CN105583815B - A kind of concrete sample testing inspection robot - Google Patents
A kind of concrete sample testing inspection robot Download PDFInfo
- Publication number
- CN105583815B CN105583815B CN201610152370.6A CN201610152370A CN105583815B CN 105583815 B CN105583815 B CN 105583815B CN 201610152370 A CN201610152370 A CN 201610152370A CN 105583815 B CN105583815 B CN 105583815B
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- China
- Prior art keywords
- mechanical arm
- sample
- motor
- leading screw
- walking dolly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 238000012360 testing method Methods 0.000 title claims abstract description 26
- 238000007689 inspection Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000003860 storage Methods 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 6
- 230000032258 transport Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of concrete sample testing inspection robot, including controller, walking dolly and the sample storage rack and mechanical arm mechanism being arranged on walking dolly, controller connection walking dolly, mechanical arm mechanism, manipulator and sample storage rack, sample storage rack can store 40 groups（120 pieces）Sample, mechanical arm can do four-degree-of-freedom movement, manipulator energy pick-and-place sample, and the present invention is alternative to be accomplished manually concrete sample testing inspection, whole operation process safety, accurate, reliable.
Description
Technical field
The present invention relates to a kind of concrete sample testing inspection robot.
Background technology
In the detection process of concrete sample, operating personnel need that the same day overdue sample is first found out stacking from fog room
On trolley, then the trolley of kilogram weights up to a hundred is shifted onto by testing machine, then sample is taken off by volume from trolley
Number it is placed on testing machine and is detected, the sample residue tested is put into push out test on another trolley again after having detected
Garbage pool is poured into room；Concrete sample detection is wasted time and energy, operating efficiency is low, labor intensity is high, is Building Material Laboratory labor
The maximum work of fatigue resistance.
The content of the invention
A kind of present invention aims to overcome that above-mentioned the deficiencies in the prior art, there is provided automatic detection with concrete sample
For the robot of target, substitute artificial automatic to complete transport and transport sample in place of the concrete sample in trial zone
It is put into testing machine and is detected, detected the sample of completion and is automatically sent to sample garbage pool.
The technical scheme is that：A kind of concrete sample testing inspection robot, including controller, walking dolly with
And be arranged at sample storage rack and mechanical arm mechanism on the walking dolly, the controller electrically connect the walking dolly,
The mechanical arm mechanism and the sample storage rack, multi-layer drawer supporting plate is set on the sample storage rack；The mechanical arm machine
Structure is four-degree-of-freedom automatic moving mechanism and is arranged at the side of the sample storage rack.
Further, the walking dolly includes base cabinet and the movable motor being arranged in base cabinet, turns to electricity
Machine, the bottom of the base cabinet are additionally provided with auxiliary wheel, and the movable motor, the steering motor connect and drive the walking
Dolly.
Further, the mechanical arm mechanism is made up of movable motor, reciprocating mechanism and left/right movement device,
The movable motor connection simultaneously drives the reciprocating mechanism, and the reciprocating mechanism includes chassis, moved up and down
Motor, leading screw and leading truck composition are moved up and down, the chassis connects the mechanical arm steering motor, described to move up and down leading screw
It is connected on the mechanical arm leading truck and moves up and down motor driving by described, the mechanical arm leading truck is arranged at the bottom
On disk, the left/right movement device by stepper motor, move left and right leading screw, move left and right leading truck and arm pipe forms, the left side
Move right leading screw be connected to it is described move left and right in leading truck, it is described move left and right leading truck and slide up and down be connected to the guiding
Leading screw driving is moved up and down on frame and by described, the leading screw that moves left and right is by the driving stepper motor, the mechanical arm pipe
Described one end for moving left and right leading screw is connected to, the other end of the mechanical arm pipe is additionally provided with mechanical paw.
Further, the mechanical paw is connected on the arm pipe by connector.
Further, it is respectively provided with indicator lamp on supporting plate described in polylith.
