The hottest German bergerlahr robot in workpiece f

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Application of German Berger Lahr robot in workpiece flaw detection

I. Introduction to Cartesian coordinate robot

Germany bagra company is one of the most famous robot suppliers in the world, producing various specifications of linear motion units/guide rails, stepping motors, AC servo motors, linear motors and multi axis CNC systems. On this basis, we can provide various specifications of linear guide rail, two-dimensional and three-dimensional standard robots and user-specific robots and production lines in a short time. These robots can be equipped with welding guns, general claws or special tools to complete a series of work, such as welding, handling, loading and unloading, packaging, palletizing, destacking, detection, flaw detection, classification, assembly, labeling, code spraying, code printing and (soft imitation) spraying. As all parts of bagra, such as guide rail, drive motor, reducer and control system, are produced by ourselves, the overall performance of the robot is more excellent. For more than ten years, all the robots and production lines have been working normally. It is deeply loved by new and old users in the fields of packaging machinery, printing machinery, mechanical electronics, automobile, food, medicine and cosmetics production

more than 120 experts and engineering technicians of bagra company have successfully developed and produced linear guide rails of various specifications. On this basis, they have worked closely with users to develop general and special robots, and have provided thousands of special robots and production lines for many manufacturers. One of the application areas is nondestructive testing of workpieces

in a Cartesian coordinate robot, each axis mainly moves in a straight line, and the motion directions are usually perpendicular to each other, so it is called a Cartesian coordinate robot. Cartesian coordinate robots can be divided into many types from one dimension to multi dimension. Each dimension is a motion axis, which is composed of a linear motion unit. A three-dimensional rectangular coordinate robot for painting is composed of three linear motion units, while a palletizing robot is usually composed of several one-dimensional, two-dimensional and three-dimensional rectangular coordinate robots according to application requirements. The main technical data of the Cartesian coordinate robot of bagra company is the movement range of 0 to 18 meters; Load 1~180 kg; Repeated positioning accuracy: 0.05mm; Each axis can move at a maximum speed of 5 m/s

the main part of each linear motion unit is a special high-strength and high straightness aluminum profile, with a cross-sectional area of 40 × 40mm2 to 120 × 120mm2, which can also be combined into a large section guide rail. Special steel rail is equipped inside the profile to ensure the mechanical strength and long-term parallelism, and it is also the carrier of the moving slider. When transporting, loading and unloading straight 8.3 products equipped with ball screw and sealed bearing guide rail, it is strictly forbidden to drop, throw and tip the bucket. The moving unit of the unloading line is characterized by high positioning accuracy, strong load capacity and maximum speed of 1 m/S; Sliding mode is divided into smooth bar roller bearing guide rail and sealed bearing guide rail; The advantages are good rigidity, small friction coefficient, low resistance and high precision; Transmission mode mainly includes toothed belt, rack and ball screw transmission; The driving motor is mainly divided into stepping motor and servo motor. Sometimes the driving motor is equipped with Neugart precision planetary reducer to increase the output and reduce the moment of inertia of the load

first determine the structure of the robot according to the work to be completed by the robot. It can be gantry type, wall mounted type, etc. Then select the model of the linear motion unit of each motion axis, the model of the drive motor and the model of the Neugart precision planetary reducer according to the motion stroke, load, motion speed, acceleration and action cycle of each axis given in the work requirements. The following figure shows a typical three-dimensional Cartesian coordinate robot

II. Application case of bagra robot in nondestructive testing

1. Application in nondestructive testing of spacecraft components

(1) task: Nondestructive scanning of many components on spacecraft by ultrasonic nondestructive testing

(2) robot model and equipment

bagra 3D Cartesian coordinate robot PR 6/3 is selected. The effective stroke of X, y and Z axes are 5400mm, 5400mm and 400mm respectively. A rotatable ultrasonic probe is mounted on the lower end of the z-axis. The probe rotation angle is 0~360 °. The maximum measurable object is 5400*5400* 400 mm

parts can be scanned 360 ° from top to bottom. The scanning density is almost unlimited. It can be very precise. It can also scan only a few key parts of components for nondestructive testing

(3) task description: the control system uses the TLCC of bagra company, and the driving motor is the intelligent servo control system tlc612 and tlc411 of bagra company to realize positioning control. TLCC is a special industrial computer, which controls TLC servo control system through CAN bus. TLCC can pre store the geometric data of many components, which is used to guide the ultrasonic probe for equal distance or multi-directional and multi angle NDT scanning. The obtained measurement data can be stored in TLCC, the results of analysis and flaw detection can be given, printed or uploaded to the upper computer for further storage and analysis, and the flaw detection scanning image and corresponding filtering, enhancement, amplification, rotation, feature extraction and analysis can also be displayed


