CN103144108B - Manipulator for automatically changing X-ray film cassette - Google Patents
Manipulator for automatically changing X-ray film cassette Download PDFInfo
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- CN103144108B CN103144108B CN201310081600.0A CN201310081600A CN103144108B CN 103144108 B CN103144108 B CN 103144108B CN 201310081600 A CN201310081600 A CN 201310081600A CN 103144108 B CN103144108 B CN 103144108B
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Abstract
The invention relates to a manipulator for automatically changing an X-ray film cassette, which solves the problem that an X-ray photograph is long in shooting time and low in work efficiency, and can reduce damage of a residual X-ray to bodies of operators. A rotational component is fixed on the upper surface of a bottom disk; a lower connecting plate of a two-degree-of-freedom mechanical arm is fixedly connected with a rotational component connecting plate; a photograph library component is fixed on the upper surface of the bottom disk; the X-ray film cassette is mounted in a box body in the photograph library component in an inserting manner; an electrical cabinet is fixed on the upper surface of the bottom disk; and a man-machine interface is arranged on the upper surface of the electrical cabinet. The manipulator is used for automatically changing the X-ray film cassette; the time for shooting the X-ray photograph can be shortened to 1.5min; the twelve photographs can be shot continuously and automatically; in addition, remote manual manipulation can be conducted; the working efficiency is improved by more than 30 times; and the damage of the residual X-ray to the bodies of the operators is reduced greatly.
Description
Technical field
The present invention relates to a kind of manipulator changing X-ray film magazine, belong to industrial automation equipment technical field.
Background technology
The current industrial X-ray X-ray film method of changing generally adopted of detecting a flaw is: utilize and be manually placed on a support by X-ray film magazine, then X-ray machine is opened, take, after needing to wait for that x-ray decays to doses after shooting terminates, manually take off X-ray film magazine again, the high-energy X-ray photo time of such shooting needs more than 45 minutes, and operating efficiency is extremely low, and remaining X-ray has certain infringement to operating personnel's health.
Summary of the invention
The object of this invention is to provide a kind of manipulator of automatic replacing X-ray film magazine, solve X-ray photograph shooting time long, ineffective problem, and the infringement of remaining X-ray to operating personnel's health can be alleviated.
The technical scheme that the present invention takes is: the manipulator of automatic replacing X-ray film magazine of the present invention, and described manipulator comprises two degrees of freedom mechanical arm, X-ray film magazine, man-machine interface, electrical control cubicles, pivoting part, vehicle chassis component and sheet library component;
Described two degrees of freedom mechanical arm comprises paw installing plate, X-axis guide rail, walks spool, Z axis guide rail, motor adpting flange, Z axis AC servo motor, upper junction plate, auxiliary guide rail, Z axis slide block, X-axis AC servo motor, X-axis decelerator, auxiliary slider, lower connecting plate, Z axis shaft coupling, Z axis ball-screw, Z axis ball nut, synchronous belt drive mechanism, two Pneumatic paws, two are to finger and two X-axis slide blocks; Described vehicle chassis component comprises locating dowel, bearing spider, chassis nut, chassis ball-screw, hold-down support, chassis shaft coupling, chassis, chassis AC servo motor, protective plate and two line slideways; Described library component comprises plumbous storehouse, plumbous storehouse door, driving arm, valut support, sheet box part and multiple valut slide block; Described box part comprises casing, X-ray film magazine, multiple axle, multiple case guide wheels and two guide positioning plate;
The upper surface on chassis is rectangle, one end of locating dowel and chassis lower surface is affixed, protective plate is fixed on the lower surface on chassis along the length direction on chassis and arranges near the both sides on chassis, two line slideways are fixed on the upper surface on chassis along the length direction on chassis, and two line slideways are symmetrical arranged relative to the center line in chassis length direction, the upper surface on chassis AC servo motor and chassis is affixed, the output shaft of chassis AC servo motor is in transmission connection by one end of chassis shaft coupling and chassis ball-screw, the upper surface on hold-down support and chassis is affixed, chassis ball-screw and hold-down support are connected to form revolute pair, chassis nut and bearing spider are all affixed with the upper surface on chassis, the other end of chassis ball-screw and bearing spider are connected to form one and travelling support, pivoting part is fixed on the upper surface on chassis,
