CN106644741B - Automatic transport formula steel panel test robot - Google Patents
Automatic transport formula steel panel test robot Download PDFInfo
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- CN106644741B CN106644741B CN201710109113.9A CN201710109113A CN106644741B CN 106644741 B CN106644741 B CN 106644741B CN 201710109113 A CN201710109113 A CN 201710109113A CN 106644741 B CN106644741 B CN 106644741B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
- G01N3/10—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces generated by pneumatic or hydraulic pressure
- G01N3/12—Pressure testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/20—Investigating strength properties of solid materials by application of mechanical stress by applying steady bending forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0019—Compressive
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0023—Bending
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/003—Generation of the force
- G01N2203/0042—Pneumatic or hydraulic means
- G01N2203/0044—Pneumatic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/02—Details not specific for a particular testing method
- G01N2203/026—Specifications of the specimen
- G01N2203/0262—Shape of the specimen
- G01N2203/0278—Thin specimens
- G01N2203/0282—Two dimensional, e.g. tapes, webs, sheets, strips, disks or membranes
Abstract
The automatic carrying type steel plate testing robot can test the mechanical properties of steel plates before and after reinforcement to obtain mechanical parameters of the steel plates, and comprises a guide rail, a guide platform, a follow-up platform, a testing device and a control system; the automatic conveying device realizes automatic conveying in the steel plate testing process, and saves labor. Meanwhile, the invention has the automatic test function, the robot intelligently controls the steel to move, the hole opening position is automatically positioned, the mechanical characteristic test is automatically carried out, and the related result is displayed, the test process is efficient and accurate, and the test operation is simple and easy to learn. The invention has a manual test mode besides a full-automatic test mode, and can better adapt to various different use requirements. The invention carries out positioning through the distributed color recognition sensors, not only can be used for testing the perforated steel plate, but also can be used for testing the mechanical property of the steel plate reinforced by other materials (such as carbon fiber), and has wide applicability.
Description
Technical Field
The technical scheme of the invention relates to automatic test equipment for steel plates, in particular to an automatic carrying type steel plate test robot.
Background
In recent years, steel plates are increasingly applied to the field of buildings, and due to the requirement of practical application, the hole opening of the steel plates becomes a common construction process. The existence of the holes changes the mechanical property of the steel plate. Reinforcing the steel plate with the holes through the carbon fibers is an effective means, but the steel plates with different specifications are provided with different holes, so that the difference of mechanical characteristics of the steel plates is obvious, and the mechanical characteristics of the reinforced steel plates are different due to the difference of the reinforcing modes of the carbon fibers, so that the mechanical characteristics of the steel plates before and after reinforcement need to be tested, the mechanical parameters of the steel plates are obtained, and data support is provided for the design and use of the steel plates. At present, a mechanical property testing device for steel after being perforated and steel after being reinforced is not complete, for example, a camera group moving mechanism for full-automatic steel detecting equipment is disclosed in the publication No. CN205404388U, the equipment only adds an automatic technology in a steel detecting link, and the detection cannot achieve the mechanical property of the steel and cannot meet the technical requirements. The traditional mechanical testing equipment cannot be efficient and can be quickly adapted to the testing requirements of steel products with different specifications.
In a word, the prior art product can not well solve the problem of the test of the steel plate.