(1) task: NDT scanning of cylindrical parts of spaceship

(2) robot model and equipment

bagra two-dimensional rectangular coordinate robot lp-4/2 is selected, with a travel of 500mm in x-axis and 1300mm in z-axis. A scanning head is assembled on the z-axis, and each part of the instrument panel can be scanned 360 ° from top to bottom through the rotatable axis. The rotating shaft is driven by Berger Lahr stepping motor vrdm31117 and Neugart precision planetary reducer pls90/8. The control system uses the special industrial computer TLCC of bagra company

(3) task requirements: the whole process requires that the robot's actions maintain high repeatability, and the positioning is extremely accurate, which can easily complete the conversion of automatic and manual operations. Here, the probe does not rotate and can move up and down, back and forth precisely. The tested part shall rotate, and other functions are similar to those described in 1) above


(1) task: NDT scanning of super large cylindrical steel parts

(2) robot model and equipment

the two-dimensional rectangular coordinate robot lp-8/2 is selected to complete the actions in the x-axis and z-axis directions. The x-axis drive motor adopts the Berger Lahr servo motor ser31122, which drives a precision planetary reducer pls90hp of Neugart company in Germany. The z-axis drive motor adopts the Berger Lahr stepping motor vrdm3913, which drives a precision planetary reducer pls70/64hp of Neugart company in Germany

the tested object is a 8m long and 600mm diameter column steel part, which is placed in a large liquid container. There is a clamp at both ends of the large vessel, which is used to horizontally fix the column steel parts. As a rotating shaft, the steel parts are driven by a Berger Lahr servo motor ser31122 and a precision planetary reducer pls115/64hp of Neugart company in Germany

(3) task requirements:

the rotating shaft drives the 8m long steel piece to rotate by an angle X1 and then stop. The z-axis stops when it reaches the height of x2 mm on the surface of the steel piece. At this time, the x-axis starts to move. Every time the x3mm probe is moved, the x-axis and z-axis are in a static state after the 8m long scan in the x-axis direction is completed. The rotating axis rotates X1 degrees in the original direction to stop, and the X axis starts the scanning movement. This process shall be repeated until the entire steel surface is uniformly scanned once

therefore, the whole process requires the action of the robot. First, pull off the power lead of the host of the experimental machine to maintain high repeatability and stability, and require extremely accurate positioning. The positioning accuracy of axis X is as follows: 16384 points per revolution of the motor, and 16384 points after 64 times of deceleration by the planetary reducer. The applicable environment is micro high temperature and atmospheric pressure salt solution *64. When the drive shaft of axis X rotates, axis X travels 175mm. When the motor rotates, axis X travels 175000/16384/64 =0.167 μ m. The positioning accuracy of axis X is as follows: 16384 points per revolution of the motor, 16384*64 after 64 times of deceleration by the planetary reducer. The circumference corresponding to each revolution of the rotating shaft is 600*3.14 = 1884mm, and the surface of the rotating shaft rotates/16384/64 =1.797 every revolution of the motor μ m 。 In fact, there is no need for such high precision. The purpose of using precision planetary reducer is to greatly reduce the rotary inertia ratio of driving motor and load, so as to ensure the accurate and stable operation of each shaft. The control system uses the special industrial computer TLCC of bagra company, and its functions are the same as the previous two applications

III. conclusion: 2. Analysis and judgment

this paper describes three cases of application of rectangular coordinate robot equipped with ultrasonic scanner of bagra company in Germany in workpiece flaw detection. In addition, the Cartesian coordinate robot of bagra company in Germany was also used for X-ray flaw detection scanning. Similar applications are equipped with CCD cameras to check and identify the quality of some printed matter. Laser altimeter is equipped to measure and inspect the three-dimensional shape of super large objects, such as large castings and many three-dimensional aluminum plates on aircraft. In many measurement works, the rectangular coordinate robot of bagra company in Germany has been running very stable and reliable for many years. The Cartesian coordinate robot and linear motion unit of bagra company in Germany can be quickly assembled into special testing robots of almost all required styles and sizes, saving time, manpower and cost. Two users in Beijing used the Cartesian coordinate robot and CCD camera of bagra company in Germany to inspect objects. In the past two years, the robot has run very smoothly. With the rapid development of mass automatic production and many products to be 100% tested in many production links, this kind of rectangular coordinate robot will have a broader market prospect and development potential! (end)

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