is also linked to a clip position encoder, which transmits the operating status of the clip rotating motor to the motor controller in real time to achieve speed regulation and start and stop of the motor.

[0018] Preferably, the blade detection assembly includes a blade probe that uses laser detection to find the position of the blade that needs to be inserted.

[0019] Preferably, the glue injection angle adjustment pair includes a glue injection angle motor and a glue injection bracket arranged on the output end of the glue injection angle motor; a through hole is provided in the glue injection bracket for the glue hose to pass through.

[0020] Preferably, the three-dimensional walking bracket includes walking pairs in three directions: X-axis, Y-axis and Z-axis. The X-axis is the axial direction of the workpiece, and the walking pair of the X-axis adopts an insert axial moving electric cylinder; the Y-axis is the radial direction of the workpiece, and the walking pair of the Y-axis adopts an insert radial moving electric cylinder; the Z-axis is the up and down direction of the frame, and the walking pair of the Z-axis adopts an up and down moving electric cylinder.

[0021] An automatic balancing machine, characterized by comprising a dynamic balancing detection and compensation structure as described in any one of the above.

[0022] The present invention adopts the above technical solution, which relates to a dynamic balance detection and compensation structure, including a frame, and a dynamic balance detection mechanism and a balance piece assembly mechanism arranged on the frame. The dynamic balance detection mechanism is used to perform dynamic balance detection and verification on the workpiece in a rotating state, and the balance piece assembly mechanism is used to assemble the balance block based on the dynamic balance detection; then the dynamic balance detection mechanism performs dynamic balance verification on the workpiece after the balance block is assembled; for the workpiece that can reach the qualified state, the balance piece assembly mechanism performs glue injection treatment on the added balance block on the blade; for the workpiece that still cannot be corrected to the qualified state, the workpiece is placed in a "balance" waste box. The above dynamic balance detection and compensation structure can automatically perform dynamic balance and automatically assemble the balance block for dynamic balance compensation, which greatly simplifies the balance piece assembly process and improves the efficiency and balance piece assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the automatic balancing machine.

[0024] Figure 2 Schematic diagram of the core area of ​​the automatic balancing machine.

[0025] Figure 3 It is a structural diagram of the feeding mechanism.

[0026] Figure 4 It is an assembly diagram of the screw detection mechanism, the runout detection mechanism and the dynamic balance detection mechanism.

[0027] Figure 5 for Figure 4 Enlarged view of part A.

[0028] Figure 6 This is the assembly diagram of the dynamic balancing detection mechanism.

[0029] Figure 7 The structural diagram of the balancing weight assembly mechanism Figure 1 .

[0030] Figure 8 The structural diagram of the balancing weight assembly mechanism Figure 2 .

[0031] Fig. 9 It is a structural diagram of the discharging mechanism.

[0032] Fig.10 It is a structural schematic diagram of the clamping and transferring mechanism.

[0033] Fig.11 It is a structural diagram of the balancing weight production mechanism.

[0034] Fig.12 for Fig.11 Enlarged view of part B. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] Embodiment 1:

[0041] like Figures 1 to 12 An automatic balancing machine is shown, which is suitable for the processes of runout detection, dynamic balance detection and balance block assembly of a crossflow fan blade (hereinafter referred to as workpiece). The automatic balancing machine includes a frame 1, and a feeding mechanism 2, a screw detection mechanism 3, a runout detection mechanism 4, a dynamic balance detection mechanism 5, a balance block assembly mechanism 6, a balance block production mechanism 7 and a discharging mechanism 8 arranged on the frame 1, and a clamping and transferring mechanism for transferring the workpiece between the feeding mechanism 2, the screw detection mechanism 3, the runout detection mechanism 4, the dynamic balance detection mechanism 5 and the discharging mechanism 8.

[0042] The following is a detailed description of each actuator of the automatic balancing machine in sections.

[0043] Feeding mechanism 2

[0044] The purpose of the feeding mechanism 2 is to convey the workpiece to a specific loading station, in which there is a material sensor 21 that can detect whether the workpiece has entered. As for how the workpiece is conveyed to the loading station, the achievable structure is not unique, that is, the feeding mechanism 2 only needs to include a conveying component and a material sensor 21 arranged in the conveying path of the conveying component (preferably at the end of the conveying path). The specific structure of the feeding mechanism 2 does not affect the automatic balancing machine to complete the jump detection, dynamic balance detection and balance block assembly of the workpiece. In this embodiment, a conveying component is provided, which includes a conveyor belt 22 positioned on the frame 1 through multiple rotating shafts, and a feeding motor that drives one of the rotating shafts to rotate; as shown in the figure, the conveyor belt can be a plurality of narrow conveyor belts, and a gap is set between the plurality of conveyor belts, and the gap must be smaller than the axial length of the workpiece. When feeding, the workpiece is manually placed on the conveyor belt, and the conveyor belt conveys the workpiece to the loading station. During this process, the material sensor 21 detects whether there is a workpiece entering the loading station; if it is detected that there is no material, the feeding motor continues to run to feed the material; if it is detected that there is material, the feeding motor stops and waits for the clamping and transfer mechanism to clamp and send away the workpiece in the loading station, and then enters the next loading.