Disclosure of Invention
The technical scheme adopted by the invention for solving the technical problem is as follows: providing an automatic carrying type steel plate testing robot, wherein the robot comprises a guide rail, a guide platform, a follow-up platform, a testing device and a control system; the guide platform and the follow-up platform are arranged on the guide rail, the guide platform is positioned on the right side, the follow-up platform is positioned on the left side, and the testing device is positioned on the upper side and between the guide platform and the follow-up platform; the guide platform includes: guide wheel, gyro wheel A, proximity switch A, clamping mechanism A, lever A, bracing piece A, hinge A, compact heap A, hinged-support A, cylinder A, hinged-support B, including a motor, an end cap, a controller, and a cover plate, shaft A, synchronous pulley A, the hold-in range, synchronous pulley B, the guide platform working face, wherein the position on guide platform working face downside both sides is installed to the guide wheel, and guide wheel and guide rail laminating, install shaft A between the guide wheel of parallel position, synchronous pulley B fixed mounting is in shaft A intermediate position, the motor is installed in guide platform working face downside left side position, synchronous pulley A is installed to the motor output, synchronous pulley A links together through hold-in range and synchronous pulley B, proximity switch A installs the position in the middle of guide platform working face downside, gyro wheel A is installed on guide platform working face upside right, clamping mechanism A is installed to guide platform working face upside left side, clamping mechanism A's structure does: a support rod A is fixedly installed in the middle of the upper side of the working surface of the guide platform, a hinge A is installed at the other end of the support rod A, the lever A is installed at the top end of the support rod A through the hinge A, the lower end of a cylinder A is installed on the upper side of the left side of the working surface of the guide platform through a hinged support B, the upper end of the cylinder A is installed at the left end of the lever A through the hinged support A, and a compression block A is installed at the right end of the lever A; the follow-up platform includes: gyro wheel B, the follower wheel, clamping mechanism B, compact heap B, hinge B, bracing piece B, lever B, hinged-support C, cylinder B, hinged-support D, shaft B, the servo platform working face, proximity switch B, wherein the position on servo platform working face downside both sides is installed to the follower wheel, and follower wheel and guide rail laminating, install shaft B between the follower wheel of parallel position, proximity switch B installs the position in the middle of the servo platform working face downside, gyro wheel B is installed on servo platform working face upside the right, clamping mechanism B is installed to servo platform working face upside left surface, clamping mechanism B's structure is: a support rod B is fixedly installed in the middle of the upper side of the working surface of the follow-up platform, a hinge B is installed at the other end of the support rod B, a lever B is installed at the top end of the support rod B through the hinge B, the lower end of a cylinder B is installed on the upper side of the left side of the working surface of the follow-up platform through a hinged support D, the upper end of the cylinder B is installed at the left end of the lever B through a hinged support C, and a pressing block B is installed at the right end of the lever B; the test device comprises: the device comprises a steel plate, a through hole, an air source interface, a solenoid valve, a voltage meter, an upper side base frame, a main cylinder, a contact, a distributed color recognition sensor and a lower side base frame, wherein the upper end of the main cylinder is fixedly connected to the upper side base frame, the lower end of the main cylinder is connected with the contact, the voltage meter and the solenoid valve are installed at an air inlet of the main cylinder through a tee joint, the solenoid valve is connected with the air source interface through an air pipe, the steel plate is placed on a roller A and a roller B, the steel plate is provided with the through hole, the through hole is located under the contact, and the distributed color recognition sensor is arranged on the lower side base frame and is located under the contact; the control system includes: travel switch A, travel switch B, an intelligent controller, a control panel, a guide platform forward button, a guide platform clamping button, a follow-up platform clamping button, a manual-automatic switching knob, a guide platform backward button, a guide platform loosening button, a follow-up platform loosening button, a start button and an emergency stop button, wherein the control panel is arranged on the left side of the whole machine, the intelligent controller is positioned on the lower portion of the control panel, the travel switch A is arranged on the right end of a guide rail, the travel switch B is arranged on the left end of the guide rail, the emergency stop button is arranged on the rightmost side of the control panel, the guide platform forward button, the guide platform clamping button, the follow-up platform clamping button, the manual-automatic switching knob, the guide platform backward button, the guide platform loosening button, the follow-up platform loosening button and the start button are simultaneously arranged on the control panel.
According to the automatic carrying type steel plate testing robot, the tail end of the contact is designed to be in a conical shape or a planar shape.
Above-mentioned automatic transport formula steel panel test robot, emergency stop button designs for red.
Above-mentioned automatic transport formula steel panel test robot, the start button design is green.
The components of the automatic-handling steel sheet testing robot described above are well known to those skilled in the art and are available in known ways. The method of joining the components is within the skill of the art.
The invention has the beneficial effects that: compared with the prior art, the automatic carrying type steel plate test robot has the outstanding characteristics and remarkable progress that:
(1) The invention has the automatic test function, the robot intelligently controls the steel plate to move, the hole opening position is automatically positioned, the mechanical characteristic test is automatically carried out, and the related result is displayed, so that the safety coefficient of the test work is improved, the test process is efficient and accurate, and the test operation is simple and easy to learn.
