A dynamic balance detection and correction method and system for crossflow fan blades

Abstract

The present invention discloses a dynamic balance detection and correction method and system for a crossflow fan blade. The detection and correction method comprises: a control host controls an industrial robot to transport a workpiece from a workpiece loader to a dynamic balance detection and correction machine; the dynamic balance detection and correction machine performs dynamic balance detection and correction on the workpiece under the control and coordination of the control host; after the workpiece completes dynamic balance detection and correction, the control host generates a dispensing control instruction; the industrial robot transports the workpiece that has completed dynamic balance detection and correction to a fastening machine based on the dispensing control instruction; the fastening machine performs screw fixation and dispensing of glue on the workpiece that has completed dynamic balance detection and correction. The method integrates the control host and the industrial robot to control each process, achieving a high degree of automation, effectively improving production efficiency, reducing human errors in dynamic balance detection and correction, and improving the pass rate of workpiece dynamic balance detection and correction.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of crossflow fan blade production, and in particular to a dynamic balance detection and correction method and system for crossflow fan blades. Background Art

[0002] Crossflow impellers are the core of the air supply system of household appliances. Dynamic balancing tests are required during the production process to prevent vibration and noise caused by imbalance of the crossflow impellers during operation, thereby affecting the service life of the household appliances.

[0003] At present, the dynamic balance detection and correction of crossflow impellers mainly relies on the staff to manually place the workpiece on the dynamic balance detection device for dynamic balance detection. After the detection is completed, the operator determines the imbalance position according to the detection data, manually clamps the balance piece for dynamic balance compensation, and then screws and glues the qualified products. This dynamic balance detection and correction method has a low degree of integration and automation in each process during the dynamic balance detection and correction process, and the processing and production efficiency needs to be improved. In addition, dynamic balance detection and correction errors caused by human factors are prone to occur, resulting in a low pass rate for workpiece dynamic balance detection and correction. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and system for dynamic balance detection and correction of crossflow fan blades. The method integrates the control of each process by controlling the host computer in conjunction with the industrial robot, has a high degree of automation, effectively improves production efficiency, reduces dynamic balance detection and correction errors caused by human errors, and improves the pass rate of workpiece dynamic balance detection and correction.

[0005] The present invention provides a dynamic balance detection and correction method for a crossflow fan blade, the detection and correction method comprising:

[0006] The control host controls the industrial robot to transport the workpiece from the workpiece loader to the dynamic balancing detection and correction machine; the dynamic balancing detection and correction machine performs dynamic balancing detection and correction on the workpiece under the control and coordination of the control host;

[0007] After the workpiece completes dynamic balance detection and correction, the control host generates a dispensing control instruction;

[0008] The industrial robot transports the workpiece that has completed dynamic balance detection and correction to the fastening machine based on the dispensing control instruction;

[0009] The fastening machine performs screw fixing and glue dispensing processing on the workpiece that has completed the dynamic balance detection and correction.

[0010] Furthermore, the dynamic balancing detection and correction machine performs dynamic balancing detection and correction on the workpiece under the control and coordination of the control host, including:

[0011] After the dynamic balancing detection and correction machine identifies the workpiece, the workpiece is clamped by a first automatic clamping mechanism;

[0012] After clamping the workpiece, the dynamic balancing detection and correction machine drives the workpiece to rotate at a first rotation speed to determine the dynamic balancing detection origin of the workpiece;

[0013] After determining the dynamic balancing detection origin, the dynamic balancing detection and correction machine drives the workpiece to rotate at a second rotational speed to perform dynamic balancing detection and obtain dynamic balancing detection data;

[0014] The dynamic balance detection and correction machine sends the dynamic balance detection data to the control host;

[0015] The control host generates a control instruction according to the dynamic balancing detection data, and controls the industrial robot to grab the balancing piece from the balancing piece feeder based on the control instruction;

[0016] The industrial robot transports the grasped balance piece to the dynamic balancing detection and correction machine based on the control instruction;

[0017] The dynamic balance detection and correction machine inserts the balance piece onto the workpiece to complete dynamic balance correction according to the dynamic balance detection data.

[0018] Furthermore, after determining the dynamic balancing detection origin, the dynamic balancing detection and correction machine drives the workpiece to rotate at a second speed to perform dynamic balancing detection, and obtaining dynamic balancing detection data includes:

[0019] The dynamic balancing detection and correction machine obtains the vibration amplitude of the workpiece when it rotates;

[0020] Calculating the unbalance amount, unbalance position and unbalance angle of the workpiece according to the vibration amplitude;

[0021] The imbalance amount, imbalance position and imbalance angle are integrated to obtain the dynamic balance detection data.