[0045] Screw detection mechanism 3

[0046] The screw detection mechanism 3 is used to detect whether the motor shaft disc end of the workpiece is equipped with screws. If the screw is detected, the workpiece is rotated and positioned at a certain angle; if the screw is not detected, the workpiece is characterized as "screw-less" waste and is transferred to the designated "screw-less" waste box through the clamping and transfer mechanism. The screw detection mechanism 3 includes a first fixed shaft frame 31 and a first movable shaft frame 32 arranged on the frame 1, and a screw detection probe 36 arranged above the first fixed shaft frame 31, and a first detection motor 33 arranged on the first movable shaft frame 32 and used to drive the workpiece to rotate. Among them, the first fixed shaft frame 31 is fixedly arranged relative to the frame 1, and the first movable shaft frame 32 can move along the frame 1 in a straight line direction to achieve the first movable shaft frame 32 approaching or moving away from the first fixed shaft frame 31, and the first movable shaft frame 32 and the first fixed shaft frame 31 form a first detection station. Among them, there are many ways to implement the movement of the first movable shaft frame 32 in a straight line direction, such as some moving pairs used in traditional machinery can be realized, including cylinder moving pairs, screw moving pairs and other methods. In this embodiment, a first slide rail is provided on the frame 1, a first movable shaft frame 32 is movably arranged on the first slide rail 34, and a feed return cylinder is provided, the cylinder output end of which is connected to the first movable shaft frame 32, and the feed return cylinder drives the first movable shaft frame 32 to move on the first slide rail 34. The workpiece is transferred to the first inspection station by the clamping transfer mechanism, the steel shaft end of the workpiece is mounted on the first movable shaft frame 32, and the motor shaft end of the workpiece is mounted on the first fixed shaft frame 31. The output end of the first inspection motor 33 is connected to the steel shaft end of the workpiece, and drives the workpiece to rotate synchronously; the connection method between the output end of the first inspection motor 33 and the steel shaft end of the workpiece can adopt a sleeve connection method, such as a sleeve is provided on the output end of the first inspection motor 33 to be sleeved with the steel shaft end of the workpiece. In the present embodiment as shown in the figure, a clamping component 35 is provided on the first movable shaft frame 32, and the clamping component 35 can be a clamping air claw, and the output shaft of the first detection motor 33 is connected to the clamping component 35, and the clamping component 35 clamps and fixes the steel shaft end of the workpiece, and the first detection motor 33 drives the workpiece to rotate through the clamping component 35. In addition, a sleeve is provided on the motor shaft end of the workpiece, and when positioning at the first detection station, the first detection motor 33 on the first movable shaft frame 32 provides the workpiece with rotational power, and the first fixed shaft frame 31 is only used to mount the other end of the workpiece, so a shaft rod is provided on the first fixed shaft frame 31, and a sleeve that can be passed through the motor shaft end of the workpiece can be provided. The screw detection probe 36 set on the first fixed shaft frame 31 is used to detect whether a screw is assembled on the sleeve at the end of the workpiece motor shaft. In this implementation scheme, the screw detection probe 36 adopts the principle of laser detection, such as laser ranging, which can be used for judgment. Because the data obtained by laser ranging is different when the screw is assembled, the specific principle of laser ranging belongs to the prior art, which can be found in Baidu Encyclopedia, and is excerpted as follows: a laser diode is first aimed at the target to emit a laser pulse.After being reflected by the target, the laser scatters in all directions. Part of the scattered light returns to the sensor receiver, and after being received by the optical system, it is imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor with an internal amplification function, so it can detect extremely weak light signals, record and process the time from the light pulse being sent to the return being received, and can measure the target distance. In this solution, the screw detection probe 36 is located directly above the shaft of the first fixed axis frame 31, and the detection end of the screw detection probe 36 is vertically downward; further, in order to adapt to different models and specifications, a detection moving pair 37 is also provided on the first fixed axis frame 31, and the screw detection probe 36 is fixed on the detection moving pair 37. The detection moving pair 37 can move relative to the axial direction of the workpiece to adjust the relative axial position of the screw detection probe 36. The detection moving pair 37 can be driven by a telescopic cylinder.

[0047] The operation process of the above-mentioned screw detection mechanism 3 is as follows: the clamping and transferring mechanism transfers the workpiece to the first detection station, the first movable shaft frame 32 is relatively close to the first fixed shaft frame 31, the motor shaft end of the workpiece is mounted on the first fixed shaft frame 31, and the steel shaft end of the workpiece is mounted on the first movable shaft frame 32 to achieve the positioning of the workpiece. After the positioning is completed, the first detection motor 33 drives the workpiece to rotate one circle; during this process, the screw detection probe 36 detects whether the motor shaft end frame of the workpiece is equipped with a screw. If a screw is detected, the first detection motor 33 stops immediately and the workpiece is positioned. At this time, the screw detection probe 36 is opposite to the screw; if no screw is detected, the workpiece is characterized as "missing screw" waste. Finally, the clamping and transferring mechanism clamps the workpiece, and the first movable shaft frame 32 exits and resets; based on the above detection results, the clamping and transferring mechanism will transfer it to the runout detection mechanism 4 or the "missing screw" waste box.

[0048] Runout detection mechanism 4

[0049] The runout detection mechanism 4 is used to detect the axial length, end face runout and radial runout data of the workpiece, and judge whether the workpiece is a qualified workpiece based on the above-mentioned detection data. If the detection result is a qualified workpiece, it is transferred to the dynamic balance detection mechanism 5 by the clamping and transferring mechanism for the next step of detection. If the detection result is an unqualified workpiece, it is transferred to the designated "runout" waste box by the clamping and transferring mechanism. The runout detection mechanism 4 includes a second fixed shaft frame 41, a second movable shaft frame 42 and a runout detection assembly arranged on the frame 1. Among them, the second fixed shaft frame 41 is fixed on the frame 1, and the second movable shaft frame 42 is arranged on the frame 1 along a straight line, and the second movable shaft frame 42 is close to or away from the second fixed shaft frame 41. The second fixed shaft frame 41 and the second movable shaft frame 42 constitute a second detection station. Like the first movable shaft frame 32 in the screw detection mechanism 3, there are many ways to implement the second movable shaft frame 42 to move along the straight line, such as some moving pairs used in traditional machinery can be realized, including cylinder moving pairs, screw moving pairs and other methods. In the embodiment shown in the figure, a second slide rail is provided on the frame 1, and a second movable shaft frame 42 is movably arranged on the second slide rail, wherein the second slide rail adopts a jump length adaptable electric cylinder 43, and the electric cylinder is a modular product that integrates the servo motor and the lead screw, and converts the rotary motion of the servo motor into linear motion, thereby realizing the linear motion of the second movable shaft frame 42. When the clamping transfer mechanism transfers the workpiece to the second inspection station, the second movable shaft frame 42 is relatively close to the second fixed shaft frame 41, the motor shaft end of the workpiece is positioned on the second fixed shaft frame 41, and the steel shaft end of the workpiece is positioned on the second movable shaft frame 42. Since the workpiece inspected at the second inspection station has undergone a screw inspection process, the workpiece is bound to contain screws; and because the steel shaft of the workpiece is relatively difficult to fix to achieve circumferential linkage. Therefore, different from the above-mentioned screw detection mechanism 3, the second movable shaft frame 42 in this mechanism is only used to set up the steel shaft of the workpiece, through bearings or brackets. In this solution, two groups of rollers or bearings are used to position the steel shaft. The steel shaft is between the two groups of rollers or bearings, so that one side of the side wall of the steel shaft is exposed to the outside, which is used to detect the vibration of the steel shaft. The second fixed shaft frame 41 is provided with a beating rotary motor 44 to drive the workpiece to rotate. Specifically, the second fixed shaft frame 41 is provided with a shaft rod that is inserted into the shaft sleeve at the end of the workpiece motor shaft to achieve workpiece positioning; and further, in order to achieve the circumferential linkage between the shaft rod and the workpiece, the two need to be positioned. In this embodiment, a set of screwing assemblies is also provided on the frame 1, which is used to screw in the screws on the workpiece motor shaft sleeve, tighten the shaft rod and the motor shaft sleeve, so as to achieve the circumferential linkage between the shaft rod and the workpiece. During operation, the output end of the beating rotary motor 44 drives the workpiece to rotate through the shaft rod. The output end of the beating rotary motor 44 is also linked to a beating rotary encoder, which transmits the operating status of the beating rotary motor 44 to the motor controller in real time to achieve speed regulation and start and stop of the motor.

