Blade roughness automatic detection device and detection method

Abstract

The invention provides a blade roughness automatic detection device and detection method, and relates to the technical field of roughness detection, the detection device comprises a rotating table, a blade tool, a transfer robot, a blade detection table, a detection robot and a 3D visual camera; a plurality of groups of positioning pins are distributed on the rotary working table along the circumferential direction, each group of positioning pins is provided with an adjustable blade tool, and the blade tools are used for fixing blades to be detected; a U-shaped clamping jaw is arranged at the front end of the carrying robot, and the blade tool is lifted out of a positioning pin on the rotary working table through the U-shaped clamping jaw and placed on the blade detection table; a plurality of groups of positioning pins are distributed on the blade detection table along the circumferential direction, and blade tools can be placed on the positioning pins; the detection robots are arranged on the two sides of the blade detection table and used for measuring the roughness of the front face, the back face and the blade root detection point of the to-be-detected blade. And the 3D vision camera is arranged in front of the blade detection table and is used for shooting images of the to-be-detected blade.

Description

Technical Field

[0001] This invention relates to the field of roughness detection technology, and in particular to an automatic blade roughness detection device and method. Background Technology

[0002] Turbine blades are core components of aero engines and gas turbines, operating in high-temperature, high-pressure, and high-speed environments, which places extremely high demands on blade manufacturing processes. After the blades are machined, their surface roughness needs to be inspected. Currently, the commonly used method for blade roughness inspection is manual inspection. The blade is placed on a table, fixed in place by a special fixture, and then measured using a roughness measuring instrument. After the measurement is completed, the visually observed results are manually entered into a computer.

[0003] For blades produced in large quantities and requiring multiple inspection points, this method is not only time-consuming and labor-intensive, but also requires inspectors to be proficient in measurement methods. Otherwise, the inspection efficiency will be low and it will be difficult to meet production needs. Manual input and storage of data may result in omissions and errors. In addition, when there are many types of blades, a large number of different types of tooling need to be made, the personnel training cycle is long, and the cost of use is high. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide an automatic blade roughness detection device and method, which can solve the technical problems of low efficiency in traditional turbine blade roughness detection, difficulty in meeting production needs, potential omissions and errors in manual data input and storage, and high detection costs.

[0005] A first aspect of the present invention provides an automatic blade roughness detection device, comprising: a rotary table, a blade fixture, a handling robot, a blade detection table, a detection robot, and a 3D vision camera; The rotary worktable has multiple sets of positioning pins distributed along the circumference. Each set of positioning pins is equipped with an adjustable blade fixture, which is used to fix the blade to be inspected. The front end of the handling robot is equipped with a U-shaped gripper, which lifts the blade fixture from the positioning pin on the rotary worktable and places it on the blade inspection table. The blade inspection platform has multiple sets of positioning pins distributed along the circumference, and the blade tooling can be placed on the positioning pins. The inspection robot is located on both sides of the blade inspection platform. The inspection robot is used to measure the roughness of the front and back surfaces of the blade to be inspected, as well as the inspection point at the blade root. The 3D vision camera is located in front of the blade inspection station and is used to capture images of the blade to be inspected.

