CN107756183A - Bogie acoustic emission sensor installation system - Google Patents
Bogie acoustic emission sensor installation system Download PDFInfo
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- CN107756183A CN107756183A CN201711076855.2A CN201711076855A CN107756183A CN 107756183 A CN107756183 A CN 107756183A CN 201711076855 A CN201711076855 A CN 201711076855A CN 107756183 A CN107756183 A CN 107756183A
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- bogie
- vertical arm
- dedusting
- arm frame
- slide unit
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Abstract
The invention discloses a kind of bogie acoustic emission sensor installation system, it is related to rail vehicles technical field of nondestructive inspection, including frame and it is located at transverse displacement arrangement and vertical arm frame thereon, vertical arm frame can be under the driving of transverse displacement arrangement along the guide rail transverse shifting of frame side, vertical arm frame is provided with and vertically moves structure and slide unit, slide unit is vertically moved under the driving for vertically moving structure along vertical arm frame, and polishing dedusting manipulator and sensor picking manipulator can be installed on slide unit.The top layer polishing function of any position in whole bogie length and short transverse, and the collection and purification function of the chip such as iron rust, paint and dust are realized using dedusting manipulator of polishing；The sensor installation function of any position in whole bogie length and short transverse is realized by sensor picking manipulator, and automatic dismantling and reset function, so as to realize the demand of bogie acoustic emission detection apparatus automation, detection efficiency and detection quality are improved.
Description
Technical field
The present invention relates to rail vehicles technical field of nondestructive inspection, more particularly to a kind of bogie acoustic emission sensor
Installation system.
Background technology
Bogie as train important component is assembled by the parts and device of rolling stock EEF bogie
Individual components, play supporting body, steering and braking, ensure that rolling stock is safely and smoothly run in orbit.Often
The bogie flaw detection method of rule can only check the defects of crackle of component in the quiescent state, can not detection means carrying and motion
Crack initiation, extension, the situation of fracture under state, thus propose that acoustic emission detection method is applied into bogie crackle dynamic examines
In survey.
If realizing bogie acoustic emission detection, sound emission biography bogie must be placed above at rolling stock inspection and repair scene
16 point positions of sensor carry out grinding process, and iron filings will influence site environment with dust, and must send out 16 sound
Penetrate sensor to be arranged on bogie together with magnet base, after detection is finished and removed, the detection of next bogie could be carried out.
Therefore need to design a kind of automatic installation apparatus of acoustic emission sensor, instead of the heavy labor of people to realize the automatic of detection
Change, so as to improve the high efficiency of bogie detection, high accuracy.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of bogie acoustic emission sensor installation system, not only realize
The function that the top layer polishing of bogie, flying chip are collected, and realize peace of the acoustic emission sensor together with magnet base on bogie
Dress and disassembling function, and its polishing with installation site must all standing in whole bogie length and short transverse, so as to
Meets the needs of bogie sound emission automatic detection.
In order to solve the above technical problems, the technical solution used in the present invention is：
A kind of bogie acoustic emission sensor installation system, including frame, transverse displacement arrangement and vertical arm frame, the frame side
Provided with guide rail, the transverse displacement arrangement is arranged in frame, and the vertical arm frame can be in the driving lower edge of transverse displacement arrangement
Guide rail transverse shifting, the vertical arm frame is provided with and vertically moves structure and slide unit, and the slide unit is vertically moving the drive of structure
Vertically moved under dynamic along vertical arm frame, polishing dedusting manipulator and sensor picking manipulator can be installed on the slide unit, are used for
To bogie polishing dedusting, handling sensor.
Preferably, the transverse displacement arrangement includes transverse arm frame, the first motor and timing belt, and the transverse arm frame both ends are affixed
In frame, the transverse arm frame both ends are respectively equipped with the driving wheel and driven pulley coordinated with timing belt, the driving wheel and first
The output shaft of motor is coaxially fixed, and the vertical arm frame is fixed on timing belt by buckle, driving of the timing belt in the first motor
Lower drive vertical arm frame transverse shifting.
Preferably, the structure that vertically moves includes the output shaft of the second motor and screw rod, the screw rod and the second motor
It is connected, second motor is arranged on vertical arm top of the trellis, and the screw rod is arranged in the middle part of vertical arm frame, and the slide unit is sleeved on screw rod
On, the slide unit can vertically move under the driving of the second motor with the rotation of screw rod along vertical arm frame.