Paw installing plate and X-axis guide rail front end affixed, the two ends of paw installing plate are each affixed with a Pneumatic paw, and two Pneumatic paws are arranged on the both sides of X-axis guide rail, the lower end of each Pneumatic paw is provided with pair of finger, two X-axis slide blocks are oppositely arranged, X-axis guide rail is arranged in two X-axis slide blocks, X-axis AC servo motor is connected with X-axis decelerator, X-axis decelerator is arranged on corresponding X-axis slide block, output shaft and the synchronous belt drive mechanism of X-axis decelerator are in transmission connection, and synchronous belt drive mechanism drives X-axis guide rail along X-axis slider roll;
Z axis AC servo motor is packed in motor adpting flange upper end, motor adpting flange lower end and Z axis guide rail upper end affixed, Z axis AC servo motor output shaft is connected with the input of Z axis shaft coupling, the output of Z axis shaft coupling and the upper end of Z axis ball-screw are in transmission connection, Z axis ball-screw is threaded with Z axis ball nut, Z axis ball nut is packed on Z axis slide block, Z axis slide block and adjacent X-axis slide block affixed, Z axis slide block is along Z axis guide rail movement;
Auxiliary guide rail and Z axis guide rail parallel are arranged, auxiliary slider and X-axis slide block affixed, auxiliary slider moves along auxiliary guide rail, upper junction plate is affixed with the upper end of Z axis guide rail and auxiliary guide rail respectively, lower connecting plate is affixed with the lower end of Z axis guide rail and auxiliary guide rail respectively, walk spool and Z axis guide rail is affixed, lower connecting plate and pivoting part affixed, pivoting part is fixed on chassis;
Driving arm and chassis nut affixed, plumbous storehouse is packed in the upper surface on chassis, plumbous storehouse door is fixedly installed between sheet box part and driving arm, two valut supports are positioned at the homonymy of driving arm, and two valut supports and plumbous storehouse door affixed, two valut supports are symmetrical arranged relative to the vertical center line of plumbous storehouse door, the lower end of valut support is fixed with multiple valut slide block, multiple valut slide block and line slideway are slidably matched, when plumbous storehouse door is arranged on plumbous mouth place, Kuku, sheet box part is arranged in plumbous storehouse, and the storehouse mouth in Men Yuqian storehouse, plumbous storehouse matches;
One lateral surface and the plumbous storehouse door of casing are affixed, the upper end of casing is opening end, many single mandrel are divided into and are two-layerly up and down arranged in casing, many single mandrel in every layer are along the length direction spaced set on chassis, and the many single mandrel being arranged on upper strata are arranged with the many single mandrel one_to_one corresponding being arranged on lower floor, two side plates that the two ends of the many single mandrel in every layer are corresponding with casing are affixed, in every single mandrel, turning set is equipped with two sheet case guide wheels, two guide positioning plate to be arranged in casing and affixed with the bottom surface of casing, and two guide positioning plate abut on described two side plates of casing, X-ray film magazine is vertical and be parallel to axle and arrange, X-ray film magazine is inserted between adjacent two sheet case guide wheels, the inner surface of guide positioning plate is inclined-plane, the upper end thickness of slab of guide positioning plate is less than lower end thickness of slab, the other end of electrical control cubicles and chassis upper surface is affixed, electrical control cubicles upper surface is provided with man-machine interface.
Effect of the present invention is:
1, the present invention can make the time shorten of a shooting X-ray photograph by 1.5 minutes, and the continuous automatic shooting of 12 photos can be realized, remote manual can also operate simultaneously, improve work efficiency more than 30 doubly, greatly reduce the physical impairment of remaining X-ray to operating personnel.
2, automaticity of the present invention is high, can be programmed by teach mode, realizes that optional position is radiographic works continuously, and also can carry out single-step operation.