[0006] A second aspect of this invention provides an automatic blade roughness detection method, applied to the aforementioned automatic blade roughness detection device, comprising: Step 1: Manually clamp the blade to be inspected onto the blade fixture on the rotary table; Step 2: Drive the handling robot to pick up the blade fixture and place it on the positioning pin on the blade inspection table; Step 3: Start the 3D vision camera, configure the leaf vision template, and save; Step 4: Drive the forearm of the inspection robot so that the probe is aimed at the point to be inspected on the blade to be inspected, record the coordinates of the inspection robot, and input them into WINCC. After the coordinates of all inspection points have been input, save the data. Step 5: Drive the handling robot to grab the blade tooling and place it back onto the positioning pin on the rotary table; Step Six: The manual operator loads the blade to be inspected onto the rotary table and starts the inspection. The transport robot picks up the blade fixture and the blade to be inspected from the current material position and places them onto the blade inspection table. The 3D vision camera takes a picture and compares it with the template. The vision system establishes a new blade position spatial coordinate system and sends this coordinate system to the inspection robot. Under the new blade position spatial coordinate system, the inspection robot reads the automatically repaired coordinate parameters and moves the probe to the designated spatial point. The PLC reads and saves all the inspection data from the roughness detector. After the inspection is completed, the transport robot puts the inspected blade and the blade fixture back onto the rotary table. The rotary table then rotates to the next material position, and the cycle repeats until all blades have been inspected. The manual operator then unloads the blades and re-clamps new blades to be inspected.

[0007] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In this embodiment of the invention, multiple blades to be inspected can be assembled at one time. After clamping, measurement can be performed automatically. During this period, the inspector can continue to complete other tasks until all clamped blades have been inspected. Compared with manual inspection, the operation is simple, the inspection efficiency is greatly improved, the personnel are fully utilized, the measured data is reliable, accurate and fast, and human error is reduced. Attached Figure Description

[0008] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0009] Figure 1 This is a schematic diagram of the overall structure of an automatic blade roughness detection device provided in an embodiment of the present invention.

[0010] Figure 2 This is a schematic diagram of the structure of a rotary worktable provided in an embodiment of the present invention.

[0011] Figure 3 This is a schematic diagram of the structure of a blade tooling provided in an embodiment of the present invention.

[0012] Figure 4 This is a schematic diagram of the structure of two types of quick-connect auxiliary blocks, L-shaped and V-shaped, provided in an embodiment of the present invention.

[0013] Figure 5 This is a schematic diagram of a U-shaped gripper for a handling robot to grasp blades, provided in an embodiment of the present invention.

[0014] Figure 6 This is a schematic diagram of a U-shaped gripper provided in an embodiment of the present invention.

[0015] Figure 7 This is a schematic diagram of a blade inspection station and a blade to be inspected according to an embodiment of the present invention.

[0016] Figure 8 This is a schematic diagram showing the position of a 3D vision camera and an inspection robot relative to a blade inspection platform, provided in an embodiment of the present invention.

[0017] Figure 9 This is a schematic diagram of a detection robot flipping cylinder and a roughness measuring instrument provided in an embodiment of the present invention.

[0018] Figure 10 This is a schematic diagram of a detection robot inspecting the surface of a blade under inspection, provided in an embodiment of the present invention.

[0019] Figure 11 This is a schematic diagram of a detection robot detecting the leaf root of a leaf under inspection, provided in an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached drawings: 1-Rotary worktable; 11-First layer; 12-Second layer; 13-Positioning pin; 14-Support rod; 15-Rotary bearing; 16-Servo motor; 2-Blade fixture; 21-Base plate; 22-Base; 23-Fixed support; 24-Moving support; 25-Auxiliary block; 26-Guide rod; 27-Adjusting bolt; 3-Transporting robot; 31-Robot body; 32-U-shaped gripper; 33-Hook structure; 4-Blade inspection table; 41-Blade to be inspected; 5-Inspection robot; 51-Robot body; 52-Another robot body; 53-Tilting cylinder; 54-Roughness measuring instrument; 55-Probe; 56-Connecting plate; 6-3D vision camera. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts disclosed in this invention.

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0024] Reference manual attached Figures 1 to 11 An automatic blade roughness detection device provided in this embodiment of the invention includes: a rotary table 1, a blade fixture 2, a handling robot 3, a blade inspection table 4, an inspection robot 5, and a 3D vision camera 6.

[0025] Multiple sets of positioning pins 13 are distributed along the circumference on the rotary table 1. The positioning pins 13 serve to center and guide the positioning. Each set of positioning pins 13 is equipped with an adjustable blade fixture 2, which is used to fix the blade 41 to be inspected.