[0050] The jitter detection assembly includes a jitter axial moving pair, a jitter radial moving pair arranged on the jitter axial moving pair, a jitter rotating pair arranged on the jitter radial moving pair, and a jitter detection probe 49 and a jitter sensor arranged on the jitter rotating pair. Among them, the jitter axial moving pair can move along the axial direction of the workpiece, and the axial length of the workpiece can be measured during its movement; and during the axial movement of the jitter axial moving pair driving the jitter detection probe 49, the jitter detection probe 49 can detect the radial jitter of each measuring point of the workpiece (the position of each disc of the crossflow fan blade). The jitter radial moving pair can move along the radial direction of the workpiece, and its role has two aspects. On the one hand, when measuring the end face jitter and the steel shaft jitter, the jitter detection probe 49 needs to be adjusted radially, which is achieved by the jitter radial moving pair; on the other hand, it can be adjusted radially according to the model and specification of the workpiece. In addition, the jitter rotating pair can make the jitter detection probe 49 on it rotate a certain angle, so as to adjust the detection direction, which is suitable for detecting the end face jitter. The above-mentioned beating detection probe 49 adopts laser detection, and its detection method is the existing technology, so it is not described in detail; when there is irregularity on the end face or radial side of the workpiece, the laser detects the data. In this embodiment, the above-mentioned beating axial moving pair and beating radial moving pair are respectively beating axial moving cylinder 45 and beating radial moving cylinder 46, and the beating rotating pair includes a rotating motor 47 and a turntable 48 arranged on the output shaft of the rotating motor, and the beating detection probe 49 is fixed on the turntable.

[0051] The operation process of the above-mentioned beating detection mechanism 4 is as follows: the clamping and transferring mechanism transfers the workpiece to the second detection station, the second movable shaft frame 42 is relatively close to the second fixed shaft frame 41, the motor shaft end of the workpiece is mounted on the second fixed shaft frame 41, and the steel shaft end of the workpiece is mounted on the second movable shaft frame 42; and the screw on the workpiece motor shaft sleeve is screwed into the shaft rod by screwing the screw assembly to achieve the positioning of the workpiece. After the workpiece is positioned, the beating rotary motor 44 drives the workpiece to rotate, and the beating rotary encoder detects the running state of the beating rotary motor 44 and transmits it to the motor controller in real time to achieve the speed regulation and start and stop of the motor. Under the cooperative operation of the beating axial moving pair, the beating radial moving pair and the beating rotary pair, the axial length of the workpiece is measured, and the end face beating and radial beating of the workpiece are detected, and whether the workpiece is a qualified workpiece is determined based on the above-mentioned detection data. After the detection is completed, the beating rotary encoder needs to ensure that the screw is directly above, the screw assembly loosens the screw, and the second movable shaft frame 42 is relatively away from the second fixed shaft frame 41. Finally, the clamping and transferring mechanism clamps the workpiece and transfers the workpiece to the dynamic balancing detection mechanism 5 or the "jumping" waste box according to the above detection results.

