CN107856042A - Picking manipulator and the detection device installation system containing the manipulator - Google Patents
Picking manipulator and the detection device installation system containing the manipulator Download PDFInfo
- Publication number
- CN107856042A CN107856042A CN201711077808.XA CN201711077808A CN107856042A CN 107856042 A CN107856042 A CN 107856042A CN 201711077808 A CN201711077808 A CN 201711077808A CN 107856042 A CN107856042 A CN 107856042A
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- China
- Prior art keywords
- module
- pedestal
- picking manipulator
- sensor
- hand
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of detection device installation system the invention discloses picking manipulator and containing the manipulator, it is related to rail vehicles technical field of nondestructive inspection, including the flexible module that can be connected with travel mechanism, the flexible module is connected by swinging module with handling module, passes through the installing/dismounting that coordinates completion diverse location sensor of the module of stretching with swinging module, handling module under the driving of travel mechanism.Sensor and magnet base are captured by handling module, after module swing certain angle is swung, coordinate the contractive action of flexible module to make sensor and magnet base in place again, the installation that the diverse location that flexible module can be moved on bogie by travel mechanism completes all the sensors is in place.The present invention can realize Automated condtrol, and each execution unit uses modularized design, is easily assembled, changes；The automation installing/dismounting of detection device can be realized.
Description
Technical field
The present invention relates to rail vehicles technical field of nondestructive inspection, more particularly to a kind of picking manipulator and contain this
The detection device installation system of manipulator.
Background technology
Bogie is the important component assembled by the parts and device of rolling stock EEF bogie, conventional bogie
Method of detection can only check the defects of crackle of component in the quiescent state, can not detection means crackle under carrying and motion state
Germinating, extension, the situation of fracture.In order to realize the dynamic detection of bogie crackle, it is necessary to be installed in rolling stock inspection and repair special
With acoustic emission sensor, to realize the automation of bogie detection.
At rolling stock inspection and repair scene, 16 point positions above bogie are carried out manually installed with dismantling special sound hair
Sensor and its magnet base are penetrated, inefficient, time-consuming effort.To realize the automation of bogie acoustic emission detection, need to design
It is a kind of to replace artificial automatic installation and disassembly mechanism, it is this area urgent problem.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of picking manipulator and the detection device containing the manipulator
Installation system, acoustic emission sensor and its magnet base can be mounted and dismounted rapidly, realizes what acoustic emission sensor was accurately installed
Purpose.
In order to solve the above technical problems, the technical solution used in the present invention is：
A kind of picking manipulator, including the flexible module that can be connected with travel mechanism, the flexible module is by swinging module
It is connected with handling module, is completed not by the cooperation of stretch module and swing module, handling module under the driving of travel mechanism
With the installing/dismounting of position sensor.
Preferably, the flexible module includes pedestal, horizontal extension part and guide rod, and the guiding boom end is fixed on
On pedestal, the horizontal extension part is connected by link with guide rod, and the pedestal can be connected with travel mechanism, described
The movable end of horizontal extension part is connected with pedestal, and the horizontal extension part other end is connected with swinging module.
Preferably, the swing module is vane-type pneumatic rotary actuator, and the oscillating vane of the vane-type pneumatic rotary actuator is with grabbing
Modulus block is connected.
Preferably, the handling module 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 swinging module.
Further, floating junction is provided between pedestal and the horizontal air cylinder piston rod, described floating junction one end is consolidated
It is connected on pedestal, the other end is connected by spherical end surface with the piston rod of horizontal air cylinder.
Preferably, the guide rod is two, in the middle part of the link with horizontal air cylinder cylinder body is affixed, top and the bottom cover respectively
Dress is on the guide bar.
The present invention also provides a kind of detection device installation system containing said structure picking manipulator.
It is using beneficial effect caused by above-mentioned technical proposal：Compared with prior art, the present invention is by capturing mould
Block captures sensor and magnet base, after module swing certain angle is swung, then coordinates the contractive action of flexible module to make biography
Sensor and magnet base are in place, the diverse location that flexible module can be moved on bogie by travel mechanism, realize all biographies
The installation of sensor is in place.The operation process of the present invention realizes Automated condtrol, and working environment cleans；Each execution unit uses mould
Blockization designs, and is easily assembled, is easily changed；The picking manipulator is simple in construction, realizes light-weight design, to whole in operation process
The impulsive force of body frame is small, is advantageous to the drive control of integrated model, and then realizes the automation installing/dismounting of detection device.
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 picking manipulator provided in an embodiment of the present invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the front view of grasping mechanism in Fig. 2；
Fig. 4 is Fig. 3 top view；
Fig. 5 is Fig. 3 right view；
Fig. 6 is the cooperation schematic diagram of link and guide rod in Fig. 1；
In figure：1- bistriques, 2- collets, 3- chuck nuts, 4- fine tuning dish, 5- dedusting top covers, 6- fans, 7- dedusting shells,
8- dust-collecting boxes, 9- collecting pipes, 10- shields, 11- drive mechanisms, 12- impellers, 13- angular adjustment elements, 14- motors, 15- master
Axle, 16- annular boss, 17- exhaust outlets, 18- screen packs, 19- dedusting sealing rings.