[0026] Optionally, the locating pin 13 is a conical guide pin.

[0027] The front end of the handling robot 3 is equipped with a U-shaped gripper 32, which lifts the blade fixture 2 from the positioning pin 13 on the rotary table 1 and places it on the blade inspection table 4.

[0028] Multiple sets of positioning pins 13 are distributed along the circumference on the blade inspection platform 4, and the blade tooling 2 can be placed on the positioning pins 13.

[0029] Inspection robot 5 is located on both sides of blade inspection platform 4. Inspection robot 5 is used to measure the roughness of the front and back surfaces of the blade 41 to be inspected, as well as the roughness of the blade root inspection point.

[0030] The 3D vision camera 6 is located in front of the blade inspection station 4. The 3D vision camera 6 is used to capture images of the blade 41 to be inspected.

[0031] It should be noted that the 3D vision camera 6 can capture a complete image of the blade 41 to be inspected on the blade fixture 2 on the blade inspection platform 4.

[0032] In this embodiment of the invention, multiple blades to be inspected can be assembled at one time. After clamping, measurement can be performed automatically. During this period, the inspector can continue to complete other tasks until all clamped blades have been inspected. Compared with manual inspection, the operation is simple, the inspection efficiency is greatly improved, the personnel are fully utilized, the measured data is reliable, accurate and fast, and human error is reduced.

[0033] In one possible implementation, the rotary table 1 has a first layer 11 and a second layer 12 arranged vertically. The two layers are fixedly connected by a support rod 14. Each layer has multiple sets of positioning pins 13 distributed along the circumference. The relative positions of the positioning pins 13 of the two layers are on the same plane. The second layer 12 is fixedly connected to the internal rotary bearing 15. The rotary table 1 is driven to rotate by a servo motor 16, which drives the two layers to rotate synchronously and achieves precise positioning.

[0034] refer to Figure 2The rotary table has a first layer 11 and a second layer 12, with a support rod 14 fixedly connecting the two layers. The height from the ground is suitable, facilitating the inspector's clamping of the blades 41 to be inspected. Each layer has thirty sets of conical guide pins 13 distributed circumferentially, totaling sixty sets. Each set of pins has an adjustable blade fixture 2 for fixing the blades 41 to be inspected. The positioning pins 13 of the two layers are on the same plane. This method allows for clamping up to 60 blades at a time, which is sufficient for most uses, while also minimizing space requirements and avoiding the need for specific placement locations. For blades with larger widths or longer lengths, only the first layer platform 11 can be used, with spaced-out placement, further improving the versatility of the entire inspection system. The second layer 12 is fixedly connected to the internal rotary support bearing 15, and the rotation is driven by a servo motor 16. This allows for rotation of both layers with precise rotation angle and position positioning, facilitating the handling robot's gripping.

[0035] In this embodiment of the invention, a double-layer rotary table structure is adopted, with 30 sets of positioning pins arranged circumferentially on each layer, totaling 60 workstations. These are rigidly connected by support rods and driven synchronously by servo motors. This not only significantly increases the number of blades that can be clamped in a single operation and improves inspection efficiency, but also effectively saves equipment floor space. Simultaneously, the relative positions of the two layers of positioning pins remain on the same plane, ensuring precise gripping by the handling robot. For large-sized blades, only the first layer can be used, with spacing between them, further enhancing the system's versatility and adaptability.