[0022] Furthermore, the control host generates a control instruction according to the dynamic balancing detection data, and controls the industrial robot to grab the balancing piece from the balancing piece feeder based on the control instruction, including:

[0023] The control host extracts the unbalance amount of the dynamic balancing detection data and matches the balancing piece of corresponding specifications according to the unbalance amount;

[0024] The control host generates a control instruction according to the balancing piece of corresponding specifications;

[0025] The industrial robot selects a required balancing sheet from a corresponding position on a balancing sheet feeder based on the control instruction;

[0026] The industrial robot grabs the required balancing piece based on the control instruction.

[0027] Furthermore, the dynamic balance detection and correction machine inserts the balance piece onto the workpiece to complete the dynamic balance correction according to the dynamic balance detection data, which includes:

[0028] The dynamic balancing detection and correction machine drives the workpiece to rotate a corresponding angle from the dynamic balancing detection origin according to the unbalance angle in the dynamic balancing detection data;

[0029] After the workpiece rotates by a corresponding angle, the dynamic balancing detection and correction machine confirms the position of the insert through the insert sensor according to the unbalanced position in the dynamic balancing detection data;

[0030] The dynamic balance detection and correction machine inserts the balance piece onto the workpiece according to the position of the inserting piece to complete the dynamic balance correction.

[0031] Furthermore, after the workpiece completes the dynamic balance detection and correction, the control host generates the dispensing control instruction including:

[0032] After the workpiece completes the dynamic balance detection and correction, the dynamic balance detection and correction machine sends a data signal of completion of the detection and correction to the control host;

[0033] The fastening machine feeds back its own equipment status information to the control host;

[0034] The control host generates a dispensing control instruction according to the data signal of the completed detection and correction and the device status information.

[0035] Furthermore, the fastening machine performs screw fixing and glue dispensing processing on the workpiece that has completed dynamic balance detection and correction, including:

[0036] After the fastening machine identifies the workpiece, it clamps the workpiece through the second automatic clamping mechanism;

[0037] After clamping the workpiece, the fastening machine drives the workpiece to rotate at a first speed to determine the position of the bushing screw hole of the workpiece;

[0038] After confirming the position of the bushing screw hole, the fastening machine stops the rotation of the workpiece and tightens the fastening screw into the bushing screw hole through the screwing machine to complete the screw fixation;

[0039] After the screw connection is completed, the fastening machine drives the workpiece to rotate at a first speed and determines the position of the balancing piece on the workpiece through a dispensing sensor;

[0040] After determining the position of the balancing piece on the workpiece, the fastening machine stops the rotation of the workpiece and uses a glue dispensing machine to glue the balancing piece to complete the glue dispensing process.

[0041] The present invention also provides a dynamic balance detection and correction system for a crossflow fan blade, the detection system comprising an industrial robot, a control host for regulating the movement of the industrial robot, a workpiece loader, a dynamic balance detection and correction machine, and a fastening machine;

[0042] The control host is used to control the industrial robot to transport the workpiece from the workpiece loader to the dynamic balancing detection and correction machine;

[0043] The dynamic balancing detection and correction machine is used to perform dynamic balancing detection and correction on the workpiece under the control and coordination of the control host;

[0044] The control host is further configured to generate a dispensing control instruction after the workpiece completes dynamic balance detection and correction;

[0045] The industrial robot is used to carry the workpiece that has completed dynamic balancing detection and correction to the fastening machine according to the dispensing control instruction;

[0046] The fastening machine is used to perform screw fixing and glue dispensing processing on the workpiece that has completed dynamic balance detection and correction.

[0047] Furthermore, the dynamic balancing detection and correction machine is provided with a display screen, and the display screen is used to display the dynamic balancing detection data of the workpiece.

[0048] Furthermore, the dynamic balance detection and correction system further includes a material receiving machine, and the material receiving machine includes a qualified product storage area and an unqualified product storage area;

[0049] The qualified product storage area is used to store products that have passed the dynamic balance test and calibration;

[0050] The unqualified product storage area is used to store products that fail the dynamic balance detection and correction.

[0051] The present invention provides a method and system for dynamic balance detection and correction of crossflow fan blades. The method integrates the control of various processes by controlling a host computer in conjunction with an industrial robot, has a high degree of automation, effectively improves production efficiency, reduces dynamic balance detection and correction errors caused by human errors, and improves the pass rate of dynamic balance detection and correction of workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 Schematic diagram of a crossflow blade dynamic balance detection system according to an embodiment of the present invention;

[0054] Figure 2 1. is a top view of the structure of the balancing sheet feeder in an embodiment of the present invention;

[0055] Figure 3 2. It is a top view of the structure of the dynamic balance detection and correction machine in an embodiment of the present invention;

[0056] Figure 4 2. It is a top view of the fastening machine structure in an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the working process of the dynamic balance detection system in an embodiment of the present invention;

[0058] Figure 6 This is a flow chart of a dynamic balance detection and correction method according to an embodiment of the present invention;