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.
Fig. 1,2, a kind of picking manipulator, including the flexible module 4 that can be connected with travel mechanism are referred to, it is described flexible
Module 4 is connected by swinging module 6 with handling module 9, under the driving of travel mechanism by flexible module 4 with swing module 6,
The installing/dismounting of diverse location sensor is completed in the cooperation of handling module 9.
Picking manipulator provided by the invention captures sensor and magnet base compared with prior art, by handling module,
Realize that handling module is swung between workbench and bogie using module is swung, sensor and magnetic on the table will be placed
Power seat is caught, and goes to the position of demand install sensor on bogie after swinging certain angle, then coordinate the contraction of flexible module
Action makes sensor and magnet base in place.Wherein, the different positions that flexible module can be moved on bogie by travel mechanism
Put, realize that the installation of all the sensors is in place.The Automated condtrol of sensor installing/dismounting action can be realized using the present invention,
And working environment cleans；Each execution unit uses modularized design, is easily assembled, is easily changed.Utilize the picking manipulator knot
Structure can easily realize the automation installing/dismounting of detection device.
As a kind of preferred structure of the present invention, referring to Fig. 1,2,6, the flexible module 4 includes pedestal 1, horizontal extension
Part 10 and guide rod 5, the end of guide rod 5 are fixed on pedestal 1, the horizontal extension part 10 by link 3 with
Guide rod 5 is connected, and the pedestal 1 can be connected with travel mechanism, movable end and the phase of pedestal 1 of the horizontal extension part 10
Even, the other end of horizontal extension part 10 is connected with swinging module 6.
Wherein, the horizontal extension part 10 is horizontal air cylinder, and the piston rod of horizontal air cylinder is connected with pedestal 1, cylinder body leads to
Cross connecting plate 11 and be connected with swinging module 6.
Further optimize above-mentioned technical proposal, floating junction 2, institute are provided between the pedestal 1 and horizontal air cylinder piston rod
State that the one end of floating junction 2 is fixed on pedestal 1, the other end is connected by spherical end surface with the piston rod of horizontal air cylinder.Due to water
Slight oscillatory phenomenon occurs in flat cylinder piston rod in operation process, and floating junction ensures that piston rod belongs to flexible with pedestal and connected
Connect, prevent piston rod from being deformed in swing process, while horizontal direction rigidity and guidance quality are ensure that using guide rod.
Wherein, the guide rod 5 is two, and the middle part of the link 3 and horizontal air cylinder cylinder body are affixed, top and the bottom cover respectively
On guide rod 5.Make horizontal air cylinder connection more firm using two guide rods, run more steady.
Refer to 1,2, the swing module 6 is vane-type pneumatic rotary actuator, the oscillating vane of the vane-type pneumatic rotary actuator
It is connected with handling module 9.By joint part of the vane-type pneumatic rotary actuator as handling module, bowing for handling module can be realized
Function is faced upward, drives handling module to swing up and down 90 °, realizes the change from workbench to bogie mounting surface locus.
In one particular embodiment of the present invention, Fig. 3-5 are referred to, the handling module 9 includes and axial prong hand 7 and pair
Cleft hand 8, the profile of the axial prong hand 7 and secondary cleft hand 8 and sensor to be captured and magnet base match, and the secondary cleft hand 8 is set
Put in the end of axial prong hand 7；The axial prong hand 7 is the parallel air gripper driven by cylinder actuator.According to size sensor and its admittedly
It is fixture to determine with the structure determination parallel air gripper of magnet base, and to realize sensor and magnet base while gripping, design is outer with both
The axial prong hand pair cleft hand that shape structure is consistent, realizes the disposable crawl of sensor and its magnet base.
It is horizontal level in original state horizontal air cylinder and parallel air gripper during the concrete application of the present invention, water
Flat cylinders retract；Vane-type pneumatic rotary actuator turns clockwise 90 °, and parallel air gripper is accurately positioned sensing station after opening, and utilizes
Axial prong hand and secondary cleft hand clamp sensor and magnet base, complete picking action；Pick up the sensor rear blade formula oscillating cylinder inverse time
Pin is rotated by 90 °, and parallel air gripper reaches horizontal level, and horizontal air cylinder stretches out, and drives sensor to reach the installation surface of bogie；Magnetic
Absorption is on bogie under magnet effect for power seat, and after completion sensor installation is fixed, parallel air gripper opens, and makes axial prong hand and pair
Cleft hand unclamps sensor, and horizontal air cylinder is retracted, restPosed.After the completion of detection, all the sensors are dismantled successively, and biography
Sensor puts back to workbench, and horizontal air cylinder extension, parallel air gripper opens, and is accurately positioned and the magnet base on bogie that is fixedly clamped
And sensor；Horizontal air cylinder is retracted, and magnet base and sensor remove from truck side frame surface, and this process needs larger
Power, there can be certain impact influence on structure；Vane-type pneumatic rotary actuator is turned clockwise 90 °, and parallel air gripper opens, and sensor is put back to
Workbench；90 ° of vane-type pneumatic rotary actuator counter-clockwise swing, parallel air gripper returns to horizontal level, under the driving of travel mechanism
Next removal sensor position is positioned, 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.Executive component in the present invention is air powered drive element, side
Just control, and working environment cleans；Modularized design simultaneously, it is more convenient assembling and changes.