(2) The automatic conveying device realizes automatic conveying in the steel plate testing process through an automatic control technology, and saves labor.
(3) The invention has a manual test mode besides a full-automatic test mode, flexibly controls the movement of each part of mechanism and can better adapt to various different use requirements.
(4) The invention carries out positioning through the distributed color recognition sensors, not only can be used for testing the perforated steel plate, but also can be used for testing the mechanical property of the steel plate reinforced by other materials (such as carbon fiber), and has wide applicability.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a front view of an automatic carrier steel plate testing robot according to the present invention.
Fig. 2 is a left side view of a guide platform of the automatic handling steel sheet testing robot of the present invention.
Fig. 3 is a left side view of the follow-up platform of the automatic carrying type steel plate testing robot of the present invention.
Fig. 4 is a schematic view of a control panel of the automatic-conveying type steel plate testing robot according to the present invention.
Fig. 5 is a schematic view of the installation of a planar contact of the automatic conveying type steel plate testing robot.
In the figure, 1, a travel switch A,2, a guide rail, 3, a guide platform, 4, a guide wheel, 5, a proximity switch A,6, a roller wheel A,7, an arrangement type color recognition sensor, 8, a lower side base frame, 9, a roller wheel B,10, a follower wheel, 11, a proximity switch B,12, a follower platform, 13, a travel switch B,14, an intelligent controller, 15, a clamping mechanism B,16, a steel plate, 17, an air source interface, 18, an electromagnetic valve, 19, a voltage meter, 20, an upper side base frame, 21, a main cylinder, 22, a contact, 23, a through hole, 24, a clamping mechanism A,25, a control panel, 26, a lever A,27, a support rod A,28, a hinge A,29, a pressing block A,30, a hinged support A,31, a cylinder A,32, hinged supports B,33, a motor, 34, wheel shafts A,35, synchronous belt wheels B,36, a synchronous belt, 37, synchronous belt wheels A,38, a guide platform advancing button, 39, a guide platform clamping button, 40, a follow-up platform clamping button, 41, a manual and automatic switching knob, 42, a guide platform retreating button, 43, a guide platform loosening button, 44, a follow-up platform loosening button, 45, a starting button, 46, an emergency stop button, 47, a pressing block B,48, a hinge B,49, a supporting rod B,50, a lever B,51, hinged supports C,52, air cylinders B,53, hinged supports D,54, wheel shafts B,55, a guide platform working surface and 56 a follow-up platform working surface.
Detailed Description
The embodiment shown in fig. 1 shows that the automatic carrying type steel plate test robot comprises a guide rail 2, a guide platform 3, a follow-up platform 12, a test device and a control system; the above-mentioned guide platform 3 and follower platform 12 are arranged on the guide rail 2, the guide platform 3 being located on the right side, the follower platform 12 being located on the left side, and the testing device being located on the upper side and between the guide platform 3 and the follower platform 12. The test device comprises: steel sheet 16, through-hole 23, air supply interface 17, solenoid valve 18, voltmeter 19, upside bed frame 20, master cylinder 21, contact 22, formula of arranging color identification sensor 7, downside bed frame 8, wherein, master cylinder 21 upper end fixed connection is on upside bed frame 20, master cylinder 21 lower extreme is connected with contact 22, the end design of contact 22 is the toper shape, voltmeter 19 and solenoid valve 18 are installed through the tee bend in master cylinder 21 air inlet department, solenoid valve 18 passes through trachea connection air supply interface 17, steel sheet 16 places on gyro wheel A6 and gyro wheel B9, be provided with through-hole 23 on steel sheet 16, through-hole 23 is located under contact 22, formula of arranging color identification sensor 7 sets up on downside bed frame 8, be located under contact 22. The control system includes: travel switch A1, travel switch B13, intelligent control 14, control panel 25, wherein, control panel 25 sets up the left side at the complete machine, and intelligent control 14 is located control panel 25 lower part, and travel switch A1 sets up at the guide rail 2 right-hand member, and travel switch B13 sets up at the guide rail 2 left end.
