CN107756183B - Bogie acoustic emission sensor installation system - Google Patents
Bogie acoustic emission sensor installation system Download PDFInfo
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- CN107756183B CN107756183B CN201711076855.2A CN201711076855A CN107756183B CN 107756183 B CN107756183 B CN 107756183B CN 201711076855 A CN201711076855 A CN 201711076855A CN 107756183 B CN107756183 B CN 107756183B
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- bogie
- vertical arm
- arm frame
- dedusting
- slide unit
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Abstract
The invention discloses a kind of bogie acoustic emission sensor installation systems, it is related to rail vehicles technical field of nondestructive inspection, including rack 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 rack side, vertical arm frame is equipped with longitudinal movement structure and slide unit, slide unit vertically moves under the driving of longitudinal movement structure along vertical arm frame, and polishing dedusting manipulator and sensor picking manipulator can be installed on slide unit.The collection and purification function of the clasts such as the surface layer polishing function of any position and iron rust, paint and dust in entire bogie length and short transverse is realized using polishing dedusting manipulator；The sensor installation function of any position in entire bogie length and short transverse is realized by sensor picking manipulator, and automatic dismantling and reset function, 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 sensors
Installation system.
Background technique
Bogie as train important component is assembled by the components and device of rolling stock EEF bogie
Individual components, play supporting body, steering and braking, guarantee 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 movement
Under state the case where crack initiation, extension, fracture, thus propose that acoustic emission detection method is applied to bogie crackle dynamic to be examined
In survey.
If realizing bogie acoustic emission detection, sound emission must be placed above to bogie at rolling stock inspection and repair scene and pass
16 points of sensor carry out grinding process, and iron filings and dust will influence site environment, and must send out 16 sound
It penetrates sensor to be mounted on bogie together with magnet base, after detection is finished and removed, just can be carried out the detection of next bogie.
Therefore the automatic installation apparatus for needing to design a kind of acoustic emission sensor, instead of the heavy labor of people to realize the automatic of detection
Change, to improve the high efficiency of bogie detection, high accuracy.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of bogie acoustic emission sensor installation systems, not only realize
The function that the surface 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 entire bogie length and short transverse, thus
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 rack, transverse displacement arrangement and vertical arm frame, the rack
Side is equipped with guide rail, and the transverse displacement arrangement is arranged on the rack, and the vertical arm frame can be in the driving of transverse displacement arrangement
Under along guide rail transverse shifting, the vertical arm frame is equipped with longitudinal movement structure and slide unit, and the slide unit is in longitudinal movement structure
Driving under vertically moved along vertical arm frame, polishing dedusting manipulator and sensor picking manipulator can be installed along the slide unit,
For to bogie polishing dedusting, handling sensor.
Preferably, the transverse displacement arrangement includes transverse arm frame, first motor and synchronous belt, and transverse arm frame both ends are affixed
On the rack, transverse arm frame both ends are respectively equipped with driving wheel and driven wheel with synchronous belt cooperation, the driving wheel and first
The output shaft of motor is coaxially fixed, and the vertical arm frame is fixed on synchronous belt by buckle, driving of the synchronous belt in first motor
Lower drive vertical arm frame transverse shifting.
Preferably, the longitudinal movement structure includes the second motor and screw rod, the output shaft of the screw rod and the second motor
It is connected, the second motor setting is in 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 be vertically moved with the rotation of screw rod along vertical arm frame under the second motor driven.
Preferably, the polishing dedusting machinery hand includes workpiece polishing mechanism and dust arrester, the workpiece polishing mechanism include bistrique and
The fine tuning dish that can be connected with slide unit, the bistrique include shield and the impeller by driving mechanism driving, and the impeller setting exists
Bistrique front end, the shield are connected by collecting pipe with dust arrester, and bistrique rear portion driving mechanism passes through spring and fine tuning dish
It is connected.
