Application of German BAHR Cartesian Coordinate Robot in Detection

Application of German BAHR Cartesian Coordinate Robot in Detecting and Detecting

Author: Shanghai Public Extension Robot Technology Co., Ltd. Yang Shubin

Reference: German BAHR Cartesian Robot ()

Keywords: Cartesian robot, non-destructive testing, flaw detection, motion control, servo system

Non-destructive testing is defined as the non-destructive testing of non-destructive testing to understand the quality, state, performance, and internal structure of products and various structural materials without damaging the shape, structure, and properties of the product; commonly used non-destructive testing Methods include: ray detection (RT), ultrasonic detection (UT), magnetic particle detection (MT), penetration testing (PT), eddy current testing (ET) and visual inspection (VT).

With the development of robotics technology, Cartesian coordinate robot technology has been widely used in the non-destructive testing industry. The Cartesian coordinate robot acts as an actuator and is easy to control, flexible in performing actions, and can realize complex space trajectory control. Shanghai Zhongtuo Robot Technology Co., Ltd. has developed a series of high-quality numerical control inspection flaw detection robots based on the linear robotic technology application and numerical control technology of German BAHR Company. , automobile manufacturing, aerospace and other industries are important testing equipment for aviation and automotive industries.

Typical three-axis robot picture one

Application Case 1: The three-coordinate wall-mounted robot detects the liquid crystal display.

First, job requirements:

1, using a visual system to detect the computer LCD monitor.

2. Detection range: The effective strokes of the X, Y, and Z axes are 2500mm, 600mm, and 400mm, respectively. The lower end of the Z axis is equipped with a rotatable vision camera. The camera can rotate.

3, the shape of the workpiece: the workpiece is a computer LCD monitor, the monitor is large or small, the work table installed 10 monitors at a time for testing.

4. System positioning accuracy and resolution: Repeated positioning degree is ±0.025mm, system resolution is 0.01mm.

5, the control system: the system requires the analysis of the test data to be processed, including the display of inspection scan images, filtering, enhancement, amplification, rotation, feature extraction, the scan results are printed or uploaded to the host computer, location markers and so on.

Detect robot picture two

Second, the composition of the robot
The robot is composed of a mounting frame and a display worktable, a robot positioning system, a servo drive system, an end detection device (camera), a control system, and the like.

1, robot positioning system

The robot positioning system is the core of the whole equipment. It is a product of German bahr company. X, Y, Z coordinates are all selected as high-precision ball screw drive, and the single-coordinate repeat positioning accuracy is 0.025mm.

The X axis selects the DLK200 positioning unit and is driven by a 1000W servo motor. The servo motor is directly connected with the ball screw.

The y-axis uses the DLK160 positioning system unit. Because of the structural requirements, the y-axis is the end of the movement structure. The servo motor is directly connected with the ball screw.

The Z axis selects the DLK160 positioning system unit, the Z-axis is equipped with a motor at the lower end, the Y-axis is installed at the upper end, and the slider and the X-axis slider are at the top. The servo motor is directly connected with the ball screw.

A miniature servo motor drives a precision planetary reducer, and the output of the planetary reducer installs a vision system to form a rotating shaft. All these components are mounted on the Y-axis slider.

2, servo drive system

Optional equipment servo motor. Each movement axis is equipped with a servo motor and a speed reducer, four movement axes, a total of four sets of servo motors and four speed reducers, among which the vertical movement axis is equipped with a brake servo motor.

3, the visual system

This part consists of a light source, a lens, and the like. The function is to transmit images to the control center from time to time.

4, control system

The control system consists of PLC and touch screen.

5, safety protection device

The machine has fault prompting and alarm functions, and it can accurately reflect the specific location of the fault each time a fault occurs. It is easy to quickly eliminate faults, mainly including: robot collision protection function; workpiece mounting in place detection; light curtain security protection.

Application case 2: The three-axis gantry robot detects small parts.

First, job requirements:
1. Ultrasonic inspection (UT) method is used for non-destructive scanning inspection of various small components of the aircraft.

2. Detection range: The effective strokes of the X, Y, and Z axes are 800mm, 600mm, and 400mm, respectively. Assemble on the lower end of the Z axis

Rotate the ultrasound probe. The probe rotation angle is 0~360°.

3, the workpiece shape: the shape of the workpiece contains arcs, lines, surfaces and other various elements, so the robot is required to facilitate spatial interpolation.

4. Positioning accuracy and resolution: Repeated positioning ±0.05mm, system resolution 0.01 mm

5, the control system: the system requirements to be able to analyze the detection data processing, including the display of the inspection scan image, filtering, enhancement

Magnification, rotation, feature extraction, printing or uploading inspection results to the host computer, location mark, etc. At the same time, the system is required to generate executable motion control files based on the drawings of the workpiece.

Second, the robot composition:
The robot consists of a mounting bracket, a robot positioning system, a servo drive system, an end detection device (camera), and a control system.
1, the robot mounting bracket

The detection chamber has a slower speed and lighter load. An aluminum bracket is enough.

2, robot positioning system

The robot positioning system is the core of the whole equipment. It is a product of German bahr company. The X, Y, Z three coordinates are all selected as synchronous toothed belt transmission. The single coordinate repeat positioning accuracy is 0.05mm, and the maximum linear motion speed is 1000mm/s. .

The X coordinate axis is two positioning systems ELZ40 with a length of 1200mm and a span of 800mm. The synchronization transmitter ensures the synchronization of the two positioning systems and is driven by a 400W servo motor. For the matching of the driving torque and inertia, a planetary speed reducer is required.

Y axis selects ELZ40 and ELR40 positioning units. Due to structural requirements, two positioning units are placed side by side. ELZ40 is the main drive structure, ELR40 auxiliary structure. The two positioning systems are driven by a 400W servo motor. A planetary reducer is required to match the drive torque and inertia.

Z axis selects the ELSZ40 positioning system unit. For installation considerations, the slider needs to be extended and fixed with the Y axis slider. The servo motor drive of the positioning body is mounted together with the slider. . In practical applications, we chose a 400W servomotor with holding brake and matched a planetary gearbox.

The rotating shaft is installed at the end of the Z axis, and a miniature servo motor drives a precision planetary gear reducer. The ultrasonic probe is installed at the output end of the speed reducer and rotates as the speed reducer rotates.

3, servo drive system

Select servo motor with bus function. Each movement axis is equipped with a servo motor and a precision speed reducer, four movement axes, a total of four sets of servo motors and four speed reducers, among which the vertical movement axis is equipped with a brake servo motor.

4, flaw detection system

This part consists of ultrasonic probes, data processing module auxiliary sinks and other components.

5, control system

The control system consists of PLC and touch screen. The system has a powerful Profibus communication function. The data can be transmitted to Ethernet in real time, and the control commands can be sent to the servo system as a bus so that the entire movement is quite smooth. This system can preset a variety of workpiece programs. When replacing a product, the corresponding program can be called on the touch screen.

6, security devices

The machine has fault prompting and alarm functions, and it can accurately reflect the specific location of the fault each time a fault occurs. It is easy to quickly eliminate faults, mainly including: robot collision protection function; workpiece mounting in place detection; light curtain security protection.