[0059] Figure 7 This is a schematic diagram of the working process of the dynamic balance detection and correction machine in an embodiment of the present invention;

[0060] Figure 8 Schematic diagram of the working process of the fastening machine in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0062] Figure 1A schematic diagram of a crossflow fan blade dynamic balance detection system according to an embodiment of the present invention is shown. The detection system includes a control host 1, an industrial robot 7, a first dynamic balance detection and correction machine 4, a first fastening machine 5, a balancing sheet feeder 2, a workpiece loader 3, a first material receiver 6, a second dynamic balance detection and correction machine 8, a second fastening machine 9, and a second material receiver 10. The control host 1 is connected to the industrial robot 7 for controlling the operation of the industrial robot 7. The control host 1 is in communication with the first dynamic balance detection and correction machine 4 and the first fastening machine 5. The control host 1 can receive information feedback from the first dynamic balance detection and correction machine 4 and the first fastening machine 5, and control the operation of the industrial robot 7 based on the information fed back by the first dynamic balance detection and correction machine 4 and the first fastening machine 5.

[0063] Specifically, the first material receiving machine 6 includes a qualified product storage area and an unqualified product storage area. The industrial robot 7 transports qualified products to the qualified product storage area for storage, and transports unqualified products to the unqualified product storage area for storage.

[0064] Furthermore, the first material receiver 6 is connected to the control host 1 for communication. When the storage volume of the first material receiver 6 reaches a preset value, the first material receiver 6 feeds back storage status information to the control host 1. The control host 1 notifies relevant staff to handle the storage information according to the storage information.

[0065] Furthermore, the second material receiving machine 10 has the same structural features and functional roles as the first material receiving machine 6, which will not be described in detail here.

[0066] Specifically, Figure 2 A top view of the structure of the balancing sheet feeder in an embodiment of the present invention is shown. The balancing sheet feeder 2 includes a sheet twisting mechanism 23, a placement table 21, a balancing sheet slot 22 and a sheet suction mechanism 24. The operator clamps the balancing connecting sheet into the balancing sheet slot 22. One end of the balancing connecting sheet extends outside one end of the balancing sheet slot 22. The sheet twisting mechanism 23 clamps and twists off the end of the balancing connecting sheet extending outside to form a single balancing sheet. The sheet suction mechanism 24 sucks the balancing sheet and places it on the placement table 21.

[0067] Furthermore, the first dynamic balancing detection and correction machine 4 is provided with a plurality of balancing piece slots 22 , and the plurality of balancing piece slots 22 are used for installing balancing connecting pieces of different specifications.

[0068] Furthermore, the sheet twisting mechanism 23 arranges a plurality of the balancing sheets on the placement table 21 in order of specifications, so as to facilitate the industrial robot 7 to perform the operation of taking the balancing sheets.

[0069] Specifically, the balancing sheet feeder 2 also includes a bracket slide rail assembly, and the sheet suction mechanism 24 is arranged on the bracket slide rail assembly. The sheet suction mechanism 24 can move along the bracket slide rail assembly in the three directions of X axis, Y axis and Z axis to facilitate the handling operation of the balancing sheet.

[0070] Specifically, the balance sheet feeder 2 is connected to the control host 1, and the control host 1 can adjust the operation of the balance sheet feeder 2. The balance sheet feeder 2 is provided with a visual sensor, which is used to monitor the status of the balance sheet on the placement table 21 and send the image information of the balance sheet on the placement table 21 to the control host 1. The control host 1 can adjust the sheet suction mechanism 24 to suck the balance sheet for replenishment according to the number of balance sheets on the placement table 21 to ensure that balance sheets of various specifications are stored on the placement table 21.

[0071] Furthermore, the visual sensor may be a monocular camera, through which the balancing plate mechanism on the placement table 21 can be easily acquired.

[0072] Specifically, Figure 3 A top view of the structure of a dynamic balancing detection and correction machine in an embodiment of the present invention is shown. The first dynamic balancing detection and correction machine 4 includes a first workbench 41, a first automatic clamping mechanism 45 arranged on the first workbench 41, a first correction insertion table 42 and a second correction insertion table 43. The first automatic clamping mechanism 45 includes a first clamping part 451, a second clamping part 452, a first support frame 453 and a second support frame 454. The first support frame 453 and the second support frame 454 can be an arc groove structure or a V-groove structure, so that the workpiece can be automatically centered on the first support frame 453 and the second support frame 454 to maintain a horizontal state.

[0073] Specifically, a guide rail is provided on the first workbench 41, the first clamp 451 and the second clamp 452 are slidably connected to the first workbench 41, the second clamp 452 is provided with a centering shaft, the centering shaft is connected to one end of the workpiece and is used for centering and positioning the workpiece, and a rotating mechanism is provided on the first clamp 451, the rotating shaft of the rotating mechanism is connected to the other end of the workpiece and is used to drive the rotation of the workpiece.