Preferably, the polishing dedusting machinery hand includes workpiece polishing mechanism and dust arrester, the workpiece polishing mechanism include bistrique with
The fine tuning dish that can be connected with slide unit, the bistrique include shield and the impeller driven by drive mechanism, and the impeller is arranged on
Bistrique front end, the shield are connected by collecting pipe with dust arrester, and bistrique rear portion drive mechanism passes through spring and fine tuning dish
It is connected.
Preferably, the main shaft of the drive mechanism is connected by interface arrangment with impeller shank, and the interface arrangment includes
Collet and chuck nut, the collet is hollow tubular and one end is provided with several axial gap, with gap
Collet one end is sleeved on impeller shank, and the collet is cylindrical to be provided with annular boss, the chuck nut endoporus one
End is provided with the groove coordinated with annular boss, and the chuck nut other end is provided with the internal thread coordinated with main shaft.
Preferably, the dust arrester includes dedusting shell, dedusting top cover, dust-collecting box and fan, during the dedusting shell is
Cavity body, the dedusting top cover, which is arranged at the top of dedusting cover top portion and dedusting top cover, is provided with exhaust outlet, and the dust-collecting box is set
In dedusting outer casing bottom, the fan is arranged on the middle and upper part in dedusting shell, and the dust-collecting box is the open hollow shell in top
Body and connected with collecting pipe, screen pack is provided with the top of the dust-collecting box.
Preferably, the sensor picking manipulator includes grasping mechanism and the telescoping mechanism that can be connected with slide unit, institute
State telescoping mechanism by swing mechanism with grasping mechanism to be connected, the telescoping mechanism includes pedestal, horizontal extension part and guiding
Bar, the guiding boom end are fixed on pedestal, and the horizontal extension part is connected by link with guide rod, the pedestal
It can be connected with slide unit, the movable end of the horizontal extension part is connected by floating junction with pedestal, the horizontal extension portion
The part other end is connected with swing mechanism；Described floating junction one end is fixed on pedestal, the other end passes through spherical end surface and level
The movable end of extensible member is connected.
Preferably, the grasping mechanism include with axial prong hand and secondary cleft hand, the axial prong hand and secondary cleft hand with it is to be captured
The profile of sensor and magnet base matches, and the secondary cleft hand is arranged on axial prong hand end；The axial prong hand is to be driven by the cylinder
The parallel air gripper of device driving.
Preferably, the horizontal extension part is horizontal air cylinder, and the piston rod of horizontal air cylinder is connected with pedestal, cylinder body passes through
Connecting plate is connected with swing mechanism；The swing mechanism is vane-type pneumatic rotary actuator, the swing leaf of the vane-type pneumatic rotary actuator
Piece is connected with parallel air gripper.
Preferably, the guide rail and vertical arm frame are two, and two vertical arm framves or so are disposed in parallel on guide rail；The horizontal stroke
To moving structure and to vertically move structure be two sets, two vertical arm framves respectively with two sets transverse displacement arrangements one-to-one corresponding phases
Even, the polishing dedusting manipulator and sensor picking manipulator are separately positioned on the slide unit of two vertical arm framves.