[0052] Dynamic balance detection mechanism 5

[0053] The dynamic balancing detection mechanism 5 is used to perform dynamic balancing detection and verification on the workpiece in a rotating state, assemble the balancing block based on the dynamic balancing detection, and perform dynamic balancing verification on the workpiece after the balancing block is assembled. After multiple balancing block assemblies and dynamic balancing verifications, if the workpiece still cannot be corrected to a qualified state, the workpiece is placed in a "balanced" waste box through a clamping and transfer mechanism. Specifically, the dynamic balancing detection mechanism 5 includes a third fixed shaft frame 51 and a third movable shaft frame 52 arranged on the frame 1, the third fixed shaft frame 51 is fixed on the frame 1, and the third movable shaft frame 52 is arranged on the frame 1 along a straight line, and the third movable shaft frame 52 moves closer to or farther from the third fixed shaft frame 51. The third fixed shaft frame 51 and the third movable shaft frame 52 constitute a third detection station. Like the first movable shaft frame 32 in the screw detection mechanism 3, there are many ways to implement the movement of the third movable shaft frame 52 along a straight line, such as some moving pairs used in traditional machinery, including cylinder moving pairs, screw moving pairs, etc. In the embodiment shown in the figure, a third slide rail is provided on the frame 1, and a third movable shaft frame 52 is movably arranged on the third slide rail, wherein the third slide rail adopts a dynamic balancing length adaptation electric cylinder 53, which is a modular product integrating a servo motor and a lead screw, and converts the rotary motion of the servo motor into a linear motion, thereby realizing the linear motion of the third movable shaft frame 52. When the clamping and transferring mechanism transfers the workpiece to the third inspection station, the third movable shaft frame 52 is relatively close to the third fixed shaft frame 51, the motor shaft end of the workpiece is positioned on the third fixed shaft frame 51, and the steel shaft end of the workpiece is positioned on the third movable shaft frame 52. The scheme adopted by the runout detection mechanism 4 is the same. In this mechanism, the third movable shaft frame 52 is only used to set up the steel shaft of the workpiece, which can be done through bearings or brackets. The third fixed shaft frame 51 not only needs to position the motor sleeve of the workpiece, but also needs to be provided with a dynamic balancing rotary motor to drive the workpiece to rotate; specifically, the third fixed shaft frame 51 is provided with a shaft rod that passes through the sleeve of the workpiece motor shaft end to achieve workpiece positioning; and further, in order to achieve the circumferential linkage between the shaft rod and the workpiece, both need to be positioned. In this embodiment, a set of screwing components is also provided on the frame 1, which is used to screw in the screws on the workpiece motor sleeve and tighten the shaft rod and the motor sleeve, thereby achieving the circumferential linkage between the shaft rod and the workpiece. During operation, the output end of the dynamic balancing rotary motor drives the workpiece to rotate through the shaft rod; as shown in the figure, the dynamic balancing rotary motor is located below the table of the frame 1, and the dynamic balancing rotary motor 54 is linked to the shaft rod through a belt. The output end of the dynamic balancing rotary motor 54 is also linked to a dynamic balancing rotary encoder, the rotating shaft of the dynamic balancing rotary encoder is linked to the shaft rod, and the dynamic balancing rotary encoder transmits the operating status of the dynamic balancing rotary motor 54 to the motor controller in real time to achieve speed regulation and start and stop of the motor.

[0054] In the above scheme, the third fixed shaft frame 51 and the third movable shaft frame 52 are both provided with a displacement speed sensor 56, which is used to detect the dynamic balance data of the workpiece. The displacement speed sensor 56 is used to sense the displacement and speed of the measured object or the control member in the operation control, and then use the displacement and speed signal to change the displacement and speed of the grid movement between the optical signal transmitter and the optical signal receiver, so that the optical signal receiver receives intermittent optical signals, which are converted into electrical signals and transmitted to the microprocessor for processing and judgment, so as to obtain the displacement and speed information. In the scheme, the steel shaft and the motor sleeve of the workpiece are respectively mounted on the third movable shaft frame 52 and the third fixed shaft frame 51. As shown in the figure, the third movable shaft frame 52 and the third fixed shaft frame 51 are both provided with sensor assembly ports, and the displacement speed sensor 56 is interference-set in the sensor assembly port. The third movable shaft frame 52 and the third fixed shaft frame 51 are both provided with sensing components that are against the steel shaft and the motor sleeve of the workpiece. The displacement speed sensor 56 obtains the dynamic balance data of the two ends of the workpiece with the help of the above sensing components.

[0055] The operation process of the above-mentioned dynamic balancing detection mechanism 5 is as follows: the clamping and transferring mechanism transfers the workpiece to the third detection station, the third movable shaft frame 52 is relatively close to the third fixed shaft frame 51, the motor shaft end of the workpiece is mounted on the third fixed shaft frame 51, and the steel shaft end of the workpiece is mounted on the third movable shaft frame 52; and the screw on the workpiece motor shaft sleeve is screwed into the shaft rod by screwing the screw assembly to realize the positioning of the workpiece. After the workpiece is positioned, the dynamic balancing rotary motor 54 drives the workpiece to rotate, and the dynamic balancing rotary encoder detects the running state of the dynamic balancing rotary motor 54 and transmits it to the motor controller in real time to realize the speed regulation and start and stop of the motor. In this process, the displacement speed sensor 56 obtains the dynamic balancing data of the two ends of the workpiece with the help of the above-mentioned sensing components, assembling the balancing block based on the dynamic balancing detection, and performing dynamic balancing verification on the workpiece after the balancing block is assembled. After multiple balancing block assembly and dynamic balancing verification; for the workpiece that can reach the qualified state, the added balancing block on the blade is injected with glue; for the workpiece that still cannot be corrected to the qualified state, the workpiece is placed in the "balance" waste box through the clamping and transferring mechanism.

[0056] Screw tightening components

[0057] The screwing assembly mentioned in the above-mentioned beating detection mechanism 4 and the dynamic balance detection mechanism 5 can be a set of separate sets in the beating detection mechanism 4 and the dynamic balance detection mechanism 5, or a solution in which the two mechanisms share one set can be adopted. In the embodiment shown in the figure, the screwing assembly has only one set, and a lateral moving pair 91 is provided on the frame 1. The screwing assembly is installed on the lateral moving pair 91. The screwing assembly moves between the second detection station and the third detection station through the lateral moving pair 91, and ensures that the second fixed axis frame 41 of the second detection station and the third fixed axis frame 51 of the third detection station are on the same straight line. The screwing assembly moves to the second detection station or the third detection station as needed to screw (including tightening and loosening). Specifically, the screwing assembly used in this embodiment includes a screwing motor 92, a downward pressure cylinder 93 and a screwdriver 94. The downward pressure cylinder is used to press the screwdriver down to hold the screw, and the screwing motor drives the screwdriver to rotate.