The beneficial effects of the invention are as follows：By the program being pre-designed, the present invention is controlled by controller and sample can be achieved
Reciprocal transport, same specification test block repetition experiment action and automatic clearance test it is complete after sample residue, alternative people
Work realizes whole automations of detection process, whole operation process safety, accurate, reliable.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Structure as shown in figure 1, a kind of concrete sample testing inspection robot, including controller 1, walking dolly 6 and
Sample storage rack 2 and the mechanical arm mechanism being arranged on walking dolly 6, controller 1 electrically connect walking dolly 6, mechanical arm mechanism
With sample storage rack 2, multi-layer drawer supporting plate 3 is set on sample storage rack 2；Mechanical arm mechanism is four-degree-of-freedom automatic moving mechanism
And it is arranged at the side of sample storage rack 2.
Sample storage rack 2 sets eight layers of storage element, and every layer is stored five groups of samples, can store 40 groups altogether（120 pieces）Examination
Sample.
Further, walking dolly includes base cabinet 6 and the movable motor 7 being arranged in base cabinet 6, steering motor
8, the bottom of base cabinet 6 is additionally provided with auxiliary wheel 10, and movable motor 7, steering motor 8 connect and drive walking dolly to carry out X, Y
Direction is freely walked, and walking dolly uses storage battery power supply, and the movable motor 7, steering motor 8 use 24v100a batteries
Power supply, base cabinet 6 are surrounded by anticollision, avoidance detection, and the walking dolly is for carrying the sample on the anti-frame of storage from sample
Fog room transports testing machine operating position, exempts artificial carry.
Further, mechanical arm mechanism is made up of movable motor 9, reciprocating mechanism and left/right movement device, preceding
Mobile motor 9 connects and drives reciprocating mechanism afterwards, and reciprocating mechanism includes chassis 11, moves up and down motor 12, be upper and lower
Mobile leading screw 13 and leading truck 14 are formed, and chassis 11 connects mechanical arm steering motor 4, moves up and down leading screw 13 and is connected to mechanical arm
Driven on leading truck 14 and by moving up and down motor 12, mechanical arm leading truck 14 is arranged on chassis 11, left/right movement device by
Stepper motor 15, move left and right leading screw 16, move left and right leading truck 17 and arm pipe 18 forms, moving left and right leading screw 16 and be connected to a left side
Move right in leading truck 17, move left and right leading truck 17 and slide up and down and be connected on leading truck 14 and driven by moving up and down leading screw 13
It is dynamic, move left and right leading screw 16 and driven by stepper motor 15, mechanical arm pipe 18 is connected to the one end for moving left and right leading screw 16, mechanical arm
The other end of pipe 18 is additionally provided with mechanical paw 5.
The control machinery arm mechanism of oscilaltion motor 12 stores layer extraction sample to difference, moves forward and backward the control machine of motor 9
Tool arm extracts sample in the various sample group of same layer, and the control machinery arm of stepper motor 15 extracts sample, machine into same sample group
The sample steering test machine direction that the control machinery arm of tool arm steering motor 4 will take, each motor coordinate machinery after adjustment good position
Sample is placed on testing machine by paw 5, and control system is carried out from dynamic test by network advertisement pressure testing machine again；Experiment is completed
Afterwards, controller removes experiment residue by network advertisement manipulator and is put into residue pipeline, and residue is delivered directly to garbage pool.
Further, mechanical paw 5 is connected on arm pipe 18 by connector 19.
Further, it is respectively provided with indicator lamp on polylith supporting plate 3, every layer is provided with slideway, when need to be put into examination on sample storage rack 2
During sample, every layer of storage rack can pull out, and facilitate sample to be put at every layer.Every layer can be put into five groups of samples, and each sample is put into
Position is provided with indicator lamp, when after fog room chooses sample according to controller（Computer）The position of arrangement（Indicator lamp is bright）Place examination
Sample, so ensure that numbering confusion will not occur.
The auxiliary wheel of walking dolly of the present invention is driven by movable motor, steering motor, in the default programme-control of controller
Under can complete to advance, retreat and divertical motion, manually back and forth carry heavy test block to substitute；24v electric power storages used in walking dolly
Pond is positioned in base cabinet 6.
The mechanical arm of the present invention can make 90 ° of rotations, and leading screw driving mechanical arm can be moved up and down by mechanical arm and is carried out
Lower motion, mechanical arm can be delivered to suitable height and position under the default programme-control of controller, with cooperative mechanical hand
Feeding, feeding or removing move left and right the machinery on the actuating arm pipe of leading screw 16 by mechanical arm by the residue of pressure test block, mechanical arm
Hand, sample is gripped to realize from sample storage rack, and sample is delivered on detection device.