[0074] Furthermore, the rotating shaft and the centering shaft are coaxially arranged and located at the same horizontal height.

[0075] Furthermore, the first correction inserting table 42 is used for dynamic balance correction of the left side of the workpiece, and the second correction inserting table 43 is used for dynamic balance correction of the right side of the workpiece.

[0076] Specifically, the working process of the first dynamic balancing detection and correction machine 4 is as follows: the workpiece is placed on the first support frame 453 and the second support frame 454, the first clamping part 451 and the second clamping part 452 move toward the direction of the workpiece, the rotating shaft is connected to one end of the workpiece, and the centering shaft is connected to the other end of the workpiece, the first clamping part 451 and the second clamping part 452 complete the clamping of the workpiece, and the first clamping part 451 and the second clamping part 452 can lift the workpiece to a preset distance when clamping the workpiece to prevent the first support frame 453 and the second support frame 454 from affecting the rotation of the workpiece.

[0077] Furthermore, the rotating mechanism of the first clamping part 451 drives the workpiece to rotate. After completing the dynamic balance measurement, the first correction inserting table 42 and the second correction inserting table 43 insert balance pieces into the workpiece to perform dynamic balance compensation correction according to the results of the dynamic balance detection.

[0078] Furthermore, after completing the dynamic balance compensation correction, the workpiece needs to be re-tested for dynamic balance. Workpieces that pass the re-test will proceed to the next processing operation, and workpieces that fail the re-test will continue to undergo dynamic balance compensation correction or be moved to the unqualified product storage area.

[0079] Furthermore, the second dynamic balancing detection and correction machine 8 has the same structural features and functional roles as the first dynamic balancing detection and correction machine 4, which will not be described in detail here.

[0080] Specifically, Figure 4 A top view of the fastening machine structure in an embodiment of the present invention is shown. The first fastening machine 5 includes a second workbench 51 and a second automatic clamping mechanism 52. The second workbench 51 and the second automatic clamping mechanism 52 have the same structural features and functional roles as the first workbench 41 and the first automatic clamping mechanism 45. For details, please refer to the structural content of the first dynamic balancing detection and correction machine 4. The first fastening machine 5 also includes a dispensing machine 54 and a screw connection machine 53. The screw connection machine 53 is arranged on one side of the second workbench 51. A laser sensor is provided on the second automatic clamping mechanism 52. The position of the bushing screw hole on the workpiece is determined by the laser sensor, and the screw connection machine 53 tightens the fastening screw into the bushing screw hole.

[0081] Furthermore, the dispensing machine 54 is provided with a dispensing sensor, which is a laser sensor. The laser sensor scans the workpiece to determine the position of the balance plate on the workpiece. The dispensing machine 54 performs dispensing according to the position of the balance plate on the workpiece and injects glue onto the balance plate to prevent the balance plate from falling off during high-speed rotation of the workpiece.

[0082] Furthermore, the second fastening machine 9 has the same structural features and functional effects as the first fastening machine 5 , which will not be described in detail here.

[0083] Furthermore, the number of the dynamic balancing detection and correction machines and the fastening machines can be adjusted according to actual needs, that is, several dynamic balancing detection and correction machines and fastening machines can be set up in the system to perform dynamic balancing detection and correction of multiple workpieces at the same time, thereby improving work efficiency.

[0084] Furthermore, the dynamic balance detection and correction system may be provided with a radial axis runout measuring machine to integrate the radial axis runout measuring process of the workpiece into the dynamic balance detection and correction system, thereby further improving the integration level of the dynamic balance detection and correction system.

[0085] Specifically, the dynamic balance detection and correction system is provided with a first dynamic balance detection and correction machine 4, a second dynamic balance detection and correction machine 8, a first fastening machine 5 and a second fastening machine 9, and coordinated by the industrial robot 7 and the control host 1, so as to meet the work handling and coordination requirements of multiple dynamic balance detection and correction machines and fastening machines at the same time. The system can perform dynamic balance detection and correction on multiple workpieces at the same time, and can also perform dynamic balance detection and correction on workpieces of different specifications at the same time, thereby effectively improving work efficiency.

[0086] Specifically, Figure 5 The following is a schematic diagram showing the working process of the dynamic balance detection and correction system according to an embodiment of the present invention. Figure 6 A flow chart of a dynamic balance detection and correction method according to an embodiment of the present invention is shown. The dynamic balance detection and correction method includes:

[0087] S11: The control host controls the industrial robot to move the workpiece from the workpiece loader to the dynamic balancing detection and correction machine.