The embodiment shown in fig. 2 shows that the guide platform 3 comprises: guide wheel 4, roller A6, proximity switch A5, clamping mechanism A24, lever A26, bracing piece A27, hinge A28, compact heap A29, hinged support A30, cylinder A31, hinged support B32, motor 33, shaft A34, synchronous pulley A37, hold-in range 36, synchronous pulley B35, guide platform working face 55, wherein guide wheel 4 installs the position on guide platform working face 55 downside both sides, and guide wheel 4 and guide rail 2 laminating, install shaft A34 between the guide wheel 4 of parallel position, synchronous pulley B35 fixed mounting is in shaft A34 intermediate position, motor 33 installs the position in guide platform working face 55 downside left side, motor 33 output end installs synchronous pulley A37, synchronous pulley A37 links together with synchronous pulley B35 through hold-in range 36, proximity switch A5 installs the position in guide platform working face 55 downside middle, guide platform working face 55 upside right side installs roller A6, guide platform working face 55 upside left side installs clamping mechanism A24, clamping mechanism A24's structure does: a support rod A27 is fixedly installed in the middle of the upper side of the guide platform working surface 55, a hinge A28 is installed at the other end of the support rod A27, a lever A26 is installed at the top end of the support rod A27 through the hinge A28, the lower end of a cylinder A31 is installed on the upper left side of the guide platform working surface 55 through a hinged support B32, the upper end of the cylinder A31 is installed at the left end of the lever A26 through a hinged support A30, and a pressing block A29 is installed at the right end of the lever A26;
the embodiment shown in fig. 3 shows that the following platform 12 includes a roller B9, a follower wheel 10, a clamping mechanism B15, a pressing block B47, a hinge B48, a support rod B49, a lever B50, a hinge support C51, a cylinder B52, a hinge support D53, a wheel axle B54, a following platform working surface 56, and a proximity switch B11, wherein the follower wheel 10 is installed at two sides of the lower side of the following platform working surface 56, and the follower wheel 10 is attached to the guide rail 2, the wheel axle B54 is installed between the follower wheels 10 in parallel positions, the proximity switch B11 is installed at the middle of the lower side of the following platform working surface 56, the roller B9 is installed at the right side of the upper side of the following platform working surface 56, the clamping mechanism B15 is installed at the left side of the upper side of the following platform working surface 56, and the structure of the clamping mechanism B15 is as follows: a supporting rod B49 is fixedly installed in the middle of the upper side of a working surface 56 of the follow-up platform, a hinge B48 is installed at the other end of the supporting rod B49, a lever B50 is installed at the top end of the supporting rod B49 through the hinge B48, the lower end of a cylinder B52 is installed on the upper left side of the working surface 56 of the follow-up platform through a hinged support D53, the upper end of the cylinder B52 is installed at the left end of the lever B50 through a hinged support C51, and a pressing block B47 is installed at the right end of the lever B50;
the embodiment shown in fig. 4 shows that the emergency stop button 46 is disposed at the rightmost side of the control panel 25, and the control panel 25 is simultaneously provided with a guide platform forward button 38, a guide platform clamping button 39, a follow-up platform clamping button 40, a manual-automatic switching knob 41, a guide platform backward button 42, a guide platform release button 43, a follow-up platform release button 44 and a start button 45.
The embodiment of fig. 5 shows a schematic view of the installation of a planar contact 22, in which the end of the contact 22 is designed in a planar shape, and the remaining features are the same as those shown in fig. 1.