[0036] In one possible implementation, the blade fixture 2 includes a base plate 21, a base 22, a fixed support 23, a movable support 24, an auxiliary block 25, a guide rod 26, and an adjusting bolt 27. The base plate 21 has a hole for connecting to the positioning pin 13. The base 22 is fixedly connected to the base plate 21, and the fixed support 23 is fixedly connected to the base 22. The fixed support 23 has a thread at its center. The fixed support 23 and the movable support 24 have lugs extending from their sides. The lugs are used for the gripping operation of the handling robot 3. The movable support 24 can be adjusted by moving horizontally along the guide rod 26 in the guide rod hole of the fixed support 23 using the adjusting bolt 27. The adjusting bolt 27 passes through the center hole of the movable support 24 and is connected to the center thread of the fixed support 23. The adjusting bolt 27 has a pin 28 at the front end of the movable support 24. The blade fixture 2 is locked by rotating the adjusting bolt 27 clockwise and loosened by rotating it counterclockwise. The auxiliary block 25 is installed on the fixed support 23 and the movable support 24 and is in direct contact with the blade 41 to be inspected when the blade fixture 2 is locked.

[0037] refer to Figure 3The blade fixture 2 consists of a base plate 21, a base 22, a fixed support 23, a movable support 24, an auxiliary block 25, a guide rod 26, and an adjusting bolt 27. The base plate 21 has a hole for connection with the positioning pin 13 of the rotary table. The base 22 is fixedly connected to the base plate 21. The fixed support 23 is fixedly connected to the base 22 and has a thread at its center. Lugs extend from the sides of the fixed support 23 and the movable support 24. The lugs are used for the gripping operation of the handling robot. The movable support 24 can move horizontally along the guide rod hole of the fixed support 23 under the action of the guide rod 26. The adjusting bolt 27 passes through the movable support 24. The movable support 24 is connected to the central threaded hole of the fixed support 23. There is a pin 28 between the front end of the movable support 24 and the adjusting bolt 27. With this method, when the adjusting bolt 27 is rotated clockwise, the movable support 24 moves forward to lock the blade 41 to be inspected between the fixed support 23 and the movable support 24. When the adjusting bolt 27 is rotated counterclockwise, the movable support 24 moves backward under the action of the pin 28, and the blade 41 to be inspected between the fixed support 23 and the movable support 24 is released. With this method, blades 41 with different blade root widths can be clamped, improving versatility.

[0038] In this embodiment of the invention, the blade fixture adopts a modular and adjustable structural design. The movable support is driven to move horizontally along the guide rod by adjusting bolts, and in conjunction with the fixed support, it achieves adaptive clamping for blades with different root widths, significantly improving the fixture's versatility. Simultaneously, the lugs on the fixed and movable supports facilitate precise gripping by the handling robot, while the auxiliary block that directly contacts the blade adopts a quick-change structure, protecting the blade surface from damage and quickly adapting to different blade root shapes. Thus, while ensuring clamping reliability and inspection consistency, it greatly improves the flexibility, applicability, and automation efficiency of the inspection system.

[0039] Optionally, the auxiliary block 25 is installed using a quick-connect method, which allows for quick replacement of blades with special root shapes. The material is nylon to prevent damage to the clamping surface of the blade 41 to be inspected.

[0040] refer to Figure 4 When the blade is locked, a large force is required to prevent the blade 41 to be inspected from falling or shifting when the handling robot 3 is handling the blade fixture 2. The blades used for the roughness inspection process are all finished blades with high surface finish requirements. Direct clamping will cause scratches. The auxiliary block 25 can effectively avoid this problem. Moreover, since the blade root shape is different, such as right-angle L-shaped and arc-shaped, two universal auxiliary blocks are designed to achieve clamping of most products. The auxiliary block is installed by quick insertion, which makes it convenient to quickly change when inspecting different blade products.

[0041] In one possible implementation, the handling robot 3 includes a robot body 31 and a U-shaped gripper 32. The robot body 31 has a U-shaped gripper 32 mounted on its forearm. The front end of the U-shaped gripper 32 is provided with a barb structure 33. The barb structure 33 is used to hook the lug of the fixed support 23 and support the lug of the movable support 24, so as to lift the blade 41 to be inspected together with the blade tooling 2, remove it from the positioning pin 13 on the rotary table 1, and transport it to the blade inspection table 4.