Accompanying drawing explanation
Fig. 1 is the overall structure stereogram of the present invention under finger grip X-ray film magazine state, Fig. 2 is the stereogram of two degrees of freedom mechanical arm, Fig. 3 is the stereogram of pivoting part, Fig. 4 is the top view of vehicle chassis component, Fig. 5 is the A-A sectional view of Fig. 4, Fig. 6 is the stereogram of sheet library component, Fig. 7 is the stereogram of sheet box part, Fig. 8 is the overall structure stereogram of the present invention under travel position, Fig. 9 is the front view that X-axis guide rail and synchronous belt drive mechanism assemble, Figure 10 is Fig. 9 right view, Figure 11 is the main TV structure figure of Z axis guide rail, Figure 12 is the front view of auxiliary guide rail, Figure 13 is guide positioning plate side view.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-7 and Figure 13 explanation, the manipulator of the automatic replacing X-ray film magazine of present embodiment, described manipulator comprises two degrees of freedom mechanical arm 1, X-ray film magazine 2, man-machine interface 3, electrical control cubicles 4, pivoting part 5, vehicle chassis component 6 and sheet library component 7;
Described two degrees of freedom mechanical arm 1 comprises paw installing plate 9, X-axis guide rail 10, walks spool 14, Z axis guide rail 15, motor adpting flange 16, Z axis AC servo motor 17, upper junction plate 18, auxiliary guide rail 19, Z axis slide block 20, X-axis AC servo motor 21, X-axis decelerator 22, auxiliary slider 58, lower connecting plate 24, Z axis shaft coupling 80, Z axis ball-screw 81, Z axis ball nut 82, synchronous belt drive mechanism 12, two Pneumatic paws 8, two are to finger 11 and two X-axis slide blocks 23; Described vehicle chassis component 6 comprises locating dowel 32, bearing spider 34, chassis nut 35, chassis ball-screw 36, hold-down support 37, chassis shaft coupling 38, chassis 40, chassis AC servo motor 39, protective plate 33 and two line slideways 57; Described library component 7 comprises plumbous storehouse 41, plumbous storehouse door 42, driving arm 43, valut support 45, sheet box part 46 and multiple valut slide block 44; Described box part 46 comprises casing 49, X-ray film magazine 52, multiple axle 50, multiple case guide wheels 51 and two guide positioning plate 53;
The upper surface on chassis 40 is rectangle, locating dowel 32 is affixed with one end of chassis 40 lower surface, protective plate 33 is fixed on the lower surface on chassis 40 along the length direction on chassis 40 and arranges near the both sides on chassis 40, two line slideways 57 are fixed on the upper surface on chassis 40 along the length direction on chassis 40, and two line slideways 57 are symmetrical arranged relative to the center line of chassis 40 length direction, chassis AC servo motor 39 is affixed with the upper surface on chassis 40, the output shaft of chassis AC servo motor 39 is in transmission connection by chassis shaft coupling 38 one end with chassis ball-screw 36, hold-down support 37 is affixed with the upper surface on chassis 40, chassis ball-screw 36 and hold-down support 37 are connected to form revolute pair, chassis nut 35 and bearing spider 34 are all affixed with the upper surface on chassis 40, the other end of chassis ball-screw 36 and bearing spider 34 are connected to form one and travelling support (this part achieves the switch of valut door and the accurate location of X-ray film magazine), pivoting part 5 is fixed on the upper surface on chassis 40,
Paw installing plate 9 is affixed with X-axis guide rail 10 front end, the two ends of paw installing plate 9 are each affixed with a Pneumatic paw 8, and two Pneumatic paws 8 are arranged on the both sides of X-axis guide rail 10, the lower end of each Pneumatic paw 8 is provided with pair of finger 11, two X-axis slide blocks 23 are oppositely arranged, X-axis guide rail 10 is arranged in two X-axis slide blocks 23, X-axis AC servo motor 21 is connected with X-axis decelerator 22, X-axis decelerator 22 is arranged on corresponding X-axis slide block 23, the output shaft of X-axis decelerator 22 is connected with synchronous belt drive mechanism transmission 12, synchronous belt drive mechanism 12 drives X-axis guide rail 10 to roll along X-axis slide block 23,
Z axis AC servo motor 17 is packed in motor adpting flange 16 upper end, motor adpting flange 16 lower end and Z axis guide rail 15 upper end affixed, Z axis AC servo motor 17 output shaft is connected with the input of Z axis shaft coupling 80, the output of Z axis shaft coupling 80 and the upper end of Z axis ball-screw 81 are in transmission connection, Z axis ball-screw 81 is threaded with Z axis ball nut 82, Z axis ball nut 82 is packed on Z axis slide block 20, Z axis slide block 20 is affixed with adjacent X-axis slide block 23, and Z axis slide block 20 moves along Z axis guide rail 15;
Auxiliary guide rail 19 and Z axis guide rail 15 be arranged in parallel, auxiliary slider 58 is affixed with X-axis slide block 23, auxiliary slider 58 moves along auxiliary guide rail 19, upper junction plate 18 is affixed with the upper end of Z axis guide rail 15 and auxiliary guide rail 19 respectively, lower connecting plate 24 is affixed with the lower end of Z axis guide rail 15 and auxiliary guide rail 19 respectively, walk spool 14 (for square tube) affixed with Z axis guide rail 15, lower connecting plate 24 is affixed with pivoting part 5, and pivoting part 5 is fixed on chassis 40;