Example 1
According to the above fig. 1, 2, 3 and 4, the automatic carrying type steel plate testing robot is manufactured, and comprises a guide rail 2, a guide platform 3, a follow-up platform 12, a testing device and a control system; the guide platform 3 and the follow-up platform 12 are arranged on the guide rail 2 and can move left and right on the guide rail 2, the guide platform 3 is positioned on the right side, the follow-up platform 12 is positioned on the left side, the testing device is positioned on the upper side and between the guide platform 3 and the follow-up platform 12, and the testing device is used for positioning the steel plate 16 and applying pressure to test the bending strength of the steel plate 16; the guide platform 3 includes: guide wheel 4, roller A6, proximity switch A5, clamping mechanism a 24, lever a 26, support rod a 27, hinge a 28, hold-down block a 29, hinge support a 30, cylinder a31, hinge support B32, motor 33, wheel axle a 34, synchronous pulley a 37, synchronous belt 36, synchronous pulley B35, guide platform working surface 55, wherein guide wheel 4 is installed at both sides of the lower side of guide platform working surface 55, and guide wheel 4 is attached to guide rail 2, guide wheel 4 can move on guide rail 2 and drag guide platform 3 to move, wheel axle a 34 is installed between guide wheels 4 at parallel positions, wheel axle a 34 can ensure synchronous movement of guide wheels 4 at parallel positions, synchronous pulley B35 is fixedly installed at the middle position of wheel axle a 34, motor 33 is installed at the left side position of the lower side of guide platform working surface 55, synchronous pulley a 37 is installed at the output end of motor 33, synchronous pulley a 37 is connected with synchronous pulley B35 through synchronous belt 36, motor 33 is used for driving guide platform 3, proximity switch A5 is installed at the middle position of the lower side of guide platform working surface 55, detect upper side position of guide platform 16, guide platform is installed with guide wheel 24 a 16 for reducing the upper side of guide platform 16, when guide platform 16 a clamping mechanism is installed on guide platform, steel clamping mechanism, it is a 16: a support rod A27 is fixedly installed in the middle of the upper side of the guide platform working surface 55, a hinge A28 is installed at the other end of the support rod A27, a lever A26 is installed at the top end of the support rod A27 through the hinge A28, the lower end of a cylinder A31 is installed on the upper left side of the guide platform working surface 55 through a hinged support B32, the upper end of the cylinder A31 is installed at the left end of the lever A26 through a hinged support A30, and a pressing block A29 is installed at the right end of the lever A26; the compact heap contacts with steel panel 16, and cylinder A31 drives the action of compressing tightly through lever A26, and follow-up platform 12 includes: the device comprises a roller B9, a follower wheel 10, a clamping mechanism B15, a pressing block B47, a hinge B48, a support rod B49, a lever B50, a hinge support C51, a cylinder B52, a hinge support D53, a wheel shaft B54, a follower platform working surface 56 and a proximity switch B11, wherein the follower wheel 10 is arranged at two sides of the lower side of the follower platform working surface 56, the follower wheel 10 is attached to the guide rail 2, the follower wheel 10 can move on the guide rail 2 to drag the follower platform 12 to move, the wheel shaft B54 is arranged between the follower wheels 10 at the parallel positions, the wheel shaft B54 can ensure that the follower wheels 4 at the parallel positions synchronously move, the proximity switch B11 is arranged at the middle of the lower side of the follower platform working surface 56 and is used for detecting the position of the steel plate 16, the roller B9 is arranged at the right side of the upper side of the follower platform working surface 56 and is used for reducing the friction when the steel plate 16 moves, the clamping mechanism B15 is arranged at the left side of the upper side of the follower platform working surface 56 and is used for clamping the steel plate 16 to be positioned on the platform, and the clamping mechanism B15: a support rod B49 is fixedly installed in the middle of the upper side of a follow-up platform working surface 56, a hinge B48 is installed at the other end of the support rod B49, a lever B50 is installed at the top end of the support rod B49 through the hinge B48, the lower end of a cylinder B52 is installed on the upper side of the left side of the follow-up platform working surface 56 through a hinge support D53, the upper end of the cylinder B52 is installed at the left end of the lever B50 through a hinge support C51, a pressing block B47 is installed at the right end of the lever B50, and the cylinder B52 drives pressing action through the lever B50; the test device comprises: the device comprises a steel plate 16, a through hole 23, an air source interface 17, an electromagnetic valve 18, an electric pressure gauge 19, an upper side pedestal 20, a main cylinder 21, a contact 22, a distributed color identification sensor 7 and a lower side pedestal 8, wherein the upper end of the main cylinder 21 is fixedly connected to the upper side pedestal 20, the lower end of the main cylinder 21 is connected with the contact 