[0088] Specifically, after starting the system, the control host controls the industrial robot to perform loading operations, the workpiece robot clamps the workpiece on the workpiece loader, and transports the workpiece to the dynamic balance detection and correction machine, and the dynamic balance detection and correction machine performs dynamic balance detection and correction on the workpiece.

[0089] Furthermore, the workpiece loader is connected to the control host for communication. When the inventory of the workpieces to be inspected in the workpiece loader is insufficient, the workpiece loader feeds back inventory information of the workpieces to be inspected to the control host. The control host notifies relevant staff to replenish the workpiece loader with the workpieces to be inspected based on the inventory information.

[0090] S12: The dynamic balancing detection and correction machine performs dynamic balancing detection and correction on the workpiece under the control and coordination of the control host.

[0091] Specifically, Figure 7The following is a schematic diagram of the working process of the dynamic balancing detection and correction machine according to an embodiment of the present invention. The dynamic balancing detection and correction process of the workpiece by the dynamic balancing detection and correction machine includes:

[0092] S121: After the dynamic balancing detection and correction machine identifies the workpiece, it clamps the workpiece through an automatic clamping mechanism.

[0093] Specifically, after the industrial robot carries the workpiece to the dynamic balancing detection and correction machine, the dynamic balancing detection and correction machine identifies the workpiece and then clamps the workpiece through the first clamping part and the second clamping part of the first automatic clamping mechanism.

[0094] S122: After clamping the workpiece, the dynamic balancing detection and correction machine drives the workpiece to rotate at a first rotational speed to determine a dynamic balancing detection origin of the workpiece.

[0095] Specifically, after clamping the workpiece, the dynamic balancing detection and correction machine drives the workpiece to rotate at a first speed through the rotating mechanism of the first clamping part, and detects the bushing screw hole on the workpiece through the first laser sensor on the dynamic balancing detection and correction machine. When the bushing screw hole is detected, the machine stops rotating and sets the current state of the workpiece as the dynamic balancing detection origin of the workpiece to facilitate dynamic balancing detection.

[0096] Furthermore, the first laser sensor is fixed on the first clamp, and its detection position is set on the surface of the workpiece at a position perpendicular to the first workbench. When it is detected that the bushing screw hole is rotated to the position, the dynamic balancing detection and correction machine stops the rotation of the workpiece.

[0097] Furthermore, the dynamic balance detection origin of the workpiece is defined by the position of the bushing screw hole on the workpiece, so as to facilitate dynamic balance detection and correction of the workpiece and determine the position of the imbalance.

[0098] After determining the dynamic balance detection origin, the dynamic balance detection and correction machine drives the workpiece to rotate at a second rotational speed to perform dynamic balance detection and obtain dynamic balance detection data.

[0099] Specifically, after determining the dynamic balancing detection origin of the workpiece, the dynamic balancing detection and correction machine drives the workpiece to rotate at a second speed, records the vibration amplitude of the workpiece during the rotation of the workpiece, calculates the imbalance amount, imbalance position and imbalance angle of the workpiece according to the vibration amplitude, and integrates the imbalance amount, imbalance position and imbalance angle to obtain the dynamic balancing detection data.

[0100] Furthermore, the second rotational speed is much greater than the first rotational speed, that is, the workpiece is rotated at a low speed to determine the origin of the dynamic balance test, and is rotated at a high speed to perform the dynamic balance test.

[0101] Specifically, the dynamic balancing detection and correction machine is also provided with a display screen. The dynamic balancing detection and correction machine drives the workpiece to rotate, detects the vibration amplitude of the workpiece during rotation, analyzes and calculates the dynamic balancing detection data of the workpiece based on the vibration amplitude, and displays the dynamic balancing detection data on the display screen, making it convenient for staff to observe the dynamic balancing detection and correction status of the workpiece.

[0102] Furthermore, the display screen displays the end face images of both ends of the workpiece, marks the unbalanced position of the workpiece in the end face images, and displays the dynamic balance compensation amount and angle below the corresponding end face images.

[0103] S124: The dynamic balancing detection and correction machine sends the dynamic balancing detection data to the control host.

[0104] S125: The control host generates a control instruction according to the dynamic balancing detection data, and controls the industrial robot to grab the balancing piece from the balancing piece feeder based on the control instruction.

[0105] Specifically, the control host extracts the imbalance amount in the dynamic balancing detection data, selects a dynamic balancing piece of corresponding specifications according to the imbalance amount, plans the behavior path of the industrial robot in combination with the position of the industrial robot, the position of the dynamic balancing detection and correction machine, and the position of the dynamic balancing piece, and generates control instructions.

[0106] Specifically, the industrial robot selects a required balancing sheet from a corresponding position on a balancing sheet feeder based on the control instruction and grabs the required balancing sheet based on the control instruction.

[0107] S126: The industrial robot transports the grasped balancing piece to the dynamic balancing detection and correction machine based on the control instruction.

