Method for implementing multi-stage blade disc inner cavity vertical contact scanning by using robot clamping electromechanical combination quick-change tool

Abstract

The application belongs to the technical field of detection, and particularly relates to a method for implementing multi-stage blade disc inner cavity vertical contact scanning by using a robot clamping electromechanical combined quick-change tool. The technical scheme is as follows: in the robot world coordinate system, the B and C axes are adjusted so that the horizontal bubble of the horizontal bubble calibrator is located at the center, and the posture adjustment of the electromechanical combined quick-change tool in the XOY plane is completed; in the robot world coordinate system, the X, Y and Z axes are moved so that the probe A center is directly opposite the machine tool rotary table center cone rod center, the A axis is repeatedly rotated, until the probe A center and the probe B center pass through the machine tool rotary table center cone rod center at the same time when the Y axis is rotated, and the posture adjustment of the electromechanical combined quick-change tool coordinate system XOY plane and the multi-stage blade disc axis coincidence is completed. The application provides that a group of electromechanical combined quick-change tools are calibrated, and other different specifications of electromechanical combined quick-change tools are quickly used without calibration.

Description

Technical Field

[0001] This invention belongs to the field of detection technology, specifically relating to a method for vertical contact scanning of the inner cavity of a multi-stage impeller using a robot holding an electromechanical combination quick-change tool. Background Technology

[0002] Multi-stage bladed disks for aero-engines require eddy current testing. When using a robotic gripper to perform eddy current testing on the inner cavity of the multi-stage bladed disk, the tool tip must maintain perpendicular contact with the inner surface of the cavity. The inner cavity of a multi-stage bladed disk has various rotating surfaces, including 5° inclined planes (angle with the axial direction), 16° inclined planes (angle with the axial direction), R5 arc surfaces, R10 arc surfaces, and R25 arc surfaces. During the testing process, the robotic gripper operates within the inner cavity, and the rotation control position of the gripper is prone to collisions. Therefore, perpendicular contact scanning cannot be achieved by rotating the tool. Only multiple sets of specialized tools with different structures can be used to scan the various rotating surfaces of the inner cavity. Due to the numerous rotating surfaces within the multi-stage bladed disk cavity, a calibration method must be determined for each specialized tool before it can enter the inner cavity, making the process complex and unsuitable for field use. Summary of the Invention

[0003] This invention provides a method for vertical contact scanning of the inner cavity of a multi-stage impeller using a robot gripping an electromechanical quick-change tool. By calibrating a set of electromechanical quick-change tools, other electromechanical quick-change tools of different specifications can be used quickly without calibration. This method can quickly achieve vertical contact scanning of different surfaces inside the inner cavity of a multi-stage impeller using a robot gripping an electromechanical quick-change tool.

[0004] The technical solution of the present invention is as follows:

[0005] A method for vertical contact scanning of the inner cavity of a multi-stage impeller disk using a robot-held electromechanical assembly quick-change tool includes the following steps:

[0006] 1) The electromechanical combination quick-change tool includes a robot flange quick-change connector, a straight rod, an attitude adjustment module, a male terminal of the electromechanical combination module, a female terminal of the electromechanical combination module, a bubble level calibrator, and a co-line dual-probe calibration tool. The robot flange quick-change connector is located at one end of the straight rod, and the male terminal of the electromechanical combination module is installed at the other end of the straight rod. The attitude adjustment module is located on the straight rod, and the upper end face of the attitude adjustment module has screw holes for installing the bubble level calibrator. The lower end face of the male terminal of the electromechanical combination module has two screw holes for installing the co-line dual-probe calibration tool. The co-line dual-probe calibration tool includes probe A and probe B. The female terminal of the electromechanical combination module is installed together with the male terminal of the electromechanical combination module.

[0007] 2) The robot flange quick-connect coupling connects to the robot flange and transmits weak electrical signals;

[0008] 3) The bubble level calibrator is installed on the attitude adjustment module. The B and C axes are adjusted in the robot world coordinate system so that the bubble level of the bubble level calibrator is centered, thus completing the attitude adjustment of the electromechanical quick-change tool in the XOY plane.