It is using beneficial effect caused by above-mentioned technical proposal：Compared with prior art, it is fixed in the present invention perpendicular
Polishing dedusting manipulator on arm support is by transverse displacement arrangement and vertically moves the cooperation that structure comes, and can not only realize entirely
The top layer polishing function of any position in bogie length and short transverse, and the chips such as iron rust, paint and ash can be realized
The collection and purification function of dirt；By the way that sensor picking manipulator is fixed on vertical arm frame, by transverse displacement arrangement and longitudinal direction
The cooperation that moving structure comes, the sensor installation work(of any position in whole bogie length and short transverse can not only be realized
Can, and automatic dismantling and reset function can be realized, so as to realize the demand of bogie acoustic emission detection apparatus automation, carry
High detection efficiency and detection quality.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation of bogie acoustic emission sensor installation system provided in an embodiment of the present invention；
Fig. 2 is the arrangement schematic diagram of transverse displacement arrangement and vertical arm frame in frame in Fig. 1；
Fig. 3 is Fig. 2 left view；
Fig. 4 is Fig. 2 top view；
Fig. 5 is the structural representation of polishing dedusting manipulator in Fig. 1；
Fig. 6 is Fig. 5 left view；
Fig. 7 is the structural representation of workpiece polishing mechanism in Fig. 5；
Fig. 8 is the top view of dedusting top cover in Fig. 5；
Fig. 9 is the side view of dedusting top cover；
Figure 10 is the top view of fan in Fig. 5；
Figure 11 is the structural representation of sensor picking manipulator in Fig. 1；
Figure 12 is Figure 11 top view；
Figure 13 is the front view of grasping mechanism in Figure 12；
Figure 14 is Figure 13 top view；
Figure 15 is Figure 13 right view；
Figure 16 is the cooperation schematic diagram of link and guide rod in Figure 11；
In figure：1- frames, 2- vertical arm framves, 3- guide rails, 4- slide units, 5- polishing dedusting manipulators, 6- sensor picking manipulators, 7-
Transverse arm frame, the motors of 8- first, 9- timing belts, the motors of 10- second, 11- screw rods, 12- bistriques, 13- fine tuning dish, 14- shields, 15-
Drive mechanism, 16- impellers, 17- collecting pipes, 18- springs, 19- main shafts, 20- collets, 21- chuck nuts, 22- convex annulars
Platform, 23- dedusting shells, 24- dedusting top covers, 25- dust-collecting boxes, 26- fans, 27- exhaust outlets, 28- screen packs, 29- grasping mechanisms,
30- telescoping mechanisms, 31- swing mechanisms, 32- pedestals, 33- horizontal extension parts, 34- guide rods, 35- links, 36- float and connect
Head, 37- axial prong hands, 38- pair cleft hands, 39- connecting plates, 40- guide pads.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1,2, a kind of bogie acoustic emission sensor installation system, including frame 1, transverse displacement arrangement and erect
Arm support 2, the side of frame 1 are provided with guide rail 3, and the transverse displacement arrangement is arranged in frame 1, and the vertical arm frame 2 can be
It is provided with along the transverse shifting of guide rail 3, the vertical arm frame 2 under the driving of transverse displacement arrangement and vertically moves structure and slide unit 4, institute
State slide unit 4 to vertically move along vertical arm frame 2 under the driving for vertically moving structure, polishing dust removal machine can be installed on the slide unit 4
Tool hand 5 and sensor picking manipulator 6, for dedusting of polishing bogie, handling sensor.
Bogie acoustic emission sensor installation system provided by the invention compared with prior art, is fixed on perpendicular in the present invention
Polishing dedusting manipulator on arm support is by transverse displacement arrangement and vertically moves the cooperation that structure comes, and can not only realize entirely
The top layer polishing function of any position in bogie length and short transverse, and the chips such as iron rust, paint and ash can be realized
The collection and purification function of dirt；By the way that sensor picking manipulator is fixed on vertical arm frame, by transverse displacement arrangement and longitudinal direction
The cooperation that moving structure comes, the sensor installation work(of any position in whole bogie length and short transverse can not only be realized
Can, and automatic dismantling and reset function can be realized, so as to realize the demand of bogie acoustic emission detection apparatus automation, carry
High detection efficiency and detection quality.
As a kind of preferred structure of the present invention, referring to Fig. 1-4, the transverse displacement arrangement includes the electricity of transverse arm frame 7, first
Machine 8 and timing belt 9, the both ends of transverse arm frame 7 are fixed in frame 1, and the both ends of transverse arm frame 7 are respectively equipped with matches somebody with somebody with timing belt 9
The driving wheel and driven pulley of conjunction, the output shaft of the driving wheel and the first motor 8 are coaxially fixed, and the vertical arm frame 2 passes through buckle
It is fixed on timing belt 9, timing belt 9 drives the transverse shifting of vertical arm frame 2 under the driving of the first motor 8.Transverse arm frame cross section is U
Shape, its both ends are arranged on the both ends column of frame, and the tensioning of arcuation tooth form synchronous belt is in the driving wheel at transverse arm frame both ends and driven
On wheel, driving wheel and driven pulley are coordinated by embedded bearing with its rotating shaft.