[0042] refer to Figure 5 The gripper of the handling robot is U-shaped with a barb structure 33 at the front end. It can grasp the lugs of the fixed support 23 and support the lugs of the movable support 24 when moving upward, lifting the blade 41 to be inspected together with the blade fixture 2. The positioning pin 13 on the rotary table is then removed, and the blade is placed on the blade inspection table 4. This gripping method has several advantages: the handling robot only grips the fixed position of the blade fixture 2, so it is suitable for blades with different root widths. The entire process does not involve contact with the blade to be inspected, thus preventing damage to the blade.

[0043] In one possible implementation, the U-shaped gripper 32 has two grooves on the contact surface of the fixed support 23 and the movable support 24.

[0044] refer to Figure 6 The U-shaped gripper 32 has two grooves on the contact surface of the fixed support 23 and the movable support 24. The length of the first groove 34 is the same as the width of the lug of the fixed support 23, which plays a role in positioning and preventing slippage during the transfer process. The second groove 35 is designed to accommodate blades with different root widths and is longer to achieve universality. This method can effectively prevent the blade tooling from sliding during the process of moving the blade tooling to the blade inspection table by the handling robot, which would result in inaccurate positioning and failure to be placed in the positioning pin of the blade inspection table.

[0045] In one possible implementation, the handling robot 3 picks up the blade 41 to be inspected and the blade fixture 2 together and places them in the positioning pin 13 of the blade inspection table 4. Due to the presence of the positioning pin 13, the positional deviation of the blade fixture 2 from being picked up from the rotary table 1 to the blade inspection table 4 is very small each time.

[0046] refer to Figure 7 The blade inspection table 4 has a set of conical guide pins 13 that are the same as those on the rotary table 1. The blade fixture 2 that the transport robot 3 picks up from the rotary table 1 can be placed. In this way, the transport robot 3 can achieve positioning by its own weight when placing the blade fixture 2 and the blade 41 to be inspected, and the position is almost offset.

[0047] In one possible implementation, there are two inspection robots 5, located on either side of the blade inspection platform 4. Each inspection robot 5 includes a robot body 51, a tilting cylinder 53, and a roughness measuring instrument 54. The tilting cylinder 53 is mounted on the forearm of the robot body 51, and the roughness measuring instrument 54 is mounted on the front end of the tilting cylinder 53 via a connecting plate. A probe 55 is mounted on the roughness measuring instrument 54, and remote control of the roughness measuring instrument 54 is achieved through a communication protocol and interface. The two inspection robots 5 are responsible for measuring all inspection points on the front and back sides of the blade 41 to be inspected, respectively. For the blade root measurement points, the inspection robot closest to the inspection point performs the measurement.

[0048] When the blade profile is being inspected normally, the rotating cylinder 53 is ventilated for a long time so that the probe 55 of the roughness measuring instrument 54 is perpendicular to the blade profile.

[0049] Optionally, when measuring the blade root detection point, a solenoid valve is used to switch the position, causing the roughness measuring instrument 54 to rotate 90°, with the probe 55 perpendicular to the bottom of the blade root. The roughness measuring instrument 54 is fixed to the front end of the tilting cylinder 53 via a connecting plate 56. The roughness measuring instrument 54 is remotely controlled via a communication interface and the measured data is saved.

[0050] refer to Figures 8 to 11 There are two inspection robots, namely robot body 51 and another robot body 52, located on opposite sides of the blade inspection table. Each robot body 51 and 52 is equipped with a tilting cylinder 53 at its front end. The tilting cylinders are connected to a surface roughness measuring instrument 54 via a connecting plate 56. When inspecting the surface profile of the blade 41, the tilting cylinders of both robots maintain continuous airflow, ensuring the probe 55 is perpendicular to the blade surface. Figure 10 As shown, only one inspection robot 52 is used for illustration, while the other two inspection robots 51 and 52 are only responsible for the front and back sides, respectively.