Preferably, the main shaft of the driving mechanism is connected by clamping structure with impeller shank, and the clamping structure includes
Collet and chuck nut, the collet is hollow tubular and one end is equipped with several axial gap, with gap
Collet one end is sleeved on impeller shank, and the collet outer circle is equipped with annular convex platform, the chuck nut inner hole one
End is equipped with the groove cooperated with annular convex platform, and the chuck nut other end is equipped with the internal screw thread cooperated 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 equipped with exhaust outlet, the dust-collecting box setting
In dedusting outer casing bottom, the middle and upper part in dedusting shell is arranged in the fan, and the dust-collecting box is the hollow shell of top opening
It body and is connected to collecting pipe, filter screen is equipped at 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
It states telescoping mechanism to be connected by swing mechanism with grasping mechanism, the telescoping mechanism includes pedestal, horizontal extension component and guiding
Bar, the guiding boom end are fixed on pedestal, and the horizontal extension component is connected by connection frame with guide rod, the pedestal
It can be connected with slide unit, the movable end of the horizontal extension component 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 affixed on the base, 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 pair cleft hand with it is to be captured
The shape of sensor and magnet base matches, and the pair cleft hand is arranged in 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 component 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 cross
It is two sets to moving structure and longitudinal movement structure, two vertical arm framves correspond phase with two sets of transverse displacement arrangements respectively
Even, the polishing dedusting manipulator and sensor picking manipulator are separately positioned on the slide unit of two vertical arm framves.
The beneficial effects of adopting the technical scheme are that compared with prior art, being fixed in the present invention perpendicular
On cantilever crane polishing dedusting manipulator by transverse displacement arrangement and longitudinal movement structure come cooperation, can not only realize entirely
The surface layer polishing function of any position in bogie length and short transverse, and can be realized the clasts such as iron rust, paint and ash
The collection and purification function of dirt；By the way that sensor picking manipulator to be fixed on vertical arm frame, by transverse displacement arrangement and longitudinal direction
The cooperation that moving structure comes can not only realize the sensor installation function of any position in entire bogie length and short transverse
Can, and can be realized automatic dismantling and reset function, to realize the demand of bogie acoustic emission detection apparatus automation, mention
High detection efficiency and detection quality.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structural schematic diagram 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 on the rack in Fig. 1；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the top view of Fig. 2；
Fig. 5 is the structural schematic diagram of polishing dedusting manipulator in Fig. 1；
Fig. 6 is the left view of Fig. 5；
Fig. 7 is the structural schematic diagram 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 schematic diagram of sensor picking manipulator in Fig. 1；
Figure 12 is the top view of Figure 11；
Figure 13 is the main view of grasping mechanism in Figure 12；
Figure 14 is the top view of Figure 13；
Figure 15 is the right view of Figure 13；
Figure 16 is the cooperation schematic diagram of connection frame and guide rod in Figure 11；
In figure: 1- rack, 2- vertical arm frame, 3- guide rail, 4- slide unit, 5- polishing dedusting manipulator, 6- sensor picks up mechanical
Hand, 7- transverse arm frame, 8- first motor, 9- synchronous belt, the second motor of 10-, 11- screw rod, 12- bistrique, 13- fine tuning dish, 14- shield
Cover, 15- driving mechanism, 16- impeller, 17- collecting pipe, 18- spring, 19- main shaft, 20- collet, 21- chuck nut, 22-
Annular convex platform, 23- dedusting shell, 24- dedusting top cover, 25- dust-collecting box, 26- fan, 27- exhaust outlet, 28- filter screen, 29- are grabbed
Take mechanism, 30- telescoping mechanism, 31- swing mechanism, 32- pedestal, 33- horizontal extension component, 34- guide rod, 35- connection frame,
36- floating junction, 37- axial prong hand, 38- pair cleft hand, 39- connecting plate, 40- guide pad.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig. 1,2, a kind of bogie acoustic emission sensor installation system, including rack 1, transverse displacement arrangement and erects
Cantilever crane 2,1 side of rack are equipped with guide rail 3, and the transverse displacement arrangement is arranged in rack 1, and the vertical arm frame 2 can be
Along 3 transverse shifting of guide rail under the driving of transverse displacement arrangement, the vertical arm frame 2 is equipped with longitudinal movement structure and slide unit 4, institute
It states slide unit 4 to vertically move under the driving of longitudinal movement structure along vertical arm frame 2, polishing dust removal machine can be installed on the slide unit 4
Tool hand 5 and sensor picking manipulator 6, for bogie polishing dedusting, handling sensor.