[0009] 4) Probe A and Probe B of the co-line dual-probe calibration tool are respectively installed in two screw holes on the lower end face of the male end of the electromechanical assembly module; move the X, Y, and Z axes in the robot world coordinate system so that the center of Probe A is directly opposite the center of the machine tool turntable center cone rod. By repeatedly rotating the A axis until the center of Probe A and the center of Probe B simultaneously pass through the center of the machine tool turntable center cone rod when rotating the Y axis, the attitude adjustment of the electromechanical assembly quick-change tool coordinate system XOY plane coinciding with the axis of the multi-stage bladed disk is completed;

[0010] 5) The female terminal of the electromechanical combination module is installed on the male terminal of the electromechanical combination module to perform vertical contact scanning of the inner cavity surface of the multi-stage bladed disk;

[0011] 6) Replace the male terminal of the electromechanical combination module with other specifications, and perform vertical contact scanning of different positions of the inner cavity of the multi-stage bladed disk.

[0012] Furthermore, in the method of using a robot to hold an electromechanical assembly quick-change tool to perform vertical contact scanning of the inner cavity of a multi-stage impeller, the male end of the electromechanical assembly module is provided with a female end mounting hole for the electromechanical assembly module; the male end of the electromechanical assembly module includes three specifications, the difference being that the included angle between the axis of the female end mounting hole of the electromechanical assembly module and the lower end face of the male end of the electromechanical assembly module is 9°, 24°, and 40°, respectively.

[0013] The beneficial effects of this invention are as follows: This invention allows for the calibration of one set of tools, with the remaining tools used directly via quick-change; by calibrating one set of electromechanical combination quick-change tools, other electromechanical combination quick-change tools of different specifications can be used quickly without calibration, enabling rapid vertical contact scanning of different surfaces within the multi-stage impeller cavity using robot-held electromechanical combination quick-change tools. This ensures the correct tool posture for various rotating surfaces within the multi-stage impeller cavity and guarantees that multiple sets of tools only need to be calibrated once, solving the problem of requiring multiple calibrations for specialized tools with different structures. The male end of the electromechanical combination module can be angled and cooperates with the female end of the same electromechanical combination module to achieve vertical contact scanning of different positions and surfaces within the multi-stage impeller cavity. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a quick-change tool for electromechanical assembly.

[0015] Figure 2 A schematic diagram of the male terminal of the 9° electromechanical combination module;

[0016] Figure 3 A schematic diagram of the male terminal of the 24° electromechanical combination module;

[0017] Figure 4 This is a schematic diagram of the male terminal of a 40° electromechanical combination module;

[0018] Figure 5 This is a schematic diagram of the attitude adjustment of the bubble level calibrator.

[0019] Figure 6 This is a schematic diagram of probe A attitude adjustment for a dual-probe calibration tool on the same line.

[0020] Figure 7 This is a schematic diagram of probe B attitude adjustment for a dual-probe calibration tool on the same line.

[0021] Figure 8 A schematic diagram of vertical contact scanning of the internal cavity surface of a multi-stage impeller for electromechanical combination quick-change tools. Detailed Implementation

[0022] like Figure 1-4 As shown, the electromechanical combination quick-change tool includes a robot flange quick-change connector 1, a straight rod 2, an attitude adjustment module 3, an electromechanical combination module male end 4, an electromechanical combination module female end 5, a bubble level calibrator 7, and a co-line dual-probe calibration tool. The robot flange quick-change connector 1 is located at one end of the straight rod 2, and the electromechanical combination module male end 4 is installed at the other end of the straight rod 2. The attitude adjustment module 3 is located on the straight rod 2, and the upper end face of the attitude adjustment module 3 has a screw hole for installing the bubble level calibrator 7. The lower end face of the electromechanical combination module male end 4 has two screw holes for installing the co-line dual-probe calibration tool. The co-line dual-probe calibration tool includes probe A8 and probe B9. The electromechanical combination module female end 5 is fitted together with the electromechanical combination module male end 4. The electromechanical combination module male end 4 has an electromechanical combination module female end mounting hole. The electromechanical combination module male end 4 includes three specifications, the difference being that the included angle between the axis of the electromechanical combination module female end mounting hole and the lower end face of the electromechanical combination module male end 4 is 9°, 24°, and 40°, respectively.