Above-mentioned two degrees of freedom mechanical arm achieves X-axis and the motion of the Z axis both direction free degree, and achieves the detection of X-ray film magazine and crawl work;
Driving arm 43 is affixed with chassis nut 35, plumbous storehouse 41 is packed in the upper surface on chassis 40, plumbous storehouse door 42 is fixedly installed between sheet box part 46 and driving arm 43, two valut supports 45 are positioned at the homonymy of driving arm 43, and two valut supports 45 are affixed with plumbous storehouse door 42, two valut supports 45 are symmetrical arranged relative to the vertical center line of plumbous storehouse door 42, the lower end of valut support 45 is fixed with multiple valut slide block 44, multiple valut slide block 44 is slidably matched with line slideway 57, when plumbous storehouse door 42 is arranged on mouth 47 place, storehouse, plumbous storehouse 41, sheet box part 46 is arranged in plumbous storehouse 41, plumbous storehouse door 42 matches with the storehouse mouth 47 in plumbous storehouse 41, this part achieves X-ray protection function,
One lateral surface and the plumbous storehouse door 42 of casing 49 are affixed, the upper end of casing 49 is opening end, many single mandrel 50 are divided into and are two-layerly up and down arranged in casing 49, many single mandrel 50 in every layer are along the length direction spaced set on chassis 40, and the many single mandrel 50 being arranged on upper strata are arranged with many single mandrel 50 one_to_one corresponding being arranged on lower floor, two side plate 49-1 that the two ends of the many single mandrel 50 in every layer are corresponding with casing 49 are affixed, in every single mandrel 50, turning set is equipped with two sheet case guide wheels 51, two guide positioning plate 53 to be arranged in casing 49 and affixed with the bottom surface of casing 49, and two guide positioning plate 53 abut on described two side plate 49-1 of casing 49, X-ray film magazine 52 is vertical and be parallel to axle 50 and arrange, X-ray film magazine 52 is inserted between adjacent two sheet case guide wheels 51, the inner surface of guide positioning plate 53 is inclined-plane, the upper end thickness of slab of guide positioning plate 53 is less than lower end thickness of slab, and (X-ray film magazine 52 slips into along the inclined-plane of two guide positioning plate 53 and realizes left and right guiding and location, thus achieve X-ray film magazine 52 and lead and positioning function), electrical control cubicles 4 is (on the one hand for controlling each AC servo motor work, control the crawl of Pneumatic paw 8 on the one hand and unclamp) affixed with the other end of chassis 40 upper surface, electrical control cubicles 4 upper surface is provided with man-machine interface 3, teach programming is carried out by its parameters.
Detailed description of the invention two: composition graphs 1 and Fig. 3 illustrate, pivoting part 5 described in present embodiment comprises pivoting part connecting plate 25, RV decelerator 26, connects bearing 27, turns round AC servo motor 28, detection head 29, optoelectronic switch 30 and optoelectronic switch support 31; Pivoting part connecting plate 25 is affixed with the output of RV decelerator 26, RV decelerator 26 bottom is with to be connected bearing 27 top affixed, housing and RV decelerator 26 bottom of revolution AC servo motor 28 are affixed, the input of the revolution output shaft of AC servo motor 28 and RV decelerator 26 is affixed, detection head 29 is affixed with pivoting part connecting plate 25, optoelectronic switch 30 (for detecting zero-bit) is affixed with optoelectronic switch support 31, optoelectronic switch support 31 is with to be connected bearing 27 affixed, and pivoting part connecting plate 25 and lower connecting plate 24 removably connect.This part achieves two degrees of freedom mechanical arm gyration.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 2, Fig. 9 and Figure 10 illustrate, synchronous belt drive mechanism 12 described in present embodiment comprises synchronous pulley 83, Timing Belt 84, pinch roller 85, strap clamp 86 and bracing frame 87, described X-axis guide rail 10 comprises X-axis armed lever 88, X-axis round guide 89 and X-axis guide wheel 90, described synchronous pulley 83 is packed on the output shaft of X-axis decelerator 22, synchronous pulley 83 is arranged on bracing frame 87, bracing frame 87 is affixed with adjacent X-axis slide block 23, one end of Timing Belt 84 is fixed on the outer circumference surface of synchronous pulley 83, the other end of Timing Belt 84 and the rear end of X-axis armed lever 88 affixed, the other end described in Timing Belt 84 is arranged in strap clamp 86, strap clamp 86 is affixed with X-axis armed lever 88, the lateral surface of X-axis armed lever 88 is fixed with X-axis round guide 89 along its length, X-axis guide wheel 90 is packed in X-axis slide block 23, X-axis round guide 89 and X-axis slide block 23 are rolled by X-axis guide wheel 90 and are connected.