22, the contact 22 is used for directly contacting with the steel plate 16, the electric pressure gauge 19 and the electromagnetic valve 18 are installed at an air inlet of the main cylinder 21 through a tee joint, the electric pressure gauge 19 has a function of recording the highest pressure and is used for automatically recording the highest pressure before the steel plate 16 sends plastic deformation, the electromagnetic valve 18 is connected with the air source interface 17 through an air pipe, the steel plate 16 is placed on a roller A6 and a roller B9, the steel plate 16 is provided with the through hole 23, the through hole 23 is positioned under the contact 22, the position of the through hole 23 is often the weakest position of the steel plate 16 and is also a key part often tested, the distributed color identification sensor 7 is arranged on the lower side 8 and is positioned under the contact 22 and is used for distinguishing a position with the basic color difference of the steel plate 16, such as a carbon fiber reinforced point; the control system includes: the intelligent control device comprises a travel switch A1, a travel switch B13, an intelligent controller 14, a control panel 25, a guide platform forward button 38, a guide platform clamping button 39, a follow-up platform clamping button 40, a manual and automatic switching button 41, a guide platform backward button 42, a guide platform loosening button 43, a follow-up platform loosening button 44, a start button 45 and an emergency stop button 46, wherein the control panel 25 is arranged on the left side of the whole machine and is convenient to operate, the intelligent controller 14 is arranged on the lower portion of the control panel 25 and is convenient to install and maintain, the travel switch A1 is arranged on the right end of a guide rail 2 and is used for limiting the right limit position of a moving part, the travel switch B13 is arranged on the left end of the guide rail 2 and is used for limiting the left limit position of the moving part, the emergency stop button 46 is arranged on the rightmost side of the control panel 25 and is convenient to operate and is used for emergently stopping equipment, the control panel 25 is simultaneously provided with the guide platform forward button 38, the guide platform clamping button 39, the follow-up platform clamping button 40, the manual and automatic switching button 41, the guide platform backward button 42, the guide platform loosening button 43, the start button 44 and the start button 45 are used for manually controlling a robot.
The end of the contact 22 is designed to be conical, the conical shape can be used for testing the deformation condition of the steel plate 16 under the pressure of a concentrated point, the emergency stop button 46 is designed to be red, and the start button 45 is designed to be green.
Example 2
As shown in fig. 5, the end of the contact 22 is designed to have a flat shape, which can be used to test the deformation of the steel plate 16 under uniform pressure, as in example 1.
In the following, a test operation is taken as an example.
In a first step, the steel sheet 16 is installed
The robot starts and finishes self-checking, the guide platform 3 and the follow-up platform 12 are both positioned on the left side of the guide rail 2, one end of the steel plate 16 is manually placed on the roller A6 on the working surface 55 of the guide platform, the steel plate 16 is pushed forwards to be positioned above the proximity switch A5, the rest part of the steel plate 16 is placed on the roller B9 on the working surface 56 of the follow-up platform, and the installation of the steel plate 16 is finished.
Second, automatic handling
When the proximity switch A5 detects that the steel plate 16 is installed in place, the intelligent controller 14 controls the air cylinder A31 to extend out, and the steel plate 16 is fixedly clamped on the guide platform working surface 55 under the action of the lever A26 and the pressing block A29; then the motor 33 drives the guide platform 3 to move rightwards on the guide rail 2 through the synchronous belt pulley B35, the synchronous belt 36, the synchronous belt pulley A37, the wheel shaft A34 and the guide wheel 4, the steel plate 16 moves rightwards along with the guide platform 3, when the other end of the steel plate 16 leaves the position right above the proximity switch B11, the intelligent controller 14 controls the air cylinder B52 to extend out, the other end of the steel plate 16 is fixedly clamped on the working surface 56 of the follow-up platform through the action of the lever B50 and the pressing block B47, and then the follow-up platform 12 moves rightwards together with the guide platform 3 under the dragging of the steel plate 16.
Third, automatic testing
When the distributed color recognition sensor 7 detects that the through hole 23 (or a reinforced part) on the steel plate 16 passes through the upper part of the through hole, the intelligent controller 14 stops the rotation of the motor 33, then opens the electromagnetic valve 18 to enable the main cylinder 21 to drive the contact 22 to move downwards and press the steel plate 16 until the steel plate 16 generates plastic deformation, and the voltage meter 19 automatically records the pressure value at the moment to serve as the bending resistance mechanical parameter of the steel plate 16. And (6) completing the test.