[0108] Specifically, the industrial robot transports the grasped balance sheet to the first correction sheet inserting machine and the second correction sheet inserting machine of the dynamic balance detection and correction machine based on the control instruction. The first correction sheet inserting machine is used for the dynamic balance compensation operation at one end of the workpiece, and the second correction sheet inserting machine is used for the dynamic balance compensation operation at the other end of the workpiece.

[0109] Furthermore, the dynamic balancing test data includes dynamic balancing test data for both ends of the workpiece. The industrial robot needs to complete the grasping and handling of the balancing sheet by the first calibration inserter before performing the handling of the balancing sheet by the second calibration inserter. The industrial robot needs to clamp the balancing sheet on the first calibration inserter before clamping the balancing sheet on the second calibration inserter, thereby reducing the risk of clamping errors and improving the efficiency of balancing sheet clamping.

[0110] Furthermore, the balancing sheet feeder is equipped with several balancing sheets of different specifications. When the industrial robot is taking the sheets, the balancing sheet feeder will stop twisting the sheets, thereby avoiding interference and reducing the risk of damage to the industrial robot and the balancing sheet feeder.

[0111] S127: The dynamic balancing detection and correction machine inserts the balancing piece onto the workpiece to complete dynamic balancing correction according to the dynamic balancing detection data.

[0112] Specifically, the dynamic balancing detection and correction machine drives the workpiece to rotate a corresponding angle from the dynamic balancing detection origin according to the imbalance angle in the dynamic balancing detection data. After the workpiece rotates the corresponding angle, the dynamic balancing detection and correction machine confirms the insert position through the insert sensor according to the imbalance position in the dynamic balancing detection data. The dynamic balancing detection and correction machine inserts the balance plate onto the workpiece according to the insert position to complete the dynamic balancing correction.

[0113] Furthermore, the insert sensor can be an infrared sensor, which identifies the outer contour data of the unbalanced position through the infrared sensor, and determines whether the unbalanced position is a notch on the surface of the workpiece based on the outer contour data. If so, the notch is set as the insert position; if not, the notch closest to the unbalanced position is selected as the insert position.

[0114] Furthermore, after the first inserting piece correction machine completes the inserting piece correction work, the second inserting piece correction machine performs the inserting piece correction work. The specific work flow is the same as that of the first inserting piece correction machine, and will not be repeated here.

[0115] Specifically, after the dynamic balance compensation correction of the workpiece is completed, the workpiece needs to be dynamically re-measured. The dynamic balance detection and correction machine analyzes the re-measurement result of the workpiece, that is, compares the imbalance amount of the workpiece after re-measurement with the set standard value. If the imbalance amount is less than or equal to the standard value, the dynamic balance detection and correction machine feeds back information that the dynamic balance detection and correction is qualified to the control host. The control host can control the industrial robot to transport the qualified workpiece to the next processing station. If the imbalance amount of the workpiece after re-measurement is greater than the standard value, the dynamic balance detection and correction machine feeds back information that the dynamic balance detection and correction is unqualified to the control host. The control host can control the industrial robot to transport the qualified workpiece to the unqualified product receiving area.

[0116] Furthermore, the standard value may be 0.15 g. When the unbalance amount of the workpiece is less than or equal to 0.15 g, it is considered that the dynamic balance detection and correction of the workpiece is qualified.

[0117] Furthermore, after the dynamic balancing detection and correction machine detects that the workpiece is being transported and transferred, the dynamic balancing detection and correction machine provides feedback to the control host, and the control host regulates the industrial robot to perform the loading operation of the dynamic balancing detection and correction machine.

[0118] S13: After the workpiece completes dynamic balance detection and correction, the control host generates a dispensing control instruction.

[0119] Specifically, after the workpiece completes dynamic balancing detection and correction, the dynamic balancing detection and correction machine sends a data signal indicating the completion of detection and correction to the control host, and the fastening machine feeds back its own equipment status information to the control host. The control host generates a dispensing control instruction based on the data signal indicating the completion of detection and correction and the equipment status information.

[0120] Furthermore, the fastening machine feeds back its own equipment status information to the control host in real time. The equipment status includes working status, work completion status, idle status and fault status. The control host can regulate the operation of the system according to the equipment status of the fastening machine.

[0121] Furthermore, the working state indicates that the fastening machine performs screw fixation and gluing of the workpiece; the work completion state indicates that the fastening machine completes the screw fixation and gluing of the workpiece, and the control host can control the industrial robot to transport the workpiece on the fastening machine to the material receiving machine; the idle state indicates that the control host can control the industrial robot to perform loading operations of the fastening machine; the fault state indicates that the fastening machine has an equipment failure, and the control host can notify relevant technical personnel to perform maintenance.

[0122] S14: The industrial robot transports the workpiece that has completed dynamic balancing detection and correction to the fastening machine based on the dispensing control instruction.