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 2 and Figure 11 illustrate, Z axis guide rail 15 described in present embodiment comprises Z axis armed lever 91, Z axis round guide 92 and Z axis guide wheel 93; The lateral surface of described Z axis armed lever 91 is fixed with Z axis round guide 92 along its length, and Z axis guide wheel 93 is packed in Z axis slide block 20, and Z axis round guide 92 and Z axis slide block 20 are rolled by Z axis guide wheel 93 and be connected.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 2 and Figure 12 illustrate, auxiliary guide rail 19 described in present embodiment comprises auxiliary armed lever 94, auxiliary circle guide rail 95 and auxiliary guide wheel 96; The lateral surface of described auxiliary armed lever 94 is fixed with auxiliary circle guide rail 95 along its length, and auxiliary guide wheel 96 is packed in auxiliary slider 58, and auxiliary circle guide rail 95 and auxiliary slider 58 are rolled by auxiliary guide wheel 96 and be connected.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 6 illustrates, described in present embodiment, the storehouse mouth 47 in plumbous storehouse 41 is " mouth " font, when plumbous storehouse door 42 is arranged on " mouth " font mouth 47 place, storehouse in plumbous storehouse 41, plumbous storehouse door 42 matches with " mouth " font storehouse mouth 47 in plumbous storehouse 41, effectively can protect X-ray and enter in plumbous storehouse 41 from crack between a door and its frame.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention one.
Detailed description of the invention seven: composition graphs 2 and Fig. 8 illustrate, manipulator described in present embodiment also comprises location-plate 56, rail brackets 54 and pressing plate 55; During transport, auxiliary guide rail 19 and the horizontal placement of Z axis guide rail 15, and be placed in the upper surface in plumbous storehouse 41, rail brackets 54 removably connects (being bolted) with lower connecting plate 24 and pivoting part connecting plate 25, rail brackets 54 is fixedly connected with electrical control cubicles 4, location-plate 56 is affixed with the upper surface in plumbous storehouse 41, auxiliary guide rail 19 and Z axis guide rail 15 compress with pressing plate 55 and affixed with location-plate 56. and object is conveniently transported, reduce shipping height, reduce packing case size, reach equipment conveying state.In present embodiment, undocumented technical characteristic is identical with detailed description of the invention one.
The present invention can realize following motion
1, elevating movement: elevating movement is for operations such as X-ray film magazine 52 altitude location that realizes in electrophotographic process and the perpendicular positionings that takes, puts X-ray film magazine 52.Elevating movement drives Z axis ball-screw 81 to rotate by Z axis AC servo motor 17, Z axis ball-screw 81 is threaded with Z axis ball nut 82, Z axis ball nut 82 is packed on Z axis slide block 20, Z axis slide block 20 is affixed with adjacent X-axis slide block 23, Z axis slide block 20 moves along Z axis guide rail 15, thus drives X-axis armed lever 88 and Z axis armed lever 91 to be elevated.
2, stretching motion: the operation such as stretching motion horizontal location for X-ray film magazine 52 horizontal location that realizes in electrophotographic process and when taking, putting X-ray film magazine 52.Stretching motion drives X-axis guide rail 10 to roll along X-axis slide block 23 by the X-axis AC servo motor 21 on X-axis guide rail 10 by synchronous belt drive mechanism, thus drive X-axis armed lever 88 to stretch, and then drive Pneumatic paw 8 horizontal movement.
3, gyration: the operation such as gyration angle orientation for X-ray film magazine 52 angle orientation that realizes in electrophotographic process and when taking, putting X-ray film magazine 52.It is by revolution AC servo motor 28 be with after RV decelerator 26 slows down be dynamically connected bearing 27 and on the mechanical part such as two degrees of freedom mechanical arm 1 rotate together, finally realize Pneumatic paw 8 and clamp X-ray film magazine 52 and realize gyration.
4, X-ray film magazine entry/exit storehouse motion: drive chassis ball-screw 36 to rotate about the axis by chassis AC servo motor 39, through chassis ball-screw 36 be threaded with chassis nut 35 (valut leading screw screw pair) make plumbous storehouse door 42 along its below line slideway 57 move, thus achieve X-ray film magazine entry/exit storehouse motion.
Important technological parameters:
Environment for use: temperature 5 ~ 40 DEG C, relative humidity≤85%;
Storage environment: temperature-35 ~ 50 DEG C, relative humidity≤95%;
Transportation environment: temperature-35 ~ 50 DEG C, relative humidity≤95%;
Appearance and size: length≤3000mm, wide≤1000mm, shipping height≤1500mm;
Lifting travel: film centre-to-centre spacing ground: 800 ~ 2300mm;
Repetitive positioning accuracy: ± 0.1mm;
Sheet storage capacity: the film for industrial radiography magazine that can hold 12 37 ㎝ × 45 ㎝.