Fourthly, automatically carrying and discharging
The intelligent controller 14 controls the motor 33 to rotate reversely, the guide platform 3 moves reversely, the follow-up platform 12, the steel plate 16 and the guide platform 3 are moved to the left side of the guide rail 2, and when the travel switch B13 is closed, the movement is stopped. The intelligent controller 14 controls the air cylinders A31 and B52 to contract, the state that the steel plate 16 is compressed is released, the steel plate 16 is taken away manually, and the robot stands by.
Manual mode: when special conditions are met and manual test operation is needed, the manual-automatic switching knob 41 can be screwed to a manual option, and then the robot operation is controlled through the following button functions:
guide platform advance button 38: the guide platform 3 moves to the right side after being pressed down and stops after being loosened;
guide platform clamp button 39: pressing the rear cylinder A31 to extend, and keeping the extending state after releasing;
follower platform clamp button 40: pressing a rear cylinder B52 to extend, and keeping the extending state after releasing;
guide platform back button 42: after being pressed down, the guide platform 3 moves to the left side and stops after being loosened;
guide platform release button 43: pressing the rear cylinder A31 to contract, and keeping the contraction state after releasing;
follow-up platform release button 44: pressing the rear cylinder B52 to contract, and keeping the contraction state after releasing;
start button 45: the rear main cylinder 21 is pressed to extend, and the rear main cylinder 21 is released to automatically contract;
regarding the scram button 46: pressing the scram button 46 will immediately stop all actions by the robot, regardless of whether the robot is in automatic or manual mode.
Claims (4)
1. Automatic transport formula steel panel test robot includes: guide rail, guide platform, follow-up platform, testing arrangement, control system, its characterized in that: the guide platform and the follow-up platform are arranged on the guide rail, the guide platform is positioned on the right side, the follow-up platform is positioned on the left side, and the testing device is positioned on the upper side and between the guide platform and the follow-up platform; the guide platform includes: guide wheel, gyro wheel A, proximity switch A, clamping mechanism A, lever A, bracing piece A, hinge A, compact heap A, hinged-support A, cylinder A, hinged-support B, including a motor, an end cap, a controller, and a cover plate, shaft A, synchronous pulley A, the hold-in range, synchronous pulley B, the guide platform working face, wherein the position on guide platform working face downside both sides is installed to the guide wheel, and guide wheel and guide rail laminating, install shaft A between the guide wheel of parallel position, synchronous pulley B fixed mounting is in shaft A intermediate position, the motor is installed in guide platform working face downside left side position, synchronous pulley A is installed to the motor output, synchronous pulley A links together through hold-in range and synchronous pulley B, proximity switch A installs the position in the middle of guide platform working face downside, gyro wheel A is installed on guide platform working face upside right, clamping mechanism A is installed to guide platform working face upside left side, clamping mechanism A's structure does: a support rod A is fixedly installed in the middle of the upper side of the working surface of the guide platform, a hinge A is installed at the other end of the support rod A, the lever A is installed at the top end of the support rod A through the hinge A, the lower end of a cylinder A is installed on the upper side of the left side of the working surface of the guide platform through a hinged support B, the upper end of the cylinder A is installed at the left end of the lever A through the hinged support A, and a compression block A is installed at the right end of the lever A; the follow-up platform includes: gyro wheel B, the trailing wheel, clamping mechanism B, compact heap B, hinge B, bracing piece B, lever B, hinged-support C, cylinder B, hinged-support D, shaft B, the servo platform working face, proximity switch B, wherein the position on servo platform working face downside both sides is installed to the trailing wheel, and trailing wheel and guide rail laminating, install shaft B between the trailing wheel of parallel position, proximity switch B installs the position in the middle of the servo platform working face downside, gyro wheel B is installed on servo platform working face upside right, clamping mechanism B is installed to servo platform working face upside left surface, clamping mechanism B's structure is: a support rod B is fixedly installed in the middle of the upper