[0023] like Figure 5-8 As shown, the method for vertical contact scanning of the inner cavity of a multi-stage impeller using a robot-held electromechanical quick-change tool includes the following steps:

[0024] 1) The robot flange quick-connect connector 1 connects to the robot flange and transmits weak electrical signals;

[0025] 2) The bubble level calibrator 7 is installed on the attitude adjustment module 3. The B and C axes are adjusted in the robot world coordinate system so that the bubble level of the bubble level calibrator 7 is centered, thus completing the attitude adjustment of the electromechanical quick change tool in the XOY plane.

[0026] 3) Install the male end 4 of the 9° electromechanical combination module on the straight rod 2;

[0027] 4) Probes A8 and B9 of the co-line dual-probe calibration tool are respectively installed in the two screw holes on the lower end face of the male end 4 of the 9° electromechanical combination module; move the X, Y, and Z axes in the robot world coordinate system so that the center of probe A8 is directly opposite the center of the machine tool turntable center cone 6. By repeatedly rotating the A axis until the center of probe A8 and the center of probe B9 simultaneously pass through the center of the machine tool turntable center cone 6 when rotating the Y axis, the attitude adjustment of the electromechanical combination quick change tool coordinate system XOY plane coinciding with the axis of the multi-stage bladed disk 10 is completed;

[0028] 5) The female end 5 of the electromechanical combination module is installed on the male end 4 of the 9° electromechanical combination module to perform vertical contact scanning of the inner cavity surface of the multi-stage bladed disk 10;

[0029] 6) Replace the male terminals 4 of the 24° and 40° electromechanical combination modules respectively, and perform vertical contact scanning of different positions of the multi-stage bladed disk inner cavity 10.

Claims

1. A method for vertical contact scanning of the inner cavity of a multi-stage impeller disk using a robot-held electromechanical combination quick-change tool, characterized in that, Includes the following steps: 1) The electromechanical combination quick-change tool includes a robot flange quick-change connector, a straight rod, an attitude adjustment module, a male terminal of the electromechanical combination module, a female terminal of the electromechanical combination module, a bubble level calibrator, and a co-line dual-probe calibration tool. The robot flange quick-change connector is located at one end of the straight rod, and the male terminal of the electromechanical combination module is installed at the other end of the straight rod. The attitude adjustment module is located on the straight rod, and the upper end face of the attitude adjustment module has screw holes for installing the bubble level calibrator. The lower end face of the male terminal of the electromechanical combination module has two screw holes for installing the co-line dual-probe calibration tool. The co-line dual-probe calibration tool includes probe A and probe B. The female terminal of the electromechanical combination module is installed together with the male terminal of the electromechanical combination module. 2) The robot flange quick-connect coupling connects to the robot flange and transmits weak electrical signals; 3) The bubble level calibrator is installed on the attitude adjustment module. The B and C axes are adjusted in the robot world coordinate system so that the bubble level of the bubble level calibrator is centered, thus completing the attitude adjustment of the electromechanical quick-change tool in the XOY plane. 4) Probe A and Probe B of the co-line dual-probe calibration tool are respectively installed in two screw holes on the lower end face of the male end of the electromechanical assembly module; move the X, Y, and Z axes in the robot world coordinate system so that the center of Probe A is directly opposite the center of the machine tool turntable center cone rod. By repeatedly rotating the A axis until the center of Probe A and the center of Probe B simultaneously pass through the center of the machine tool turntable center cone rod when rotating the Y axis, the attitude adjustment of the electromechanical assembly quick-change tool coordinate system XOY plane coinciding with the axis of the multi-stage bladed disk is completed; 5) The female terminal of the electromechanical combination module is installed on the male terminal of the electromechanical combination module to perform vertical contact scanning of the inner cavity surface of the multi-stage bladed disk; 6) Replace the male terminal of the electromechanical combination module with other specifications, and perform vertical contact scanning of different positions of the inner cavity of the multi-stage bladed disk.

2. The method for vertical contact scanning of the inner cavity of a multi-stage impeller disk using a robot-held electromechanical combination quick-change tool according to claim 1, characterized in that, The male end of the electromechanical combination module is provided with a female end mounting hole for the electromechanical combination module; the male end of the electromechanical combination module includes three specifications, the difference being that the included angle between the axis of the female end mounting hole of the electromechanical combination module and the lower end face of the male end of the electromechanical combination module is 9°, 24°, and 40° respectively.

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