Claims (7)
1. automatically change a manipulator for X-ray film magazine, it is characterized in that: described manipulator comprises two degrees of freedom mechanical arm (1), X-ray film magazine (2), man-machine interface (3), electrical control cubicles (4), pivoting part (5), vehicle chassis component (6) and sheet library component (7);
Described two degrees of freedom mechanical arm (1) comprises paw installing plate (9), X-axis guide rail (10), walk spool (14), Z axis guide rail (15), motor adpting flange (16), Z axis AC servo motor (17), upper junction plate (18), auxiliary guide rail (19), Z axis slide block (20), X-axis AC servo motor (21), X-axis decelerator (22), auxiliary slider (58), lower connecting plate (24), Z axis shaft coupling (80), Z axis ball-screw (81), Z axis ball nut (82), synchronous belt drive mechanism (12), two Pneumatic paws (8), two pairs of fingers (11) and two X-axis slide blocks (23), described vehicle chassis component (6) comprises locating dowel (32), bearing spider (34), chassis nut (35), chassis ball-screw (36), hold-down support (37), chassis shaft coupling (38), chassis (40), chassis AC servo motor (39), protective plate (33) and two line slideways (57), described library component (7) comprises plumbous storehouse (41), plumbous storehouse door (42), driving arm (43), valut support (45), sheet box part (46) and multiple valut slide block (44), described box part (46) comprises casing (49), X-ray film magazine (52), multiple axle (50), multiple case guide wheels (51) and two guide positioning plate (53),
The upper surface on chassis (40) is rectangle, locating dowel (32) is affixed with one end of chassis (40) lower surface, protective plate (33) is fixed on the lower surface on chassis (40) along the length direction of chassis (40) and arranges near the both sides on chassis (40), two line slideways (57) are fixed on the upper surface of chassis (40) along the length direction of chassis (40), and two line slideways (57) are symmetrical arranged relative to the center line of chassis (40) length direction, chassis AC servo motor (39) is affixed with the upper surface on chassis (40), the output shaft of chassis AC servo motor (39) is in transmission connection by chassis shaft coupling (38) one end with chassis ball-screw (36), hold-down support (37) is affixed with the upper surface on chassis (40), chassis ball-screw (36) and hold-down support (37) are connected to form revolute pair, chassis nut (35) and bearing spider (34) are all affixed with the upper surface of chassis (40), the other end of chassis ball-screw (36) and bearing spider (34) are connected to form one and travelling support, pivoting part (5) is fixed on the upper surface of chassis (40),
Paw installing plate (9) is affixed with X-axis guide rail (10) front end, the two ends of paw installing plate (9) are each affixed with a Pneumatic paw (8), and two Pneumatic paws (8) are arranged on the both sides of X-axis guide rail (10), the lower end of each Pneumatic paw (8) is provided with pair of finger (11), two X-axis slide blocks (23) are oppositely arranged, X-axis guide rail (10) is arranged in two X-axis slide blocks (23), X-axis AC servo motor (21) is connected with X-axis decelerator (22), X-axis decelerator (22) is arranged on corresponding X-axis slide block (23), output shaft and the synchronous belt drive mechanism (12) of X-axis decelerator (22) are in transmission connection, synchronous belt drive mechanism (12) drives X-axis guide rail (10) to roll along X-axis slide block (23),
Z axis AC servo motor (17) is packed in motor adpting flange (16) upper end, motor adpting flange (16) lower end and Z axis guide rail (15) upper end affixed, Z axis AC servo motor (17) output shaft is connected with the input of Z axis shaft coupling (80), the output of Z axis shaft coupling (80) and the upper end of Z axis ball-screw (81) are in transmission connection, Z axis ball-screw (81) is threaded with Z axis ball nut (82), Z axis ball nut (82) is packed on Z axis slide block (20), Z axis slide block (20) is affixed with adjacent X-axis slide block (23), Z axis slide block (20) moves along Z axis guide rail (15),
Auxiliary guide rail (19) and Z axis guide rail (15) be arranged in parallel, auxiliary slider (58) is affixed with X-axis slide block (23), auxiliary slider (58) moves along auxiliary guide rail (19), upper junction plate (18) is affixed with the upper end of Z axis guide rail (15) and auxiliary guide rail (19) respectively, lower connecting plate (24) is affixed with the lower end of Z axis guide rail (15) and auxiliary guide rail (19) respectively, walk spool (14) affixed with Z axis guide rail (15), lower connecting plate (24) is affixed with pivoting part (5), pivoting part (5) is fixed on chassis (40),