side of the working surface of the follow-up platform, a hinge B is installed at the other end of the support rod B, a lever B is installed at the top end of the support rod B through the hinge B, the lower end of a cylinder B is installed on the upper side of the left side of the working surface of the follow-up platform through a hinged support D, the upper end of the cylinder B is installed at the left end of the lever B through a hinged support C, and a pressing block B is installed at the right end of the lever B; the test device comprises: the device comprises a steel plate, a through hole, an air source interface, a solenoid valve, a voltage meter, an upper side base frame, a main cylinder, a contact, a distributed color recognition sensor and a lower side base frame, wherein the upper end of the main cylinder is fixedly connected to the upper side base frame, the lower end of the main cylinder is connected with the contact, the voltage meter and the solenoid valve are installed at an air inlet of the main cylinder through a tee joint, the solenoid valve is connected with the air source interface through an air pipe, the steel plate is placed on a roller A and a roller B, the steel plate is provided with the through hole, the through hole is located under the contact, and the distributed color recognition sensor is arranged on the lower side base frame and is located under the contact; the control system includes: travel switch A, travel switch B, an intelligent controller, a control panel, a guide platform forward button, a guide platform clamping button, a follow-up platform clamping button, a manual-automatic switching knob, a guide platform backward button, a guide platform loosening button, a follow-up platform loosening button, a start button and an emergency stop button, wherein the control panel is arranged on the left side of the whole machine, the intelligent controller is positioned on the lower portion of the control panel, the travel switch A is arranged on the right end of a guide rail, the travel switch B is arranged on the left end of the guide rail, the emergency stop button is arranged on the rightmost side of the control panel, the guide platform forward button, the guide platform clamping button, the follow-up platform clamping button, the manual-automatic switching knob, the guide platform backward button, the guide platform loosening button, the follow-up platform loosening button and the start button are simultaneously arranged on the control panel.
2. The automated handled steel panel testing robot of claim 1, wherein: the tip of the contact is designed to be tapered or flat.
3. The automatic handling steel sheet testing robot of claim 1, wherein: the emergency stop button is designed to be red.
4. The automatic handling steel sheet testing robot of claim 1, wherein: the start button is designed green.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710109113.9A CN106644741B (en) | 2017-02-27 | 2017-02-27 | Automatic transport formula steel panel test robot |
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| CN201710109113.9A CN106644741B (en) | 2017-02-27 | 2017-02-27 | Automatic transport formula steel panel test robot |
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| CN106644741A CN106644741A (en) | 2017-05-10 |
| CN106644741B true CN106644741B (en) | 2023-03-28 |
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| CN109060556B (en) * | 2018-09-17 | 2020-12-08 | 嘉兴管通机电科技有限公司 | Anti detection device that buckles of five metals panel |
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|---|---|---|---|---|
| CN101189396A (en) * | 2005-01-27 | 2008-05-28 | 美国石膏公司 | Non-combustible reinforced cementitious lightweight panels and metal frame system for roofing |
| CN105244297A (en) * | 2015-10-30 | 2016-01-13 | 淄博才聚电子科技有限公司 | Testing machine of bridge pile semi-finished products of and detection method thereof |
| CN105324234A (en) * | 2013-06-20 | 2016-02-10 | 蒂森克虏伯普利斯坦股份公司 | Component made of a fiber composite material and process for producing same |
| CN206470133U (en) * | 2017-02-27 | 2017-09-05 | 河北建筑工程学院 | Automatic transporting formula steel panel test machine people |
-
2017
- 2017-02-27 CN CN201710109113.9A patent/CN106644741B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101189396A (en) * | 2005-01-27 | 2008-05-28 | 美国石膏公司 | Non-combustible reinforced cementitious lightweight panels and metal frame system for roofing |
| CN105324234A (en) * | 2013-06-20 | 2016-02-10 | 蒂森克虏伯普利斯坦股份公司 | Component made of a fiber composite material and process for producing same |
| CN105244297A (en) * | 2015-10-30 | 2016-01-13 | 淄博才聚电子科技有限公司 | Testing machine of bridge pile semi-finished products of and detection method thereof |
| CN206470133U (en) * | 2017-02-27 | 2017-09-05 | 河北建筑工程学院 | Automatic transporting formula steel panel test machine people |
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