Fig. 2 is referred to, the structure that vertically moves includes the second motor 10 and screw rod 11, the motor of screw rod 11 and second
10 output shaft is connected, and second motor 10 is arranged on the top of vertical arm frame 2, and the screw rod 11 is arranged on the middle part of vertical arm frame 2, institute
State slide unit 4 to be sleeved on screw rod 11, the slide unit 4 can be under the driving of the second motor 10 as the rotation of screw rod 11 is along vertical arm
Frame 2 vertically moves.Screw rod both ends are arranged on vertical arm frame by bearing, if female slide unit coordinates with screw rod, slide unit side
Face can install the module of difference in functionality, so as to move up and down realization polishing dedusting manipulator and sensor pickup machine with slide unit
The motion and positioning of tool hand.
Fig. 3,4 are referred to, guide pad 40 is set with the guide rail 3, guide rail is in rail section pattern, inside sets linear bearing
Guide pad be nested on guide rail and can be achieved to horizontally slip；The vertical arm frame 2 is arranged on guide pad, and vertical arm frame 2 passes through guiding
Block slides laterally along guide rail 3, ensures vertical arm frame along guide rail transverse shifting and without upper and lower play；Utilize guide rail and guide pad pair
Vertical arm erects guiding and supporting role.Polishing dedusting manipulator and sensor picking manipulator are arranged on to the slide unit of vertical arm frame
On, by transverse displacement arrangement and the coordinated movement of various economic factors for vertically moving structure, the horizontal and vertical movement of slide unit is realized, and then realize
Polish all standing of dedusting manipulator and sensor picking manipulator in bogie height and length direction, it is real to pass through control module
Turn now to the accurate polishing of frame and being accurately positioned, installing for sensor.
In one particular embodiment of the present invention, the guide rail 3 and vertical arm frame 2 are two, two vertical arm framves 2 or so
It is set up in parallel on guides 3；The transverse displacement arrangement and to vertically move structure be two sets, two vertical arm framves 2 are respectively with two
Cover transverse displacement arrangement and correspond and be connected, the polishing dedusting manipulator 5 and sensor picking manipulator 6 are separately positioned on two
On the slide unit 4 of individual vertical arm frame 2.First motor of two sets of transverse displacement arrangements is separately positioned on to the left and right ends of frame, two
Vertical arm frame is controlled by two timing belts respectively, and each timing belt drives the transverse shifting of a vertical arm frame.Two slide unit sides point
Not An Zhuan difference in functionality module, upside transverse displacement arrangement and left side vertical arm frame can form the moving machine of polishing dedusting manipulator
Structure, downside transverse displacement arrangement and right side vertical arm frame can form the travel mechanism of sensor picking manipulator.Utilize two slide units
Installation polishing dedusting manipulator and sensor picking manipulator, realize that the polishing dedusting of 16 positions on bogie is worked and sensed
Device installment work, and then complete the installation of acoustic emission sensor, detection work.
In order to meet light-weight design requirement, the frame 1 is tower structure, including left and right pillar and lower and upper cross-member,
Two guide rails 3 are separately positioned on the first motor of the homonymy of lower and upper cross-member, the transverse arm frame both ends and two sets of transverse displacement arrangements
It is separately positioned on left and right pillar.Frame is more convenient processing and fabricating using tower structure, while also mitigates overall weight.Institute
State frame to be welded by aluminum rectangular tube, its height, width and the bogie size of most of different model are mutually fitted
Should.
In a preferred embodiment of the invention, workpiece polishing mechanism is included referring to Fig. 5-10, the polishing dedusting manipulator 5
And dust arrester, the workpiece polishing mechanism include bistrique 12 and the fine tuning dish 13 that can be connected with slide unit 4, the bistrique 12 includes shield
14 and the impeller 16 that is driven by drive mechanism 15, the impeller 16 be arranged on the front end of bistrique 12, the shield 14 passes through collecting pipe
17 are connected with dust arrester, and the rear portion drive mechanism 15 of bistrique 12 is connected by spring 18 with fine tuning dish 13.Wherein, the leaf of bistrique
NCC band handle impeller of the wheel from a diameter of 30mm.Fine tuning dish to be installed on slide unit, dust arrester can be fixed on slide unit side,
The impeller of bistrique is bonded bogie surface, bogie surface is polished under the driving of drive mechanism, utilizes dust arrester
Caused iron filings, dust etc. are collected, ensure that the high efficiency and the feature of environmental protection of polishing.It is special according to the contour structures of bogie
Point, the angle of inclination of bistrique is adjusted by spring, while ensures the stability of polishing；Certain feeding is provided by travel mechanism
Power, using iron rust, paint and the oxide on impeller cross grinding bogie surface, so as to obtain the workpiece for meeting roughness requirements
Surface.It efficiently can easily realize that the polishing dedusting to 16 positions of bogie works using the present invention, and then meet sensing
The mounting condition of device.