Bogie acoustic emission sensor installation system provided by the invention compared with prior art, is fixed on perpendicular in the present invention
On cantilever crane polishing dedusting manipulator by transverse displacement arrangement and longitudinal movement structure come cooperation, can not only realize entirely
The surface layer polishing function of any position in bogie length and short transverse, and can be realized the clasts such as iron rust, paint and ash
The collection and purification function of dirt；By the way that sensor picking manipulator to be fixed on vertical arm frame, by transverse displacement arrangement and longitudinal direction
The cooperation that moving structure comes can not only realize the sensor installation function of any position in entire bogie length and short transverse
Can, and can be realized automatic dismantling and reset function, to realize the demand of bogie acoustic emission detection apparatus automation, mention
High detection efficiency and detection quality.
As a kind of preferred structure of the invention, referring to Fig. 1-4, the transverse displacement arrangement includes the 7, first electricity of transverse arm frame
Machine 8 and synchronous belt 9,7 both ends of transverse arm frame are fixed in rack 1, and 7 both ends of transverse arm frame are respectively equipped with matches with synchronous belt 9
The driving wheel and driven wheel of conjunction, the driving wheel and the output shaft of first motor 8 are coaxially fixed, and the vertical arm frame 2 passes through buckle
It is fixed on synchronous belt 9, synchronous belt 9 drives 2 transverse shifting of vertical arm frame under the driving of first motor 8.Transverse arm frame cross section is U
Shape, both ends are mounted on the both ends column of rack, 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 wheel are cooperated by embedded bearing and its shaft.
Fig. 2 is referred to, the longitudinal movement structure includes the second motor 10 and screw rod 11, the screw rod 11 and the second motor
10 output shaft is connected, and the setting of the second motor 10 is at 2 top of vertical arm frame, and the setting of screw rod 11 is in 2 middle part of vertical arm frame, institute
It states 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 mounted on vertical arm frame by bearing, if internal thread slide unit and screw rod cooperate, slide unit side
The module of the mountable different function in face, to move up and down realization polishing dedusting manipulator and sensor pickup machine with slide unit
The movement and positioning of tool hand.
Fig. 3,4 are referred to, guide pad 40 is set on the guide rail 3, guide rail is in rail section pattern, inside sets linear bearing
Guide pad be nested in and can be achieved to horizontally slip on guide rail；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, guarantees 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 mounted on to the slide unit of vertical arm frame
On, by the coordinated movement of various economic factors of transverse displacement arrangement and longitudinal movement structure, realize the horizontal and vertical movement of slide unit, and then realize
Polishing dedusting manipulator and sensor picking manipulator pass through control module reality in all standing of bogie height and length direction
Turn now to the accurate polishing and the accurate positioning of sensor, installation of frame.
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 side by side on guides 3；The transverse displacement arrangement and longitudinal movement structure are two sets, and two vertical arm framves 2 are respectively with two
It covers transverse displacement arrangement and corresponds and be connected, the polishing dedusting manipulator 5 and sensor picking manipulator 6 are separately positioned on two
On the slide unit 4 of a vertical arm frame 2.The first motor of two sets of transverse displacement arrangements is separately positioned on to the left and right ends of rack, two
Vertical arm frame is controlled by two synchronous belts respectively, and each synchronous belt drives the transverse shifting of a vertical arm frame.Two slide unit sides point
Not An Zhuan different function module, upside transverse displacement arrangement and left side vertical arm frame constitute the moving machine of polishing dedusting manipulator
Structure, downside transverse displacement arrangement and right side vertical arm frame constitute the mobile mechanism of sensor picking manipulator.Utilize two slide units
Installation polishing dedusting manipulator and sensor picking manipulator realize the polishing dedusting work and sensing of 16 positions on bogie
Device installment work, and then complete the installation of acoustic emission sensor, detection work.
In order to meet light-weight design requirement, the rack 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 ipsilateral of lower and upper cross-member, transverse arm frame both ends and two sets of transverse displacement arrangements
It is separately positioned on left and right pillar.Rack is more convenient processing and fabricating using tower structure, while also mitigating overall weight.Institute
It states rack to be welded by aluminum rectangular tube, height, width and the bogie size of most of different model are mutually fitted
It answers.