[0123] Specifically, based on the dispensing control instruction, the industrial robot grabs the workpiece that has completed dynamic balance detection and correction from the dynamic balance detection and correction machine, and transports the workpiece that has completed dynamic balance detection and correction to the fastening machine in an idle state so that the fastening machine can perform screw fixation and dispensing processing.

[0124] S15: The fastening machine performs screw fixing and gluing processing on the workpiece that has completed the dynamic balance detection and correction.

[0125] Specifically, Figure 8 The figure shows a schematic diagram of the working process of the fastening machine in an embodiment of the present invention. The working process of the fastening machine includes:

[0126] S151: After the fastening machine identifies the workpiece, it clamps the workpiece through a second automatic clamping mechanism.

[0127] S152: After clamping the workpiece, the fastening machine drives the workpiece to rotate at a first speed to determine the position of the bushing screw hole of the workpiece.

[0128] S153: After confirming the position of the bushing screw hole, the fastening machine stops the rotation of the workpiece and tightens the fastening screw into the bushing screw hole through the screwing machine to complete the screwing fixation.

[0129] Specifically, after clamping the workpiece, the fastening machine drives the workpiece to rotate at a low speed at a first speed, captures the position of the bushing screw hole on the workpiece through the second laser sensor on the fastening machine, and stops the rotation of the workpiece after determining the position of the bushing screw hole. The fastening machine controls the screw connection machine to move above the bushing screw hole, and the screw connection machine tightens the fastening screw into the bushing screw hole through an electric screwdriver.

[0130] S154: After the screw fixation is completed, the fastening machine drives the workpiece to rotate at a first speed and determines the position of the balance plate on the workpiece through a dispensing sensor.

[0131] S155: After determining the position of the balancing plate on the workpiece, the fastening machine stops the rotation of the workpiece and uses a glue dispensing machine to glue the balancing plate to complete the glue dispensing process.

[0132] Specifically, after the fastening machine completes the screwing and fixing of the workpiece, the screwing machine moves and resets, the glue dispensing machine moves to the side of the left half of the workpiece, and the fastening machine drives the workpiece to rotate at a first speed and low speed. The position of the balance piece on the left half of the workpiece is determined by the glue dispensing sensor on the glue dispensing machine, and the balance piece is glued and fixed.

[0133] Furthermore, after completing the glue dispensing process of the balance sheet on the left half of the workpiece, the glue dispensing machine moves to the right half side of the workpiece to perform glue dispensing process on the balance sheet on the right half of the workpiece. The specific glue dispensing operation process is the same as above and will not be repeated here.

[0134] Furthermore, the dispensing sensor may be a visual sensor, which can accurately capture the position of the balance plate. The dispensing sensor may also be a laser sensor, an infrared sensor, and the like.

[0135] The present invention provides a method and system for dynamic balance detection and correction of crossflow fan blades. The method integrates the control of various processes by controlling a host computer in conjunction with an industrial robot, has a high degree of automation, effectively improves processing and production efficiency, and can reduce dynamic balance detection and correction errors caused by human errors, thereby improving the pass rate of dynamic balance detection and correction of workpieces.