[0058] Balancing weight assembly mechanism

[0059] The balancing block assembly mechanism 6 is calculated based on the dynamic balancing detection result, and the balancing block is added to compensate the workpiece by the weighting method at the appropriate blade position of the workpiece to achieve dynamic balance. Specifically, the balancing block assembly process needs to be completed under the coordinated action of the balancing block assembly mechanism 6 and the dynamic balancing detection mechanism 5. Therefore, the third fixed shaft frame 51 and the third movable shaft frame 52 in the dynamic balancing detection mechanism 5 are still used in the balancing block assembly process to position the workpiece, and the dynamic balancing rotary motor 54 is used to drive the workpiece to rotate. On this basis, the balancing block assembly mechanism 6 includes a three-dimensional walking bracket arranged on the frame 1, and a clamping assembly, a blade detection assembly and a glue injection assembly arranged on the three-dimensional walking bracket. Among them, the three-dimensional walking bracket is used to walk on the bracket and clamp and transport the balancing block. The clamping assembly is first moved to the loading station of the balancing block through the three-dimensional walking bracket, and then moved to the balancing block assembly position through the three-dimensional walking bracket. The blade detection assembly includes a blade probe 64, and the blade probe 64 uses laser detection to find the blade position where the insert is required. The laser detection method is a conventional technology in this field and will not be described in detail. The clamping assembly is used to clamp the balancing block. The clamping assembly includes a clamping piece rotating motor 65, and a clamping piece cylinder 66 arranged on the output end of the clamping piece rotating motor 65. The clamping piece cylinder 66 is provided with two clamping arms that can be relatively close or far away to achieve clamping or releasing the balancing block; the clamping piece rotating motor 65 is used to drive the clamping piece cylinder 66 and the clamping arm 67 thereon to rotate an angle, thereby adjusting the assembly angle of the balancing block; in addition, a clamping piece position encoder is also linked to the output end of the clamping piece rotating motor 65, and the clamping piece position encoder transmits the operating status of the clamping piece rotating motor 65 to the motor controller in real time to achieve speed regulation and start and stop of the motor. The glue injection assembly includes a glue injection angle adjustment pair, and a glue hose and a glue gun arranged on the glue injection angle adjustment pair. Since the glue hose and the glue gun are external components, the glue hose and the glue gun are omitted as shown in the figure. The glue injection angle adjustment pair includes a glue injection angle motor 69, and a glue injection bracket 60 arranged on the output end of the glue injection angle motor 69. The glue injection bracket 60 is used to fix the glue gun and the glue hose. As shown in the figure, a through hole is provided in the glue injection bracket 60 for the glue hose to pass through.

[0060] The three-dimensional walking bracket referred to above includes walking pairs in three directions: X-axis, Y-axis and Z-axis. The X-axis is the axial direction of the workpiece. This solution uses the insert axial moving electric cylinder 61; the Y-axis is the radial direction of the workpiece. This solution uses the insert radial moving electric cylinder 62; the Z-axis is the up and down direction of the frame 1. This solution uses the up and down moving electric cylinder 63. The above-mentioned insert axial moving electric cylinder 61, insert radial moving electric cylinder 62 and up and down moving electric cylinder 63 work together to achieve movement within the spatial range of this area. The electric cylinder is a modular product that integrates the servo motor and the lead screw, and converts the rotational motion of the servo motor into linear motion.

[0061] The above-mentioned balancing block assembly process is after the dynamic balancing detection process, and the balancing block assembly process is as follows: 1. The three-dimensional walking bracket moves the clamping component to the loading station of the balancing block, and the clamping component clamps and fixes the balancing block; 2. The three-dimensional walking bracket moves the clamping component and the balancing block on it to above the third detection station; 3. The blade probe 64 uses laser detection to find the blade position where the insert is required (that is, find the balancing block assembly position); 4. The three-dimensional walking bracket moves the clamping component and the balancing block on it to the balancing block assembly position, and the clamping piece rotating motor 65 in the clamping component adjusts the insert piece angle, and then the clamping component inserts the balancing block at the specified position; 5. If the dynamic balancing test after adding the balancing block is qualified, the three-dimensional walking bracket moves, the output end of the glue injection component moves to the balancing block assembly position, the glue injection angle adjustment pair in the glue injection component performs the glue injection angle, and the insert piece axial movement electric cylinder 61 in the three-dimensional walking bracket adjusts the glue injection position. Through multiple adjustments, multi-directional glue injection and fixation at different angles are achieved, and the balancing block is fixed at the specified position to complete the balancing block assembly.

[0062] Discharging mechanism 8

[0063] The discharge mechanism 8 is used to deliver qualified workpieces that have completed the above-mentioned screw detection process, runout detection process, dynamic balance detection process and balance block assembly process. When in use, the workpiece is transferred to the discharge mechanism 8 by the clamping transfer mechanism, and the discharge mechanism 8 continues to deliver the workpiece. Therefore, there is a discharge sensor 82 in the discharge path of the discharge mechanism 8 that can detect whether the workpiece has entered. As for how the workpiece is transported to the discharge station, the achievable structure is not unique, that is, the discharge mechanism 8 only needs to include a conveying component and a discharge sensor arranged in the conveying path of the conveying component (preferably at the end of the conveying path). The specific structure of the discharge mechanism 8 does not affect the automatic balancing machine to complete the runout detection, dynamic balance detection and balance block assembly of the workpiece. In this embodiment, a conveying component is provided, which includes a discharge belt 81 positioned on the frame 1 through multiple rotating shafts, and a discharge motor that drives one of the rotating shafts to rotate; as shown in the figure, the discharge belt can be a plurality of narrow discharge belts, and a gap is set between the plurality of discharge belts, and the gap must be smaller than the axial length of the workpiece. During discharging, the clamping and transferring mechanism places the workpiece on the discharging belt, and the discharging belt conveys the workpiece to the waiting material-collecting station. In this process, the discharging sensor 82 detects whether there is a workpiece entering, and if so, the discharging motor stops and issues a material-collecting reminder alarm.