In a preferred embodiment of the invention, referring to Fig. 5-10, the polishing dedusting manipulator 5 includes workpiece polishing mechanism
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 driving mechanism 15, the impeller 16 be arranged in 12 front end of bistrique, the shield 14 passes through collecting pipe
17 are connected with dust arrester, and the 12 rear portion driving mechanism 15 of bistrique is connected by spring 18 with fine tuning dish 13.Wherein, the leaf of bistrique
Wheel selects the Black King Kong band handle impeller that diameter is 30mm.Fine tuning dish to be installed on slide unit, dust arrester can be fixed on slide unit side,
So that the impeller of bistrique is bonded bogie surface, polishes under the driving of driving mechanism bogie surface, utilize dust arrester
Iron filings, the dust etc. of generation 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 tilt angle of bistrique is adjusted by spring, while guaranteeing the stability of polishing；Certain feeding is provided by mobile mechanism
Power, using iron rust, paint and the oxide on impeller cross grinding bogie surface, 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, which is mounted 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 two stretching bullets in top
Spring, two compressed springs in lower section connection type keep workpiece polishing mechanism substantially at this time to offset the gravity of workpiece polishing mechanism
It is horizontal.Can be realized the connection of workpiece polishing mechanism and mobile mechanism using 4 springs, but also can be realized it is a certain range of from
Adapt to angle adjustment.
Fig. 7 is referred to, the driving 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 clamping structure with impeller shank, and the motor output shaft is coupled with main shaft by shaft coupling realization.
The main shaft 19 of the driving mechanism 15 is connected by clamping structure with 16 shank of impeller, and the clamping structure includes collet 20
With chuck nut 21, the collet 20 is hollow tubular and one end is equipped with several axial gap, the spring with gap
20 one end of collet is sleeved on 16 shank of impeller, and 20 outer circle of collet is equipped with annular convex platform 22, the chuck nut 21
Inner hole one end is equipped with the groove cooperated with annular convex platform 22, and 21 other end of chuck nut is equipped with the interior spiral shell cooperated with main shaft 19
Line.The shank of impeller is equipped with the shaft shoulder of protrusion, and collet inner hole is equipped with the card slot cooperated with the shaft shoulder, collet is sleeved on
Impeller shank, then by collet clamping in chuck nut, as the rotation of chuck nut can securely fix collet
In impeller shank, impeller is made to possess higher positioning accuracy and concentricity；The front-end of spindle is equipped with blind hole, collet tail portion
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, referring to Fig. 6,8-10, the dust arrester includes dedusting shell 23, dedusting
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 in dedusting shell
Exhaust outlet 27 is equipped at the top of 23 tops and dedusting top cover 24, the dust-collecting box 25 is arranged in 23 bottom of dedusting shell, the fan
26 are arranged in the middle and upper part in dedusting shell 23, and the dust-collecting box 25 is the hollow housing of top opening and connects with collecting pipe 17
It is logical, filter screen 28 is equipped at the top of the dust-collecting box 25.Dust-collecting box uses the principle of drawer, outer its pull direction of lateral edge of dust-collecting box
Equipped with groove, dedusting interior of shell is equipped with the protrusion cooperated with groove, and dust-collecting box may be implemented outside dedusting in the two mutual cooperation
The pull that is loaded of shell.During the work time, dedusting top cover is covered on dedusting shell, flabellum rotates 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, the iron filings for generation of polishing pass through under the action of suction
Collecting pipe enters in dedusting shell, by filter screen by iron dust filtration into dust-collecting box, clean air is then arranged through dedusting top cover
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 on face.Wherein, dedusting sealing ring has certain elasticity, and end face opens up certain amount and big
Small air inlet not only makes air can smoothly enter into polishing region, but also can make to form negative pressure in shield, and iron filings etc. are passed through receipts
Collector sucks in the dust-collecting box of deduster.The import of collecting pipe is arranged below shield, facilitates the iron filings for generating polishing, dust
Inspiration collecting pipe；The collecting pipe is hose, conveniently can arbitrarily adjust position.Wherein, the dedusting shell has excellent sealing
Structure, to guarantee enough negative pressure, at bistrique shell be equipped with certain air inlet dedusting sealing ring, so as to establish inner cavity
Negative pressure, and air is allow to enter polishing region from air inlet, it drives iron filings etc. to enter in shield, enters back into collecting pipe sum aggregate
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 component 33 and guide rod 34, and 34 end of guide rod is fixed on
On pedestal 32, the horizontal extension component 33 is connected by connection frame 35 with guide rod 34, and the pedestal 32 can be with 4 phase of slide unit
Even, the movable end of the horizontal extension component 33 is connected by floating junction 36 with pedestal 32, and the horizontal extension component 33 is another
One end is connected with swing mechanism 31；Described 36 one end of floating junction 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, solid with horizontal air cylinder cylinder body in the middle part of the connection frame
It connects, 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 shape of sensor to be captured and magnet base, and the pair cleft hand 38 is arranged in 37 end of axial prong hand；The master
Cleft hand 37 is the parallel air gripper driven by cylinder actuator.