Driving arm (43) is affixed with chassis nut (35), plumbous storehouse (41) is packed in the upper surface of chassis (40), plumbous storehouse door (42) is fixedly installed between sheet box part (46) and driving arm (43), two valut supports (45) are positioned at the homonymy of driving arm (43), and two valut supports (45) are affixed with plumbous storehouse door (42), two valut supports (45) are symmetrical arranged relative to the vertical center line in plumbous storehouse door (42), the lower end of valut support (45) is fixed with multiple valut slide block (44), multiple valut slide block (44) and line slideway (57) are slidably matched, when plumbous storehouse door (42) is arranged on mouth (47) place, plumbous storehouse (41) storehouse, sheet box part (46) is arranged in plumbous storehouse (41), plumbous storehouse door (42) is matched with the storehouse mouth (47) of plumbous storehouse (41),
One lateral surface and plumbous storehouse door (42) of casing (49) are affixed, the upper end of casing (49) is opening end, many single mandrel (50) are divided into and are two-layerly up and down arranged in casing (49), many single mandrel (50) in every layer are along the length direction spaced set of chassis (40), and the many single mandrel (50) being arranged on upper strata are arranged with many single mandrel (50) one_to_one corresponding being arranged on lower floor, two side plates (49-1) that the two ends of the many single mandrel (50) in every layer are corresponding with casing (49) are affixed, the upper turning set of every single mandrel (50) is equipped with two sheet case guide wheels (51), two guide positioning plate (53) to be arranged in casing (49) and affixed with the bottom surface of casing (49), and two guide positioning plate (53) abut on described two side plates (49-1) of casing (49), X-ray film magazine (52) is vertical and be parallel to axle (50) and arrange, X-ray film magazine (52) is inserted between adjacent two sheet case guide wheels (51), the inner surface of guide positioning plate (53) is inclined-plane, the upper end thickness of slab of guide positioning plate (53) is less than lower end thickness of slab, electrical control cubicles (4) is affixed with the other end of chassis (40) upper surface, electrical control cubicles (4) upper surface is provided with man-machine interface (3).
2. automatically change the manipulator of X-ray film magazine according to claim 1, it is characterized in that: described pivoting part (5) comprises pivoting part connecting plate (25), RV decelerator (26), connects bearing (27), turns round AC servo motor (28), detection head (29), optoelectronic switch (30) and optoelectronic switch support (31), pivoting part connecting plate (25) is affixed with the output of RV decelerator (26), RV decelerator (26) bottom is with to be connected bearing (27) top affixed, housing and RV decelerator (26) bottom of revolution AC servo motor (28) are affixed, output shaft and the input of RV decelerator (26) of revolution AC servo motor (28) are affixed, detection head (29) is affixed with pivoting part connecting plate (25), optoelectronic switch (30) is affixed with optoelectronic switch support (31), optoelectronic switch support (31) is with to be connected bearing (27) affixed, pivoting part connecting plate (25) and lower connecting plate (24) removably connect.
3. according to claim 1 or 2, automatically change the manipulator of X-ray film magazine, it is characterized in that: described synchronous belt drive mechanism (12) comprises synchronous pulley (83), Timing Belt (84), pinch roller (85), strap clamp (86) and bracing frame (87), described X-axis guide rail (10) comprises X-axis armed lever (88), X-axis round guide (89) and X-axis guide wheel (90), described synchronous pulley (83) is packed on the output shaft of X-axis decelerator (22), synchronous pulley (83) is arranged on bracing frame (87), bracing frame (87) is affixed with adjacent X-axis slide block (23), one end of Timing Belt (84) is fixed on the outer circumference surface of synchronous pulley (83), the other end of Timing Belt (84) and the rear end of X-axis armed lever (88) affixed, Timing Belt (84) the described other end is arranged in strap clamp (86), strap clamp (86) is affixed with X-axis armed lever (88), the lateral surface of X-axis armed lever (88) is fixed with X-axis round guide (89) along its length, X-axis guide wheel (90) is packed in X-axis slide block (23), X-axis round guide (89) and X-axis slide block (23) are rolled by X-axis guide wheel (90) and are connected.