[0051] When the inspection of the blade root position of the blade 41 to be inspected begins, the PLC sends a signal to switch via a solenoid valve, causing the tilting cylinder 53 to rotate the roughness measuring instrument 54 and the probe 55 90°, perpendicular to the bottom surface of the blade root to be inspected for measurement. Figure 11 As shown, only one inspection robot 51 is used for illustration. The measurement point at the bottom of the blade root of the blade to be inspected is measured by the robot that is close to the inspection point.

[0052] The surface roughness measuring instrument 54 is remotely controlled via a communication interface, enabling control of the start of detection, reading, and storage of detection data. The use of the tilting cylinder 53 is mainly for detecting special points on the root bottom surface of the blade 41 to be inspected. Without the tilting cylinder 53, it would be impossible to achieve the same result by relying solely on the articulated arms of the inspection robots 51 and 52. Adding the tilting cylinder 53 is equivalent to adding an axis to the inspection robots 51 and 52, enabling the detection of some special points, which is innovative.

[0053] In one possible implementation, after the 3D vision camera 6 takes a picture, the vision system compares it with the pre-configured blade vision template. The vision system will re-establish a new spatial coordinate system, automatically repair the new blade spatial coordinate system, send the compensated and corrected spatial coordinate system to the detection robot 5, and control the detection robot 5 to move to the designated spatial point, ensuring that the detection point of each blade of the same type is consistent with the blade position.

[0054] refer to Figure 8 The 3D vision camera 6 is located in front of the blade inspection table 4, and can completely capture images of the blades 41 to be inspected on the blade inspection table 4. At the start of inspection, whenever the handling robot 3 places blades 41 from different positions on the rotary table 2 onto the blade inspection table 4, the 3D vision camera 6 takes an image and compares it with the initially established blade template. The vision system then re-establishes a new spatial coordinate system, automatically repairs the new blade spatial coordinate system, and sends the image to the inspection robot 5 via communication, driving the inspection robot 5 to move to the designated spatial point. This method ensures that the inspection point of each blade of the same type is in the same position relative to the blade, improving the consistency of the inspection points.

[0055] The automatic blade roughness detection method provided in this embodiment of the invention is applied to the aforementioned automatic blade roughness detection device, and includes: Step 1: Manually clamp the blade 41 to be inspected onto the blade fixture 2 on the rotary table 1.

[0056] Step 2: Drive the handling robot 3 to grab the blade tooling 2 and place it on the positioning pin 13 on the blade inspection table 4.

[0057] Step 3: Start the 3D vision camera 6, configure the leaf vision template, and save.

[0058] Step 4: Drive the forearm of the inspection robot 5 so that the probe is aligned with the points to be inspected on the blade. Record the coordinates of the inspection robot and input them into WINCC. After the coordinates of all inspection points have been input, save the data.

[0059] Step 5: Drive the handling robot 3 to grab the blade tool 2 and place it back onto the positioning pin 13 on the rotary table 1.

[0060] Step Six: Manually load the blade 41 to be inspected onto the rotary table 1, start the inspection, and the transport robot 3 picks up the blade fixture 2 and the blade 41 to be inspected at the current material position and places them onto the blade inspection table 4. The 3D vision camera 6 takes a picture and compares it with the template. The vision system establishes a new spatial coordinate system for the blade position and sends this coordinate system to the inspection robot 5. Under the new spatial coordinate system for the blade position, the inspection robot 5 reads the coordinate parameters that have been automatically repaired and moves the probe to the designated spatial point. The PLC reads all the inspection data of the roughness tester and saves it. After the inspection is completed, the transport robot 3 puts the inspected blade 41 and the blade fixture 2 back onto the rotary table 1. The rotary table 1 then rotates to the next material position, and the cycle repeats until all blades have been inspected. Manually unload the material and re-clamp the new blade 41 to be inspected.