Present invention also offers the detection device installation system containing said structure picking manipulator.It is every to contain above-mentioned knot
The detection device installation system of structure picking manipulator, within protection scope of the present invention.
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 (8)
- A kind of 1. picking manipulator, it is characterised in that：Including the flexible module that can be connected with travel mechanism, the flexible module It is connected by swinging module with handling module, by flexible module with swinging module, handling module under the driving of travel mechanism Cooperation complete diverse location sensor installing/dismounting.
- 2. picking manipulator according to claim 1, it is characterised in that：The flexible module includes pedestal, horizontal extension Part and guide rod, the guiding boom end are fixed on pedestal, and the horizontal extension part passes through link and guide rod phase Even, the pedestal can be connected with travel mechanism, and the movable end of the horizontal extension part is connected with pedestal, the horizontal extension The part other end is connected with swinging module.
- 3. picking manipulator according to claim 1, it is characterised in that：The swing module is vane-type pneumatic rotary actuator, The oscillating vane of the vane-type pneumatic rotary actuator is connected with handling module.
- 4. picking manipulator according to claim 1, it is characterised in that：The handling module includes and axial prong hand and secondary pawl Hand, the profile of the axial prong hand and secondary cleft hand and sensor to be captured and magnet base match, and the secondary cleft hand is arranged on master Cleft hand end；The axial prong hand is the parallel air gripper driven by cylinder actuator.
- 5. picking manipulator according to claim 2, it is characterised in that：The horizontal extension part is horizontal air cylinder, water The piston rod of flat cylinder is connected with pedestal, cylinder body is connected by connecting plate with swinging module.
- 6. picking manipulator according to claim 5, it is characterised in that：Set between pedestal and the horizontal air cylinder piston rod There is floating junction, described floating junction one end is fixed on pedestal, the other end passes through spherical end surface and the piston rod of horizontal air cylinder It is connected.
- 7. picking manipulator according to claim 6, it is characterised in that：The guide rod is two, in the link Portion and horizontal air cylinder cylinder body are affixed, top and the bottom are set on guide rod.
- 8. the detection device installation system containing the picking manipulator as described in claim any one of 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077808.XA CN107856042A (en) | 2017-11-06 | 2017-11-06 | Picking manipulator and the detection device installation system containing the manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077808.XA CN107856042A (en) | 2017-11-06 | 2017-11-06 | Picking manipulator and the detection device installation system containing the manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107856042A true CN107856042A (en) | 2018-03-30 |
Family
ID=61700960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711077808.XA Pending CN107856042A (en) | 2017-11-06 | 2017-11-06 | Picking manipulator and the detection device installation system containing the manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107856042A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483197A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | A kind of bogie disassembling system |
| CN109483196A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | The sterically defined bogie provision for disengagement of bogie can be achieved |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB966055A (en) * | 1962-06-13 | 1964-08-06 | Sahlin Engineering Company Ltd | Improvements in or relating to hydraulically operated article engaging devices |
| CN105880856A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Automatic welding device for hub of electric car |
| CN205685128U (en) * | 2016-06-24 | 2016-11-16 | 重庆远风机械有限公司 | Electrode plate edge brushing frame apparatus |
| CN106217401A (en) * | 2016-08-21 | 2016-12-14 | 苏州三孚自动化科技有限公司 | The special jaw of goods of furniture for display rather than for use |
| CN206375395U (en) * | 2017-01-03 | 2017-08-04 | 广东科达洁能股份有限公司 | A kind of trailing type pushes away brick device |
-
2017
- 2017-11-06 CN CN201711077808.XA patent/CN107856042A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB966055A (en) * | 1962-06-13 | 1964-08-06 | Sahlin Engineering Company Ltd | Improvements in or relating to hydraulically operated article engaging devices |
| CN105880856A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Automatic welding device for hub of electric car |
| CN205685128U (en) * | 2016-06-24 | 2016-11-16 | 重庆远风机械有限公司 | Electrode plate edge brushing frame apparatus |
| CN106217401A (en) * | 2016-08-21 | 2016-12-14 | 苏州三孚自动化科技有限公司 | The special jaw of goods of furniture for display rather than for use |
| CN206375395U (en) * | 2017-01-03 | 2017-08-04 | 广东科达洁能股份有限公司 | A kind of trailing type pushes away brick device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483197A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | A kind of bogie disassembling system |
| CN109483196A (en) * | 2018-12-29 | 2019-03-19 | 成都岁生科技有限责任公司 | The sterically defined bogie provision for disengagement of bogie can be achieved |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180330 |
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| RJ01 | Rejection of invention patent application after publication |