[0136] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0137] In addition, the above is a detailed introduction to a dynamic balance detection and correction method and system for a cross-flow fan blade provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for detecting and correcting the dynamic balance of a crossflow fan blade, characterized in that: The detection and correction method comprises: The control host controls the industrial robot to transport the workpiece from the workpiece loader to the dynamic balancing detection and correction machine; The dynamic balancing detection and correction machine performs dynamic balancing detection and correction on the workpiece under the control and coordination of the control host; After the workpiece completes dynamic balance detection and correction, the control host generates a dispensing control instruction; The industrial robot transports the workpiece that has completed dynamic balance detection and correction to the fastening machine based on the dispensing control instruction; The fastening machine performs screw fixing and glue dispensing on the workpiece that has completed dynamic balance detection and correction; The dynamic balancing detection and correction machine performs dynamic balancing detection and correction on the workpiece under the control and coordination of the control host, including: After the dynamic balancing detection and correction machine identifies the workpiece, the workpiece is clamped by a first automatic clamping mechanism; After clamping the workpiece, the dynamic balancing detection and correction machine drives the workpiece to rotate at a first rotation speed to determine the dynamic balancing detection origin of the workpiece; After determining the dynamic balancing detection origin, the dynamic balancing detection and correction machine drives the workpiece to rotate at a second rotational speed to perform dynamic balancing detection and obtain dynamic balancing detection data; The dynamic balance detection and correction machine sends the dynamic balance detection data to the control host; The control host generates a control instruction according to the dynamic balancing detection data, and controls the industrial robot to grab the balancing piece from the balancing piece feeder based on the control instruction; The industrial robot transports the grasped balance piece to the dynamic balancing detection and correction machine based on the control instruction; The dynamic balancing detection and correction machine inserts the balancing piece onto the workpiece to complete dynamic balancing correction according to the dynamic balancing detection data; After determining the dynamic balance detection origin, the dynamic balance detection and correction machine drives the workpiece to rotate at a second speed to perform dynamic balance detection, and obtaining dynamic balance detection data includes: The dynamic balancing detection and correction machine obtains the vibration amplitude of the workpiece when it rotates; Calculating the unbalance amount, unbalance position and unbalance angle of the workpiece according to the vibration amplitude; Integrating the imbalance amount, imbalance position and imbalance angle to obtain the dynamic balance detection data; The control host generates a control instruction according to the dynamic balancing detection data, and controls the industrial robot to grab the balancing piece from the balancing piece feeder based on the control instruction, including: The control host extracts the unbalance amount of the dynamic balancing detection data and matches the balancing piece of corresponding specifications according to the unbalance amount; The control host generates a control instruction according to the balancing piece of corresponding specifications; The industrial robot selects a required balancing sheet from a corresponding position on a balancing sheet feeder based on the control instruction; The industrial robot grabs the required balancing piece based on the control instruction; The dynamic balancing detection and correction machine inserts the balancing piece onto the workpiece to complete the dynamic balancing correction according to the dynamic balancing detection data, including: The dynamic balancing detection and correction machine drives the workpiece to rotate a corresponding angle from the dynamic balancing detection origin according to the unbalance angle in the dynamic balancing detection data; After the workpiece rotates by a corresponding angle, the dynamic balancing detection and correction machine confirms the position of the insert through the insert sensor according to the unbalanced position in the dynamic balancing detection data; The dynamic balance detection and correction machine inserts the balance piece onto the workpiece according to the position of the inserting piece to complete the dynamic balance correction.

2. The dynamic balance detection and correction method for a crossflow fan blade according to claim 1, characterized in that: After the workpiece completes the dynamic balance detection and correction, the control host generates the dispensing control instruction including: After the workpiece completes the dynamic balance detection and correction, the dynamic balance detection and correction machine sends a data signal of completion of the detection and correction to the control host; The fastening machine feeds back its own equipment status information to the control host; The control host generates a dispensing control instruction according to the data signal of the completed detection and correction and the device status information.

3. The dynamic balance detection and correction method for a crossflow fan blade according to claim 1, characterized in that: The fastening machine performs screw connection, fixing and gluing processing on the workpiece after dynamic balance detection and correction, including: After the fastening machine identifies the workpiece, it clamps the workpiece through the second automatic clamping mechanism; After clamping the workpiece, the fastening machine drives the workpiece to rotate at a first speed to determine the position of the bushing screw hole of the workpiece; After confirming the position of the bushing screw hole, the fastening machine stops the rotation of the workpiece and tightens the fastening screw into the bushing screw hole through the screwing machine to complete the screw fixation; After the screw connection is completed, the fastening machine drives the workpiece to rotate at a first speed and determines the position of the balancing piece on the workpiece through a dispensing sensor; After determining the position of the balancing piece on the workpiece, the fastening machine stops the rotation of the workpiece and uses a glue dispensing machine to glue the balancing piece to complete the glue dispensing process.

4. A dynamic balance detection and correction system for a crossflow fan blade, characterized in that: The detection and correction system is applicable to the detection and correction method according to any one of claims 1 to 3, and the detection and correction system comprises an industrial robot, a control host for controlling the movement of the industrial robot, a workpiece loader, a dynamic balancing detection and correction machine, and a fastening machine; The control host is used to control the industrial robot to transport the workpiece from the workpiece loader to the dynamic balancing detection and correction machine; The dynamic balancing detection and correction machine is used to perform dynamic balancing detection and correction on the workpiece under the control and coordination of the control host; The control host is further configured to generate a dispensing control instruction after the workpiece completes dynamic balance detection and correction; The industrial robot is used to carry the workpiece that has completed dynamic balancing detection and correction to the fastening machine according to the dispensing control instruction; The fastening machine is used to perform screw fixing and glue dispensing processing on the workpiece that has completed dynamic balance detection and correction.

5. The dynamic balance detection and correction system for a crossflow fan blade according to claim 4, characterized in that: The dynamic balancing detection and correction machine is provided with a display screen, and the display screen is used to display the dynamic balancing detection data of the workpiece.

6. The dynamic balance detection and correction system for a crossflow fan blade according to claim 4, characterized in that: The dynamic balance detection and correction system further includes a material receiving machine, which includes a qualified product storage area and an unqualified product storage area; The qualified product storage area is used to store products that have passed the dynamic balance test and calibration; The unqualified product storage area is used to store products that fail the dynamic balance detection and correction.

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