Wherein, spring is four and arrangement, upper springs tension, lower springs are pressurized up and down, and four springs are arranged on
On the plectane at both ends, both ends plectane is affixed with drive mechanism housing and fine tuning dish respectively, and fine tuning dish uses the stretching bullet of top two
The connected mode of two spring, lower section compression springs, to offset the Action of Gravity Field of workpiece polishing mechanism, now makes workpiece polishing mechanism keep substantially
It is horizontal.The connection of workpiece polishing mechanism and travel mechanism can be realized using 4 springs, but also can realize it is a range of from
Adapt to angle adjustment.
Fig. 7 is referred to, the drive mechanism 15 includes motor and main shaft 19, and the output shaft and main shaft of the motor are coaxially solid
Fixed, the main shaft is connected by interface arrangment with impeller shank, and the motor output shaft is realized with main shaft by shaft coupling to be coupled.
The main shaft 19 of the drive mechanism 15 is connected by interface arrangment with the shank of impeller 16, and the interface arrangment includes collet 20
With chuck nut 21, the collet 20 is hollow tubular and one end is provided with several axial gap, the spring with gap
The one end of chuck 20 is sleeved on the shank of impeller 16, and the collet 20 is cylindrical to be provided with annular boss 22, the chuck nut 21
Endoporus one end is provided with the groove coordinated with annular boss 22, and the other end of chuck nut 21 is provided with the interior spiral shell coordinated with main shaft 19
Line.The shank of impeller is provided with the raised shaft shoulder, and collet endoporus is provided with the neck coordinated with the shaft shoulder, collet is sleeved on
Impeller shank, then by collet clamping in chuck nut, collet can be securely fixed with the rotation of chuck nut
In impeller shank, impeller is set to possess higher positioning precision and axiality；The front-end of spindle is provided with blind hole, collet afterbody
It can be placed in blind hole, be connected collet and main shaft using chuck nut, and then realize the connection of impeller and main shaft.
In one particular embodiment of the present invention, dedusting shell 23, dedusting are included referring to Fig. 6,8-10, the dust arrester
Top cover 24, dust-collecting box 25 and fan 26, the dedusting shell 23 are hollow cavity, and the dedusting top cover 24 is arranged on dedusting shell
Exhaust outlet 27 is provided with the top of 23 tops and dedusting top cover 24, the dust-collecting box 25 is arranged on the bottom of dedusting shell 23, the fan
26 are arranged on the middle and upper part in dedusting shell 23, and the dust-collecting box 25 is the open hollow housing in top and connected with collecting pipe 17
Logical, the top of dust-collecting box 25 is provided with screen pack 28.Dust-collecting box employs the principle of drawer, along its pull direction on the outside of dust-collecting box
Provided with groove, dedusting enclosure is provided with the projection coordinated with groove, and the two mutual cooperation can realize dust-collecting box outside dedusting
The pull that is loaded of shell.In the course of the work, dedusting top cover is covered on dedusting shell, flabellum rotating band under the driving of its motor
Stream of taking offence is arranged to the outside of dedusting top cover, makes to form negative pressure in dedusting shell, iron filings caused by polishing pass through in the presence of suction
Collecting pipe enter dedusting shell in, by screen pack by iron dust filtration into dust-collecting box, clean air then removing dust top cover arrange
Go out.