4. automatically change the manipulator of X-ray film magazine according to claim 3, it is characterized in that: described Z axis guide rail (15) comprises Z axis armed lever (91), Z axis round guide (92) and Z axis guide wheel (93); The lateral surface of described Z axis armed lever (91) is fixed with Z axis round guide (92) along its length, Z axis guide wheel (93) is packed in Z axis slide block (20), and Z axis round guide (92) and Z axis slide block (20) are rolled by Z axis guide wheel (93) and be connected.
5. automatically change the manipulator of X-ray film magazine according to claim 4, it is characterized in that: described auxiliary guide rail (19) comprises auxiliary armed lever (94), auxiliary circle guide rail (95) and auxiliary guide wheel (96); The lateral surface of described auxiliary armed lever (94) is fixed with auxiliary circle guide rail (95) along its length, auxiliary guide wheel (96) is packed in auxiliary slider (58), and auxiliary circle guide rail (95) and auxiliary slider (58) are rolled by auxiliary guide wheel (96) and be connected.
6. automatically change the manipulator of X-ray film magazine according to claim 1, it is characterized in that: the storehouse mouth (47) of described plumbous storehouse (41) is " mouth " font, when plumbous storehouse door (42) is arranged on mouth (47) place, " mouth " font storehouse in plumbous storehouse (41), match with " mouth " font storehouse mouth (47) of plumbous storehouse (41) in plumbous storehouse door (42).
7. automatically change the manipulator of X-ray film magazine according to claim 1, it is characterized in that: described manipulator also comprises location-plate (56), rail brackets (54) and pressing plate (55); During transport, auxiliary guide rail (19) and Z axis guide rail (15) horizontal placement, and be placed in the upper surface of plumbous storehouse (41), rail brackets (54) removably connects with lower connecting plate (24) and pivoting part connecting plate (25), rail brackets (54) is fixedly connected with electrical control cubicles (4), the upper surface in location-plate (56) and plumbous storehouse (41) is affixed, and auxiliary guide rail (19) and Z axis guide rail (15) are affixed with location-plate (56) by pressing plate (55) compression.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310081600.0A CN103144108B (en) | 2013-03-14 | 2013-03-14 | Manipulator for automatically changing X-ray film cassette |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310081600.0A CN103144108B (en) | 2013-03-14 | 2013-03-14 | Manipulator for automatically changing X-ray film cassette |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103144108A CN103144108A (en) | 2013-06-12 |
| CN103144108B true CN103144108B (en) | 2015-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310081600.0A Expired - Fee Related CN103144108B (en) | 2013-03-14 | 2013-03-14 | Manipulator for automatically changing X-ray film cassette |
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| CN (1) | CN103144108B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104698760B (en) * | 2013-12-06 | 2017-01-04 | 北京固鸿科技有限公司 | Roentgenography flaw detection automatic substrate changing mechanism and auto-slide method |
| CN104772749B (en) * | 2015-04-24 | 2016-04-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of X-ray picks and places robot system |
| CN106363593A (en) * | 2016-08-30 | 2017-02-01 | 苏州爱安奇婴儿用品有限公司 | Roll paper display rack |
| CN106395403A (en) * | 2016-11-09 | 2017-02-15 | 苏州超群智能科技有限公司 | Cable stacking machine |
| CN108152306A (en) * | 2018-03-07 | 2018-06-12 | 武汉理工大学 | A kind of digital radial automatic checkout system and detection method for detecting wheel-class parts |
| JP2022051282A (en) * | 2020-09-18 | 2022-03-31 | 日本電産サンキョー株式会社 | Industrial robot |
| CN112731754B (en) * | 2020-12-25 | 2023-01-17 | 中国核工业第五建设有限公司 | Radiographic film cartridge replacing method and device based on wireless control |
| CN113652647A (en) * | 2021-08-16 | 2021-11-16 | 佛山市博顿光电科技有限公司 | Protective baffle replacing equipment and replacing method thereof, and protective baffle of film coating machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3971953A (en) * | 1973-01-02 | 1976-07-27 | Picker X-Ray Mfg. Limited | X-ray table |
| CN1075216A (en) * | 1992-02-02 | 1993-08-11 | 中国人民解放军第八十五医院 | A kind of record changer of X-ray machine |
| CN100510953C (en) * | 2003-12-10 | 2009-07-08 | 同方威视技术股份有限公司 | Record autochanger for high-energy radiation X ray photograph |
| DE502008000586D1 (en) * | 2007-04-10 | 2010-06-10 | Erowa Ag | handling assembly |
| CN101438962B (en) * | 2008-11-28 | 2011-04-27 | 中国人民解放军南京军区福州总医院 | Sealing circulating type X-ray image plate digital plain image-forming device |
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2013
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| CN103144108A (en) | 2013-06-12 |
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