[0061] This allows for the simultaneous clamping of multiple blades to be inspected, enabling sequential inspection of all blades. This facilitates subsequent statistical analysis of the data, significantly improving inspection efficiency and reducing manual labor intensity.

[0062] In this embodiment of the invention, the stability, reliability, and testing efficiency of the entire automated testing system are far superior to those of manual testing. This automated testing system adopts a double-layer, multi-station design, which effectively reduces the diameter of the rotary table and the floor space occupied by the testing system compared to a single-layer, multi-station design.

[0063] Furthermore, the automated inspection system can quickly change clamping auxiliary blocks for parts with different blade root shapes, and the blade tooling can be quickly clamped and switched. During the automatic measurement process, the inspector can continue to complete other tasks, making full use of personnel and greatly alleviating the bottleneck of manual inspection.

[0064] Furthermore, the blade position deviation caused by manual blade clamping and handling is corrected by a 3D vision camera, ensuring that the inspection point of the inspection robot is consistent with the blade. The blade roughness measurement data is directly read and saved by the PLC from the roughness measuring instrument, eliminating the need for manual observation and input, thus making the measured data reliable, accurate, and fast.

[0065] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the preferred embodiments, while those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic blade roughness detection device, characterized in that, include: Rotary worktable (1), blade tooling (2), handling robot (3), blade inspection table (4), inspection robot (5), and 3D vision camera (6); The rotary worktable (1) has multiple sets of positioning pins (13) distributed along the circumference. Each set of positioning pins (13) is provided with an adjustable blade fixture (2), which is used to fix the blade (41) to be inspected. The front end of the handling robot (3) is provided with a U-shaped gripper (32). The U-shaped gripper (32) lifts the blade tooling (2) out of the positioning pin (13) on the rotary table (1) and places it on the blade inspection table (4). The blade inspection platform (4) has multiple sets of positioning pins (13) distributed along the circumference, and the blade tooling (2) can be placed on the positioning pins (13). The inspection robot (5) is located on both sides of the blade inspection platform (4). The inspection robot (5) is used to measure the roughness of the front and back surfaces of the blade (41) to be inspected and the roughness of the blade root inspection point. The 3D vision camera (6) is located in front of the blade inspection station (4) and is used to capture images of the blade (41) to be inspected.

2. The automatic blade roughness detection device according to claim 1, characterized in that, The rotary worktable (1) has a first layer (11) and a second layer (12) arranged vertically. The two layers are fixedly connected by a support rod (14). Each layer has multiple sets of positioning pins (13) distributed along the circumference. The relative positions of the positioning pins (13) of the two layers are on the same plane. The second layer (12) is fixedly connected to the internal rotary bearing (15). The rotary worktable (1) is driven to rotate by a servo motor (16), which drives the two layers to rotate synchronously.

3. The automatic blade roughness detection device according to claim 1, characterized in that, The blade tooling (2) includes a base plate (21), a base (22), a fixed support (23), a movable support (24), an auxiliary block (25), a guide rod (26), and an adjusting bolt (27). The base plate (21) has a hole for connecting to the positioning pin (13). The base (22) is fixedly connected to the base plate (21). The fixed support (23) is fixedly connected to the base (22). The fixed support (23) has a thread at its center. The fixed support (23) and the movable support (24) have lugs extending from their sides. The lugs are used for the gripping operation of the handling robot (3). The movable support (24) can be moved horizontally along the guide rod (26) in the guide rod hole of the fixed support (23) by means of the adjusting bolt (27). The adjustment is made by moving the adjustment bolt (27) through the center hole of the movable support (24) and connecting it to the center thread of the fixed support (23). The adjustment bolt (27) has a pin (28) at the front end of the movable support (24). The blade fixture (2) is locked by rotating the adjustment bolt (27) clockwise and loosened by rotating it counterclockwise. The auxiliary block (25) is installed on the fixed support (23) and the movable support (24) and is in direct contact with the blade to be inspected (41) when the blade fixture (2) is locked.