Wherein, the horizontal extension component 33 is horizontal air cylinder, and the piston rod of horizontal air cylinder is connected with pedestal 32, cylinder body is logical
Connecting plate 39 is crossed to be connected with swing mechanism 31；The swing mechanism 31 is vane-type pneumatic rotary actuator, the vane-type pneumatic rotary actuator
Oscillating vane be connected with parallel air gripper.Joint part by vane-type pneumatic rotary actuator as handling module, can be realized and grab
The pitching function of modulus block drives handling module to swing up and down 90 °, realizes from workbench to bogie mounting surface spatial position
Change.Structure determination parallel air gripper according to size sensor and its fixed magnet base is fixture, to realize sensor and magnetic
Power seat clamps simultaneously, design with both the axial prong hand pair cleft hand that is consistent of contour structures, realization sensor and its magnet base it is primary
Property crawl.
Since horizontal air cylinder piston rod will appear slight oscillatory phenomenon in operation process, guarantee piston using floating junction
Bar and pedestal belong to flexible connection, prevent piston rod from deforming during the swing, while ensure that level using guide rod
The rigidity and guiding performance in direction.It can be realized the automation control of sensor installing and dismounting movement using the construction machine hand, and
Working environment cleaning；Each execution unit uses modularized design, is easily assembled, is easily changed.
The concrete application process of the sensor picking manipulator is as follows: equal in original state horizontal air cylinder and parallel air gripper
It is horizontal position, horizontal air cylinder retracts；Vane-type pneumatic rotary actuator rotates clockwise 90 °, and parallel air gripper is accurately positioned after opening and passes
Sensor position clamps sensor and magnet base using axial prong hand and secondary cleft hand, completes picking action；Pick up sensor rear blade formula
Oscillating cylinder is rotated by 90 ° counterclockwise, and parallel air gripper reaches horizontal position, and horizontal air cylinder stretches out, and sensor is driven to reach bogie
Mounting surface；Magnet base is adsorbed on bogie under magnet effect, after completion sensor installation is fixed, parallel air gripper
It opens, so that axial prong hand and secondary cleft hand is unclamped sensor, horizontal air cylinder is retracted, restPosed.After the completion of detection, institute is successively dismantled
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 retracts, and magnet base and sensor are removed from truck side frame surface, this
Process needs biggish power, can there is certain impact influence on structure；Vane-type pneumatic rotary actuator rotates clockwise 90 °, parallel air gripper
It opens, sensor puts back to workbench；90 ° of vane-type pneumatic rotary actuator counter-clockwise swing, parallel air gripper returns to horizontal position, is moving
Next removal sensor position is positioned under the driving of motivation structure, prepares the disassembly of next sensor.
In conclusion the configuration of the present invention is simple is compact, light-weight design is realized, impact force is small in operation process, is conducive to
The drive control of overall mechanism.Sensor and magnet base can be mounted and dismounted rapidly using the present invention, is put using vane type
It takes offence cylinder and handling module can be realized and accurately pick up sensor and magnet base from workbench, clamping is transferred to completion of having polished
Bogie mounting surface position, keep sensor installation in place by magnet base, and upon completion of the assays can to sensor with
Magnet base is dismantled, and workbench initial position is played back to.Horizontal air cylinder, oscillating cylinder and parallel air gripper are pneumatic driving
Dynamic element facilitates control, and working environment cleans；Modularized design simultaneously is more convenient assembly and replacement.Met using the present invention
The demand of bogie acoustic emission detection apparatus automation improves detection efficiency and detection quality.