[0064] Clamping and transfer mechanism

[0065] The clamping and transferring mechanism is used to transfer the workpiece between the feeding mechanism 2, the screw detection mechanism 3, the runout detection mechanism 4, the dynamic balance detection mechanism 5 and the discharging mechanism 8. The clamping and transferring mechanism needs to move in three-dimensional directions, so the clamping and transferring mechanism includes a three-dimensional feeding bracket and a workpiece clamping assembly arranged on the three-dimensional feeding bracket. Similar to the three-dimensional walking bracket in the above-mentioned balance block assembly mechanism 6, the three-dimensional feeding bracket also includes walking sub-structures in three directions of X-axis, Y-axis and Z-axis. The X-axis is the axial direction of the workpiece, and the present scheme adopts the gantry X-axis electric cylinder 95; the Y-axis is the radial direction of the workpiece, and the present scheme adopts the gantry Y-axis electric cylinder 96; the Z-axis is the up and down direction of the frame 1, and the present scheme adopts the gantry Z-axis electric cylinder 97. The above-mentioned gantry X-axis electric cylinder, gantry Y-axis electric cylinder and gantry Z-axis electric cylinder work together to realize movement within the spatial range of the area and realize workpiece handling. The electric cylinder is a modular product that integrates the servo motor and the lead screw, and converts the rotational motion of the servo motor into linear motion. The workpiece clamping assembly includes a workpiece clamping frame 98 arranged on the gantry Z-axis electric cylinder, and a workpiece clamping cylinder 99 arranged on the workpiece clamping frame 98; since the above-mentioned screw detection process, runout detection process and dynamic balance detection process have high requirements for the balance of the two ends of the workpiece, it is necessary to position the two axial ends of the workpiece when clamping and transporting the workpiece to keep the workpiece balanced. Therefore, the above-mentioned workpiece clamping frame 98 is arranged along the axial direction of the workpiece, including a fixed end and a movable end for respectively positioning the two axial ends of the workpiece, and the movable end is movably arranged on the workpiece clamping frame 98, and a workpiece clamping cylinder 99 is arranged on the workpiece clamping frame 98 to connect the movable end, and the workpiece clamping cylinder 99 controls the movable end to approach or move away from the fixed end to achieve clamping or putting down the workpiece; and the above-mentioned three-dimensional feeding bracket can realize the transfer of workpieces between the first detection station, the second detection station, the third detection station and the loading and unloading stations.

[0066] Balance weight production organization 7

[0067] The above-mentioned automatic balancing machine can fully automatically complete the feeding process, feeding process, screw detection process, runout detection process, dynamic balancing detection process, balance block assembly process and discharge process, and detect and remove unqualified workpieces in the screw detection process, runout detection process and dynamic balancing detection process, so that the balance of the workpiece can be fully automatically detected and adjusted. In the above scheme, the balance block obtained in the balance block assembly process is in the balance block loading station of the automatic balancing machine as an accessory. In this case, the balance block has been processed externally, and the automatic balancing machine is only used to fix the balance block at the position of the blade where the insert is required. In another embodiment, the automatic balancing machine also includes a balance block production mechanism 7, which is used to produce the balance block required in the balance block assembly process. Specifically, the balance block production mechanism 7 in this embodiment includes a material belt disk 71 arranged on the frame 1, and a traction component for leading the balance block material belt from the material belt disk 71, and a stamping component for stamping the balance block material belt to obtain the balance block. The traction assembly includes a traction frame 72, which includes a fixed frame 721 and a movable frame 722. The movable frame 722 can reciprocate relative to the fixed frame 721 along the conveying direction of the balancing block material belt. The fixed frame 721 and the movable frame 722 are both provided with horizontally arranged and interconnected traction channels. The fixed frame 721 is provided with a material feeding and pressing cylinder 73, and the output end of the material feeding and pressing cylinder 73 faces the traction channel in the fixed frame 721. The movable frame 722 is provided with an electric cylinder return pressure cylinder 74, and the output end of the electric cylinder return pressure cylinder 74 faces the traction channel in the movable frame 722. In addition, in order to allow the balancing block material belt to be fed into the traction channel in the horizontal direction, the traction assembly in this solution also includes a guide wheel 75 arranged upstream of the traction frame 72, and the guide wheel 75 is used to guide the balancing block material belt to be fed horizontally. When the above-mentioned traction assembly is working, the electric cylinder return pressure cylinder 74 and the material feeding pressing cylinder 73 alternately press the fixed balancing block material belt, and the electric cylinder return pressure cylinder 74 drives the movable frame 722 to move back and forth relative to the fixed frame 721 along the conveying direction of the balancing block material belt, so as to convey the balancing block material belt forward. For example, when the electric cylinder return pressure cylinder 74 presses the balancing block material belt, the material feeding pressing cylinder 73 is released, and the electric cylinder return pressure cylinder 74 drives the movable frame 722 to move forward along the conveying direction for a distance; then, the material feeding pressing cylinder 73 presses the balancing block material belt, and the electric cylinder return pressure cylinder 74 is released, and the movable frame 722 returns to a distance away from the conveying direction to prevent the pressed balancing block material belt from being pulled back.In addition, the production process of the balancing block requires multiple stampings; therefore, the stamping assembly in this scheme includes a stamping bracket 76, a stamping cylinder 77 arranged on the stamping bracket 76, a mold moving pair arranged below the stamping bracket 76, and multiple sets of stamping dies 79 arranged on the mold moving pair; the moving direction of the mold moving pair is perpendicular to the conveying direction of the balancing block material belt, and the mold moving pair can bring multiple sets of stamping dies to the output position of the stamping cylinder 77 in sequence during the transfer, and the balancing block is obtained by the sequential stamping of multiple sets of stamping dies, and the last set of stamping dies, in addition to the final stamping and forming, also needs to cut the formed balancing block from the balancing block material belt. After the balancing block is completed, the mold moving pair is reset to wait for the next stamping; and at this time, the last set of stamping dies carries the obtained balancing block reset, and the clamping assembly in the above-mentioned balancing block assembly process clamps the balancing block here for assembly. In this scheme, the mold moving pair uses a mold moving electric cylinder 78, and the mold moving pair is provided with 5 sets of stamping dies, that is, the required balancing block needs to be obtained by 5 stampings. The automatic balancing machine with the above-mentioned balancing block production mechanism 7 also concentrates the balancing block production in the automatic balancing process, making the equipment more automated. In addition, the above-mentioned balancing block production mechanism is able to calculate and determine the weight of the balancing block based on the data detected by dynamic balancing and punch out the balancing block. The advantage over the traditional one is that the current balancing block weight is limited to a few specifications, and online production can accurately provide the balancing block weight. In the specific implementation scheme, the electric cylinder return pressure cylinder 74 drives the balancing block strip to move forward, which is calculated based on the data detected by dynamic balancing. Since the width and thickness of the balancing block strip are determined, the feeding length of the balancing block strip is calculated based on the dynamic balancing, and balancing blocks of different lengths with adaptive offset compensation can be produced online.