4. The automatic blade roughness detection device according to claim 3, characterized in that, The transport robot (3) includes a robot body (31) and a U-shaped gripper (32). The robot body (31) has the U-shaped gripper (32) mounted on its forearm. The front end of the U-shaped gripper (32) is provided with a barb structure (33). The barb structure (33) is used to hook the lug of the fixed support (23) and support the lug of the movable support (24), lifting the blade to be inspected (41) together with the blade fixture (2), removing the positioning pin (13) on the rotary table (1), and transporting it to the blade inspection table (4).

5. The automatic blade roughness detection device according to claim 4, characterized in that, The U-shaped gripper (32) has two grooves on the contact surface that supports the fixed support (23) and the movable support (24).

6. The automatic blade roughness detection device according to claim 3, characterized in that, The transport robot (3) picks up the blade to be inspected (41) and the blade tooling (2) together and places them in the positioning pin (13) of the blade inspection table (4).

7. The automatic blade roughness detection device according to claim 1, characterized in that, The inspection robot (5) includes a robot body (51), a tilting cylinder (53), and a roughness measuring instrument (54); the forearm of the robot body (51) is equipped with the tilting cylinder (53). When the blade profile is being inspected normally, the tilting cylinder (53) is ventilated for a long time so that the probe (55) of the roughness measuring instrument (54) is perpendicular to the blade profile.

8. The automatic blade roughness detection device according to claim 7, characterized in that, When measuring the blade root detection point, the roughness measuring instrument (54) is switched by the solenoid valve, so that the roughness measuring instrument (54) is rotated 90° and the probe (55) is perpendicular to the bottom of the blade root; the roughness measuring instrument (54) is fixed to the front end of the rotating cylinder (53) by the connecting plate (56); the roughness measuring instrument (54) is remotely controlled by the communication interface and the detected data is saved.

9. The automatic blade roughness detection device according to claim 7, characterized in that, After the 3D vision camera (6) takes a picture, the vision system compares it with the pre-configured blade vision template, sends the compensated and corrected spatial coordinate system to the detection robot (5), and controls the detection robot (5) to move to the designated spatial point.

10. An automatic method for detecting blade roughness, characterized in that, The automatic blade roughness detection device according to any one of claims 1 to 9 comprises: Step 1: Manually clamp the blade (41) to be inspected onto the blade fixture (2) on the rotary table (1); Step 2: Drive the handling robot (3) to grab the blade tooling (2) and place it on the positioning pin (13) on the blade inspection table (4); Step 3: Start the 3D vision camera (6), configure the leaf vision template, and save; Step 4: Drive the forearm of the inspection robot (5) so that the probe is aligned with the point to be inspected on the blade to be inspected. Record the coordinates of the inspection robot and input them into WINCC. After the coordinates of all inspection points have been input, save the data. Step 5: Drive the handling robot (3) to grab the blade tooling (2) and place it back onto the positioning pin (13) on the rotary table (1); Step 6: Manually load the blade (41) to be inspected onto the rotary table (1), start the inspection button, and the handling robot (3) grabs the blade fixture (2) and the blade (41) to be inspected at the current material position onto the blade inspection table (4). The 3D vision camera (6) takes a picture and compares it with the template. The vision system establishes a new blade position spatial coordinate system and sends this coordinate to the inspection robot (5). Under the new blade position spatial coordinate system, the inspection robot (5) reads the coordinate parameters that have been automatically repaired and moves the probe to the designated spatial point. The PLC reads all the inspection data of the roughness detector and saves it. After the inspection is completed, the handling robot (3) puts the inspected blade (41) and the blade fixture (2) back onto the rotary table (1). The rotary table (1) then rotates to the next material position and repeats the cycle until all blades are inspected. Manually unload the material and re-clamp the new blade (41) to be inspected.

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