In addition, the impeller is surrounded by the dedusting sealing ring being connected with shield, and referring to Fig. 6, the dedusting sealing ring end
Several air inlets are radially provided with face.Wherein, dedusting sealing ring has certain elasticity, its end face open up certain amount with it is big
Small air inlet, air is smoothly entered polishing region, and can make to form negative pressure in shield, iron filings etc. are passed through into receipts
In the dust-collecting box of collector suction deduster.The import of collecting pipe is arranged on below shield, convenient by iron filings, dust caused by polishing
Inspiration collecting pipe；The collecting pipe is flexible pipe, can facilitate random adjustment position.Wherein, the dedusting shell has excellent sealing
Structure, to ensure enough negative pressure, shell is provided with the dedusting sealing ring of certain air inlet at bistrique, so as to establish inner chamber
Negative pressure, and air is entered polishing region at air inlet, drive iron filings etc. to enter in shield, enter back into collecting pipe and collection
In dirt box.
As a preferred embodiment of the present invention, referring to Figure 11-16, the sensor picking manipulator 6 includes crawl
Mechanism 29 and the telescoping mechanism 30 that can be connected with slide unit 4, the telescoping mechanism 30 pass through swing mechanism 31 and grasping mechanism 29
It is connected, the telescoping mechanism 30 includes pedestal 32, horizontal extension part 33 and guide rod 34, and the end of guide rod 34 is fixed on
On pedestal 32, the horizontal extension part 33 is connected by link 35 with guide rod 34, and the pedestal 32 can be with the phase of slide unit 4
Even, the movable end of the horizontal extension part 33 is connected by floating junction 36 with pedestal 32, and the horizontal extension part 33 is another
One end is connected with swing mechanism 31；Described one end of floating junction 36 is fixed on pedestal 32, the other end passes through spherical end surface and water
The movable end of flat extensible member 33 is connected.Wherein, the guide rod is two, is consolidated in the middle part of the link with horizontal air cylinder cylinder body
Connect, top and the bottom are set on guide rod.
Such as Figure 13-15, the grasping mechanism 29 includes and axial prong hand 37 and secondary cleft hand 38, the axial prong hand 37 and secondary cleft hand
38 match with the profile of sensor to be captured and magnet base, and the secondary cleft hand 38 is arranged on the end of axial prong hand 37；The master
Cleft hand 37 is the parallel air gripper driven by cylinder actuator.
Wherein, the horizontal extension part 33 is horizontal air cylinder, and the piston rod of horizontal air cylinder is connected with pedestal 32, cylinder body leads to
Connecting plate 39 is crossed with swing mechanism 31 to be connected；The swing mechanism 31 is vane-type pneumatic rotary actuator, the vane-type pneumatic rotary actuator
Oscillating vane be connected with parallel air gripper.By joint part of the vane-type pneumatic rotary actuator as handling module, it can realize and grab
The pitching function of modulus block, drive handling module to swing up and down 90 °, realize from workbench to bogie mounting surface locus
Change.According to size sensor and its it is fixed with the structure determination parallel air gripper of magnet base be fixture, to realize sensor and magnetic
Power seat grips simultaneously, designs the axial prong hand pair cleft hand being consistent with both contour structures, realizes sensor and its magnet base once
Property crawl.
Because slight oscillatory phenomenon occurs in horizontal air cylinder piston rod in operation process, ensure piston using floating junction
Bar belongs to flexible connection with pedestal, prevents piston rod from being deformed in swing process, while ensure that level using guide rod
The rigidity and guidance quality in direction.The Automated condtrol of sensor installing/dismounting action can be realized using the construction machine hand, and
Working environment cleans；Each execution unit uses modularized design, is easily assembled, is easily changed.
The concrete application process of the sensor picking manipulator is as follows：It is equal in original state horizontal air cylinder and parallel air gripper
It is horizontal level, horizontal air cylinder is retracted；Vane-type pneumatic rotary actuator turns clockwise 90 °, and parallel air gripper is accurately positioned biography after opening
Sensor position, sensor and magnet base are clamped using axial prong hand and secondary cleft hand, completes picking action；Pick up sensor rear blade formula
90 ° of oscillating cylinder rotate counterclockwise, parallel air gripper reach horizontal level, and horizontal air cylinder stretches out, and drives sensor to reach bogie
Installation surface；Absorption is on bogie under magnet effect for magnet base, after completion sensor installation is fixed, parallel air gripper
Open, axial prong hand and secondary cleft hand is unclamped sensor, horizontal air cylinder is retracted, restPosed.After the completion of detection, institute is dismantled successively
There is sensor, and sensor is put back to workbench, horizontal air cylinder extension, parallel air gripper opens, is accurately positioned and is fixedly clamped
Magnet base and sensor on bogie；Horizontal air cylinder is retracted, and magnet base and sensor remove from truck side frame surface, this
Process needs larger power, can there is certain impact influence on structure；Vane-type pneumatic rotary actuator turns clockwise 90 °, parallel air gripper
Open, sensor puts back to workbench；90 ° of vane-type pneumatic rotary actuator counter-clockwise swing, parallel air gripper returns to horizontal level, is moving
Next removal sensor position is positioned under the driving of motivation structure, prepares the dismounting of next sensor.