Many details are elaborated in the above description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented using other than the one described here other way, 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 (9)
1. a kind of bogie acoustic emission sensor installation system, it is characterised in that: including rack, transverse displacement arrangement and vertical arm
Frame, the rack side are equipped with guide rail, and the transverse displacement arrangement is arranged on the rack, and the vertical arm frame can be in transverse shifting
Along guide rail transverse shifting under the driving of structure, the vertical arm frame is equipped with longitudinal movement structure and slide unit, and the slide unit is vertical
It is vertically moved under to the driving of moving structure along vertical arm frame, installation polishing dedusting manipulator and sensor pickup machine on the slide unit
Tool hand, for bogie polishing dedusting, handling sensor；The transverse displacement arrangement includes transverse arm frame, first motor and same
Walk band, transverse arm frame both ends are affixed on the rack, transverse arm frame both ends be respectively equipped with synchronous belt cooperation driving wheel and
The output shaft of driven wheel, the driving wheel and first motor is coaxially fixed, and the vertical arm frame is fixed on synchronous belt by buckle,
Synchronous belt drives vertical arm frame transverse shifting under the driving of first motor.
2. bogie acoustic emission sensor installation system according to claim 1, it is characterised in that: the longitudinal movement 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 in 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 be in the second motor driven
Under with screw rod rotation along vertical arm frame vertically move.
3. 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 that is driven by driving mechanism, impeller setting in bistrique front end, the shield by collecting pipe with
Dust arrester is connected, and bistrique rear portion driving mechanism is connected by spring with fine tuning dish.
4. bogie acoustic emission sensor installation system according to claim 3, it is characterised in that: the driving mechanism
Main shaft is connected by clamping structure with impeller shank, and the clamping structure includes collet and chuck nut, the spring clip
Head is hollow tubular and one end is equipped with several axial gap, and collet one end with gap is sleeved on impeller shank,
The collet outer circle is equipped with annular convex platform, and chuck nut inner hole one end is equipped with the groove cooperated with annular convex platform, institute
It states the chuck nut other end and is equipped with the internal screw thread cooperated with main shaft.
5. bogie acoustic emission sensor installation system according to claim 3, 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 in dedusting
Exhaust outlet is equipped at the top of cover top portion and dedusting top cover, the dust-collecting box setting exists in dedusting outer casing bottom, the fan setting
Middle and upper part in dedusting shell, the dust-collecting box are the hollow housing of top opening and are connected to collecting pipe, the dust-collecting box top
Portion is equipped with filter screen.
6. bogie acoustic emission sensor installation system according to claim 1, it is characterised in that: the sensor picks up
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 component and guide rod, and the guiding boom end is fixed on pedestal,
The horizontal extension component is connected by connection frame 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 component other end is connected with swing mechanism；It is described floating
Dynamic connector one end is affixed on the base, the other end is connected by spherical end surface with the movable end of horizontal extension component.
7. bogie acoustic emission sensor installation system according to claim 6, it is characterised in that: the grasping mechanism packet
Include axial prong hand and secondary cleft hand, the shape of the axial prong hand and secondary cleft hand and sensor to be captured and magnet base matches, described
Secondary cleft hand is arranged in axial prong hand end；The axial prong hand is the parallel air gripper driven by cylinder actuator.
8. bogie acoustic emission sensor installation system according to claim 7, 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, and cylinder body is connected by connecting plate with swing mechanism；The pendulum
Motivation structure is vane-type pneumatic rotary actuator, and the oscillating vane of the vane-type pneumatic rotary actuator is connected with parallel air gripper.
9. bogie acoustic emission sensor installation system according to claim 1-8, it is characterised in that: described to lead
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 movement
Structure is two sets, and two vertical arm framves are connected with two sets of transverse displacement arrangement one-to-one correspondence respectively, the polishing dedusting manipulator
It is separately positioned on sensor picking manipulator 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 CN107756183A (en) | 2018-03-06 |
| CN107756183B true 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 |
| CN102430906B (en) * | 2011-08-29 | 2013-08-14 | 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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