[0068] Embodiment 2:

[0069] This embodiment is based on the automatic balancing machine provided in Embodiment 1, and provides a method for dynamic balancing compensation of a crossflow fan blade; the method comprises the following steps:

[0070] Step 1, loading;

[0071] 1.1. The workpieces are manually placed on the conveyor belt, and the conveyor belt transports the workpieces to the loading station. During this process, the material sensor detects whether there are workpieces entering the loading station. If no material is detected, the feeding motor continues to feed. If material is detected, the feeding motor stops and waits for the clamping and transfer mechanism to clamp the workpiece in the loading station and send it to the screw detection station.

[0072] Step 2, screw detection;

[0073] 2.1 The clamping and transferring mechanism transfers the workpiece to the first inspection station, the first movable shaft frame is relatively close to the first fixed shaft frame, the motor shaft end of the workpiece is mounted on the first fixed shaft frame, and the steel shaft end of the workpiece is mounted on the first movable shaft frame to achieve the positioning of the workpiece;

[0074] 2.2; After positioning is completed, the first detection motor drives the workpiece to rotate one circle; during this process, the screw detection probe detects whether the motor shaft end bracket of the workpiece is equipped with screws. If a screw is detected, the first detection motor stops immediately and the workpiece is positioned. At this time, the screw detection probe is opposite to the screw; if no screw is detected, the workpiece is characterized as "screw-missing" waste;

[0075] 2.3; The clamping and transferring mechanism clamps the workpiece, and the first movable shaft frame withdraws and resets; Based on the detection result of 2.2 above, the clamping and transferring mechanism will transfer the workpiece to the runout detection mechanism or the "missing screw" waste box.

[0076] Step 3, jump detection;

[0077] 3.1. The workpiece that has passed the screw inspection is transferred to the second inspection station by the clamping and transferring mechanism. The second movable shaft frame is relatively close to the second fixed shaft frame. The motor shaft end of the workpiece is mounted on the second fixed shaft frame, and the steel shaft end of the workpiece is mounted on the second movable shaft frame. The screw on the motor shaft sleeve of the workpiece is screwed into the shaft rod by screwing the screw assembly to realize the positioning of the workpiece.

[0078] 3.2; After the workpiece is positioned, the beating rotary motor drives the workpiece to rotate, and the beating rotary encoder detects the operating status of the beating rotary motor and transmits it to the motor controller in real time to realize the speed regulation and start and stop of the motor; under the cooperative operation of the beating axial moving pair, the beating radial moving pair and the beating rotary pair, the axial length of the workpiece is measured, and the end face runout and radial runout of the workpiece are detected, and whether the workpiece is a qualified workpiece is determined based on the above detection data;

[0079] 3.2; After the detection is completed, the beating rotary encoder must ensure that the screw is directly above, the screw assembly loosens the screw, and the second movable axis frame moves away from the second fixed axis frame; at the same time, the clamping and transfer mechanism clamps the workpiece and transfers the workpiece to the dynamic balancing detection mechanism or the "beating" waste box according to the detection results of 3.2.

[0080] Step 4: Dynamic balance compensation;

[0081] 4.1. The qualified products of the runout test are transferred to the third testing station by the clamping and transferring mechanism. The third movable shaft frame is relatively close to the third fixed shaft frame. The motor shaft end of the workpiece is mounted on the third fixed shaft frame, and the steel shaft end of the workpiece is mounted on the third movable shaft frame. The screws on the motor shaft sleeve of the workpiece are screwed into the shaft rod by screwing the screw assembly to realize the positioning of the workpiece.

[0082] 4.2, after the workpiece is positioned, the dynamic balancing rotary motor drives the workpiece to rotate. During this process, the displacement velocity sensor detects the dynamic balancing data of the workpiece with the help of the above-mentioned sensing components;

[0083] 4.3, based on the dynamic balancing data in the previous step, the electric cylinder return pressure cylinder in the balancing block production mechanism controls the length of the balancing block strip entering the mold, and obtains the balancing block with adaptive offset compensation through multiple stamping;

[0084] 4.4, the clamping assembly in the balancing weight assembly mechanism clamps the balancing weight obtained in 4.3, and the three-dimensional walking bracket moves the clamping assembly and the balancing weight thereon to above the third inspection station;

[0085] 4.5. The blade probe uses laser detection to find the blade position where the blade needs to be inserted (i.e., find the balance block assembly position); the three-dimensional walking bracket moves the clamping assembly and the balance block on it to the balance block assembly position, the clamping piece rotating motor in the clamping assembly adjusts the insertion angle, and the clamping assembly inserts the balance block at the specified position;

[0086] 4.6, the dynamic balancing rotary motor drives the workpiece to rotate, and the displacement speed sensor detects the dynamic balancing data of the two ends of the workpiece through the sensing component, and compares it with the reference data to determine whether the workpiece has reached the dynamic balancing qualified state; based on the above detection results, if the detection result is a dynamic balancing qualified workpiece, execute 4.8; if the detection result is a dynamic balancing unqualified workpiece, repeat 4.3 to 4.6; if the detection result is still a dynamic balancing unqualified workpiece after repeated execution, directly execute 4.7;

[0087] 4.7. The dynamic balancing rotary encoder must ensure that the screw is directly above the workpiece. The screw assembly loosens the screws, and the third movable axis frame moves away from the third fixed axis frame. At the same time, the clamping and transfer mechanism clamps the workpiece and puts the workpiece into the "balanced" waste box.

[0088] 4.8, the three-dimensional walking bracket moves, the output end of the glue injection component moves to the assembly position of the balance block, the glue injection angle adjustment pair in the glue injection component adjusts the glue injection angle, and the insert axial moving electric cylinder in the three-dimensional walking bracket adjusts the glue injection position. Through multiple adjustments, multi-directional glue injection fixation at different angles is achieved to fix the balance block at the specified position;

[0089] 4.9. The dynamic balancing rotary encoder must ensure that the screw is directly above the workpiece. The screw assembly loosens the screws, and the third movable axis frame moves away from the third fixed axis frame. At the same time, the clamping and transfer mechanism clamps the workpiece and places the workpiece on the discharge mechanism.