In summary, the present invention is simple and compact for structure, realizes light-weight design, and impulsive force is small in operation process, is advantageous to
The drive control of integrated model.Sensor and magnet base can be rapidly mounted and dismounted using the present invention, is put using vane type
Take offence cylinder and handling module can realize that accurately pickup sensor and magnet base, clamping are transferred to completion of having polished from workbench
Bogie mounting surface position, make sensor installation in place by magnet base, and upon completion of the assays can to sensor with
Magnet base is dismantled, and is played back to workbench initial position.Horizontal air cylinder, oscillating cylinder and parallel air gripper are pneumatic driving
Dynamic element, convenient control, and working environment cleans；Modularized design simultaneously, it is more convenient assembling and changes.Met using the present invention
The demand of bogie acoustic emission detection apparatus automation, improve detection efficiency and detection quality.
Many details are elaborated in superincumbent description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by particular embodiments disclosed above.
Claims (10)
- A kind of 1. bogie acoustic emission sensor installation system, it is characterised in that：Including frame, transverse displacement arrangement and vertical arm Frame, the frame side are provided with guide rail, and the transverse displacement arrangement is arranged in frame, and the vertical arm frame can be in transverse shifting Along guide rail transverse shifting under the driving of structure, the vertical arm frame, which is provided with, vertically moves structure and slide unit, and the slide unit is vertical Vertically moved under to the driving of moving structure along vertical arm frame, polishing dedusting manipulator can be installed on the slide unit and sensor picks up Manipulator is taken, for dedusting of polishing bogie, handling sensor.
- 2. bogie acoustic emission sensor installation system according to claim 1, it is characterised in that：The transverse shifting knot Structure includes transverse arm frame, the first motor and timing belt, and the transverse arm frame both ends are fixed in frame, and the transverse arm frame both ends are set respectively There is the driving wheel and driven pulley coordinated with timing belt, the output shaft of the driving wheel and the first motor is coaxially fixed, the vertical arm Frame is fixed on timing belt by buckle, and timing belt drives vertical arm frame transverse shifting under the driving of the first motor.
- 3. bogie acoustic emission sensor installation system according to claim 2, it is characterised in that：It is described to vertically move knot Structure includes the second motor and screw rod, and the screw rod is connected with the output shaft of the second motor, and second motor is arranged on vertical arm frame Top, the screw rod are arranged in the middle part of vertical arm frame, and the slide unit is sleeved on screw rod, and the slide unit can drive in the second motor Under vertically moved with the rotation of screw rod along vertical arm frame.
- 4. bogie acoustic emission sensor installation system according to claim 1, it is characterised in that：The polishing dust removal machine Tool hand includes workpiece polishing mechanism and dust arrester, and the workpiece polishing mechanism includes bistrique and the fine tuning dish that can be connected with slide unit, the mill Head includes shield and the impeller driven by drive mechanism, and the impeller is arranged on bistrique front end, the shield by collecting pipe with Dust arrester is connected, and bistrique rear portion drive mechanism is connected by spring with fine tuning dish.
- 5. bogie acoustic emission sensor installation system according to claim 4, it is characterised in that：The drive mechanism Main shaft is connected by interface arrangment with impeller shank, and the interface arrangment includes collet and chuck nut, the spring clip Head is provided with several axial gap for hollow tubular and one end, and collet one end with gap is sleeved on impeller shank, The collet is cylindrical to be provided with annular boss, and described chuck nut endoporus one end is provided with the groove coordinated with annular boss, institute State the chuck nut other end and be provided with the internal thread coordinated with main shaft.