The controller of the present invention can also reach the sample of curing age by laboratory's computer network inquiry same day, convenient
Sample is looked in fog room；Controller can also notify testing machine to be placed on the numbering of sample and placement on testing machine by computer network
State, controller can receive the signal that testing machine is sent and to the residue and handle for taking sample on testing machine away after the completion of testing inspection
Residue is put into residue transmission belt, and residue is automatically into sample garbage pool.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (1)
- A kind of 1. concrete sample testing inspection robot, it is characterised in that：Including controller, walking dolly and it is arranged at institute Sample storage rack and the mechanical arm mechanism on walking dolly are stated, the controller electrically connects the walking dolly, the mechanical arm Mechanism and the sample storage rack, multi-layer drawer supporting plate are set on the sample storage rack, the walking dolly includes base member case Body and the movable motor being arranged in base cabinet, steering motor, the bottom of the base cabinet is additionally provided with auxiliary wheel, the row Walk motor, the steering motor connects and drive the walking dolly, the mechanical arm mechanism by movable motor, on move down Motivation structure and left/right movement device composition, the movable motor connection simultaneously drive the reciprocating mechanism, described upper and lower Travel mechanism includes chassis, moves up and down motor, moves up and down leading screw and leading truck is formed, and the chassis connects the mechanical arm Steering motor, the leading screw that moves up and down are connected on the mechanical arm leading truck and move up and down motor driving, institute by described Mechanical arm leading truck is stated to be arranged on the chassis, the left/right movement device by stepper motor, move left and right leading screw, left and right move Action-oriented frame and arm pipe composition, it is described move left and right leading screw be connected to it is described move left and right in leading truck, described move left and right is led Slided up and down to frame and be connected on the leading truck and move up and down leading screw driving by described, the leading screw that moves left and right is by described Driving stepper motor, the mechanical arm pipe are connected to described one end for moving left and right leading screw, and the other end of the mechanical arm pipe is also Provided with mechanical paw, the mechanical arm mechanism is arranged at the side of the sample storage rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152370.6A CN105583815B (en) | 2016-03-17 | 2016-03-17 | A kind of concrete sample testing inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152370.6A CN105583815B (en) | 2016-03-17 | 2016-03-17 | A kind of concrete sample testing inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105583815A CN105583815A (en) | 2016-05-18 |
| CN105583815B true CN105583815B (en) | 2017-12-08 |
Family
ID=55923898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610152370.6A Expired - Fee Related CN105583815B (en) | 2016-03-17 | 2016-03-17 | A kind of concrete sample testing inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105583815B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555165A (en) * | 2017-10-23 | 2018-01-09 | 天津市中环电子计算机有限公司 | A kind of AGV merchandising machines people with mechanical arm and feeding method |
| CN111929174B (en) * | 2020-10-14 | 2020-12-22 | 南京东仪新智能科技有限公司 | Concrete sample feeding and standard curing comprehensive unmanned detection system |
| CN115652745B (en) * | 2022-11-10 | 2023-04-04 | 北京卓翼智能科技有限公司 | Unmanned vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005002804A1 (en) * | 2003-07-04 | 2005-01-13 | Rorze Corporation | Transfer device, thin plate-like article transfer method, and thin plate-like article production system |
| JP2006035397A (en) * | 2004-07-29 | 2006-02-09 | Fanuc Ltd | Conveyance robot system |
| CN201198135Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Laneway storehouse stacking robot |
| CN203853994U (en) * | 2014-05-14 | 2014-10-01 | 河北科技大学 | Carrying manipulator with multiple degrees of freedom |
| CN104875177B (en) * | 2015-05-19 | 2017-03-22 | 上海交通大学 | Intelligent book management robot |
| CN205415623U (en) * | 2016-03-17 | 2016-08-03 | 北京新智远恒计量校准技术有限公司 | Concrete specimen test robot |
-
2016
- 2016-03-17 CN CN201610152370.6A patent/CN105583815B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105583815A (en) | 2016-05-18 |
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