[0090] Step 5: Discharging;

[0091] 5.1. The clamping and transferring mechanism transfers the workpiece to the discharging belt, and the discharging belt transports the workpiece to the waiting material picking station. During this process, the discharging sensor detects whether there is a workpiece entering. If so, the discharging motor stops and issues a material picking reminder alarm; if not, the discharging continues.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0093] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0095] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A dynamic balance detection and compensation structure, comprising a frame, and a dynamic balance detection mechanism and a balance block assembly mechanism arranged on the frame; characterized in that: The dynamic balancing detection mechanism includes a third fixed shaft frame and a third movable shaft frame arranged on the frame, the third fixed shaft frame is fixed on the frame, and the third movable shaft frame is close to or far away from the third fixed shaft frame; a third detection station is formed between the third fixed shaft frame and the third movable shaft frame, the motor shaft end of the workpiece is positioned on the third fixed shaft frame, the steel shaft end of the workpiece is positioned on the third movable shaft frame, and a dynamic balancing rotating motor is provided on the third fixed shaft frame to drive the workpiece to rotate; the third fixed shaft frame and the third movable shaft frame are both provided with a displacement speed sensor, and the displacement speed sensor is used to detect the dynamic balancing data of the workpiece; The balancing block assembly mechanism includes a three-dimensional walking bracket arranged on a frame, and a clamping assembly, a blade detection assembly and a glue injection assembly arranged on the three-dimensional walking bracket; the clamping assembly includes a clip rotating motor, and a clip cylinder arranged on the output end of the clip rotating motor, and the clip cylinder is provided with two clamping arms that can be relatively close or far away to achieve clamping or releasing the balancing block; the clip rotating motor is used to drive the clip cylinder and the clamping arms thereon to rotate the angle, so as to adjust the assembly angle of the balancing block; the glue injection assembly includes a glue injection angle adjustment pair, and a glue hose and a glue gun arranged on the glue injection angle adjustment pair; The machine also includes a balancing weight production mechanism disposed on the frame, the balancing weight production mechanism including a material tape disc disposed on the frame, a traction assembly for leading the balancing weight material tape from the material tape disc, and a stamping assembly for stamping the balancing weight material tape to obtain the balancing weight, the balancing weight production mechanism calculates and determines the weight of the balancing weight according to the data detected by the dynamic balance, and obtains the balancing weight adapted for offset compensation by multiple stampings; The stamping assembly includes a stamping support, a stamping cylinder arranged on the stamping support, a die moving pair arranged below the stamping support, and multiple sets of stamping dies arranged on the die moving pair; the moving direction of the die moving pair is perpendicular to the conveying direction of the balancing block material belt, and the die moving pair can sequentially bring the multiple sets of stamping dies to the output position of the stamping cylinder during the transfer, and the balancing block is obtained by sequentially stamping the multiple sets of stamping dies; The traction assembly includes a traction frame, the traction frame includes a fixed frame and a movable frame, the movable frame can reciprocate relative to the fixed frame along the conveying direction of the balancing block material belt, the fixed frame and the movable frame are both provided with horizontally arranged and connected traction channels, the fixed frame is provided with a material feeding clamping cylinder, the output end of the material feeding clamping cylinder is facing the traction channel in the fixed frame, the movable frame is provided with an electric cylinder return pressure cylinder, the output end of the electric cylinder return pressure cylinder is facing the traction channel in the movable frame; the electric cylinder return pressure cylinder and the material feeding clamping cylinder alternately clamp the fixed balancing block material belt, and reciprocate relative to the fixed frame along the conveying direction of the balancing block material belt through the movable frame to convey the balancing block material belt forward; the traction assembly also includes a guide wheel arranged upstream of the traction frame, the guide wheel is used to guide the horizontal feeding of the balancing block material belt.

2. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The frame is provided with a third slide rail, and the third movable shaft frame is movably arranged on the third slide rail, wherein the third slide rail adopts a dynamic balance length adaptation electric cylinder.

3. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The frame is provided with a screw tightening assembly, which includes a screw tightening motor, a downward pressure cylinder and a screwdriver. The downward pressure cylinder is used to press the screwdriver downward to hold the screw, and the screw tightening motor drives the screwdriver to rotate.

4. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The dynamic balancing rotary motor is located below the table top of the frame, and is linked to the shaft through a belt; a dynamic balancing rotary encoder is also linked to the output end of the dynamic balancing rotary motor, and the rotating shaft of the dynamic balancing rotary encoder is linked to the shaft. The dynamic balancing rotary encoder transmits the operating status of the dynamic balancing rotary motor to the motor controller in real time to realize the speed regulation and start and stop of the motor.

5. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The third movable shaft frame and the third fixed shaft frame are both provided with sensor assembly openings, and the displacement speed sensor is interference-arranged in the sensor assembly opening. The third movable shaft frame and the third fixed shaft frame are both provided with sensing components that abut against the steel shaft and the motor sleeve of the workpiece. The displacement speed sensor obtains the dynamic balance data of the two ends of the workpiece with the help of the above-mentioned sensing components.

6. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The output end of the clip rotating motor is also linked to a clip position encoder, which transmits the running status of the clip rotating motor to the motor controller in real time to realize the speed regulation and start and stop of the motor.

7. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The blade detection assembly includes a blade probe that uses laser detection to find the position of the blade that needs to be inserted.

8. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The glue injection angle adjustment pair includes a glue injection angle motor and a glue injection bracket arranged on the output end of the glue injection angle motor; a through hole is arranged in the glue injection bracket for the glue hose to pass through.

9. A dynamic balance detection and compensation structure according to claim 1, characterized in that: The three-dimensional walking bracket includes walking pairs in three directions: X-axis, Y-axis and Z-axis. The X-axis is the axial direction of the workpiece, and the walking pair of the X-axis adopts an insert axial moving electric cylinder; the Y-axis is the radial direction of the workpiece, and the walking pair of the Y-axis adopts an insert radial moving electric cylinder; The Z axis is the up and down direction of the frame, and the Z axis travel pair adopts up and down travel electric cylinder.

10. An automatic balancing machine, characterized in that: It comprises a dynamic balance detection and compensation structure as claimed in any one of claims 1 to 9.

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