- 6. bogie acoustic emission sensor installation system according to claim 4, it is characterised in that：The dust arrester includes Dedusting shell, dedusting top cover, dust-collecting box and fan, the dedusting shell are hollow cavity, and the dedusting top cover is arranged on dedusting Exhaust outlet is provided with the top of cover top portion and dedusting top cover, the dust-collecting box is arranged on dedusting outer casing bottom, and the fan is arranged on Middle and upper part in dedusting shell, the dust-collecting box are the open hollow housing in top and connected with collecting pipe, the dust-collecting box top Portion is provided with screen pack.
- 7. bogie acoustic emission sensor installation system according to claim 1, it is characterised in that：The sensor pickup Manipulator includes grasping mechanism and the telescoping mechanism that can be connected with slide unit, and the telescoping mechanism passes through swing mechanism and gripper Structure is connected, and the telescoping mechanism includes pedestal, horizontal extension part and guide rod, and the guiding boom end is fixed on pedestal, The horizontal extension part is connected by link with guide rod, and the pedestal can be connected with slide unit, the horizontal extension portion The movable end of part is connected by floating junction with pedestal, and the horizontal extension part other end is connected with swing mechanism；It is described floating It is dynamic that joint one end is fixed on pedestal, the other end is connected by spherical end surface with the movable end of horizontal extension part.
- 8. bogie acoustic emission sensor installation system according to claim 7, it is characterised in that：The grasping mechanism bag Include and match with axial prong hand and secondary cleft hand, the profile of the axial prong hand and secondary cleft hand and sensor to be captured and magnet base, institute State secondary cleft hand and be arranged on axial prong hand end；The axial prong hand is the parallel air gripper driven by cylinder actuator.
- 9. bogie acoustic emission sensor installation system according to claim 8, it is characterised in that：The horizontal extension portion Part is horizontal air cylinder, and the piston rod of horizontal air cylinder is connected with pedestal, cylinder body is connected by connecting plate with swing mechanism；The swing Mechanism is vane-type pneumatic rotary actuator, and the oscillating vane of the vane-type pneumatic rotary actuator is connected with parallel air gripper.
- 10. the bogie acoustic emission sensor installation system according to claim any one of 1-9, it is characterised in that：It is described Guide rail and vertical arm frame are two, and two vertical arm framves or so are disposed in parallel on guide rail；The transverse displacement arrangement and longitudinal direction are moved Dynamic structure is two sets, and two vertical arm framves correspond with two sets of transverse displacement arrangements respectively to be connected, the polishing dedusting machinery Hand and sensor picking manipulator are separately positioned on the slide unit of two vertical arm framves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711076855.2A CN107756183B (en) | 2017-11-06 | 2017-11-06 | Bogie acoustic emission sensor installation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711076855.2A CN107756183B (en) | 2017-11-06 | 2017-11-06 | Bogie acoustic emission sensor installation system |
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| CN107756183A true CN107756183A (en) | 2018-03-06 |
| CN107756183B CN107756183B (en) | 2019-06-21 |
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| JP2002321671A (en) * | 2001-04-27 | 2002-11-05 | Nissan Motor Co Ltd | Work assembling device and method |
| CN102430906A (en) * | 2011-08-29 | 2012-05-02 | 江苏中辆科技有限公司 | Special portal-type bolster frame assembly manipulator for truck bogie production line |
| CN205817846U (en) * | 2016-07-21 | 2016-12-21 | 中山市鑫光智能系统有限公司 | A kind of three axle turnover mechanical hands |
| CN205852794U (en) * | 2016-06-15 | 2017-01-04 | 深圳市德士康科技有限公司 | Vac sorb catching robot |
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2017
- 2017-11-06 CN CN201711076855.2A patent/CN107756183B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002321671A (en) * | 2001-04-27 | 2002-11-05 | Nissan Motor Co Ltd | Work assembling device and method |
| CN102430906A (en) * | 2011-08-29 | 2012-05-02 | 江苏中辆科技有限公司 | Special portal-type bolster frame assembly manipulator for truck bogie production line |
| CN205852794U (en) * | 2016-06-15 | 2017-01-04 | 深圳市德士康科技有限公司 | Vac sorb catching robot |
| CN205817846U (en) * | 2016-07-21 | 2016-12-21 | 中山市鑫光智能系统有限公司 | A kind of three axle turnover mechanical hands |
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| Publication number | Publication date |
|---|---|
| CN107756183B (en) | 2019-06-21 |
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