CN111517114A

CN111517114A - Automatic picking and placing system for flaw detection sample rod

Info

Publication number: CN111517114A
Application number: CN202010545493.2A
Authority: CN
Inventors: 梁学楷; 靳玄
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2020-08-11

Abstract

The invention discloses an automatic picking and placing system of flaw detection sample rods, which comprises a three-dimensional rectangular coordinate mechanical arm, wherein at least one three-dimensional sample rod storage rack is arranged in the three-dimensional rectangular coordinate mechanical arm; the three-dimensional sample rod storage rack comprises a mounting rack, wherein at least one side of the mounting rack is provided with a group of guide seats and a group of suspension seats, and the guide seats and the suspension seats are arranged in a one-to-one correspondence manner; the grabbing and playback device comprises a fixed seat, one side of the fixed seat is rotatably connected with a fixed rod, and clamping devices are arranged at two ends of the fixed rod. The invention has the advantages that: the invention can vertically place the sample rod on the three-dimensional sample rod storage rack, and the sample rod is vertically hung, thereby avoiding the bending deformation caused by the self weight of the sample rod when the sample rod is horizontally placed, having small occupied space, providing more effective utilization space for production and maintenance, having high efficiency and being convenient for management.

Description

Automatic picking and placing system for flaw detection sample rod

Technical Field

The invention relates to the technical field of industrial flaw detection equipment, in particular to an automatic pick-and-place system for flaw detection sample rods.

Background

With the development of iron and steel production enterprises towards intelligent production, the development path of metallurgical equipment advances along the automatic, informatization, intellectualization and intelligentization roads. In steel production enterprises, on-line and off-line surface and internal flaw detection lines of bars, sample bars are often used for trial and correction of the accuracy of flaw detection equipment so as to prevent detection errors of the flaw detection equipment from influencing flaw detection results.

At present, the diameter of a bar produced by iron and steel enterprises is mostly not less than phi 10mm, the specification of a sample bar is changed along with the specification change of the bar, so the diameter of the sample bar is mostly not less than phi 10mm, and the length of the sample bar is not less than 2 meters. The common sample rod taking and placing method comprises manual carrying, manual operation of a cantilever crane or bridge crane carrying, the carrying mode is time-consuming and labor-consuming, and the sample rods can only be horizontally placed on the ground. In the existing sample rod taking and placing method and the sample rod placing mode, the sample rod can be bent and deformed due to long-time horizontal placement, the smaller the diameter of the sample rod is, the more serious the deformation phenomenon is, and the sample rod can be damaged in the manual hoisting process, so that the checking efficiency and accuracy of the flaw detection equipment are influenced.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides an automatic picking and placing system for a flaw detection sample rod.

In order to achieve the purpose, the invention adopts the following technical scheme:

an automatic picking and placing system for flaw detection sample rods comprises a three-dimensional rectangular coordinate mechanical arm, wherein at least one three-dimensional sample rod storage rack is arranged in the three-dimensional rectangular coordinate mechanical arm, and a grabbing and playback device is arranged in the three-dimensional rectangular coordinate mechanical arm;

the three-dimensional sample rod storage rack comprises a mounting rack, wherein at least one side of the mounting rack is provided with a group of guide seats and a group of suspension seats, and the guide seats and the suspension seats are arranged in a one-to-one correspondence manner;

the grabbing and playback device comprises a fixed seat, one side of the fixed seat is rotatably connected with a fixed rod, and clamping devices are arranged at two ends of the fixed rod.

Preferably, the rotating shaft is connected in the fixing seat in a rotating mode, one end of the rotating shaft is fixedly connected with the mounting plate, and the mounting plate is fixedly connected to the middle of the fixing rod.

Preferably, three-dimensional rectangular coordinate manipulator includes two parallel arrangement's guide beam, and every guide beam all supports fixedly through a set of stand, equal sliding connection first slider on every guide beam, fixed connection crossbeam between two first sliders, sliding connection second slider on the crossbeam, second slider downside fixed connection telescopic link, and the fixing base is fixed at the telescopic link lower extreme.

Preferably, the mounting bracket comprises two vertically arranged support rods, a first fixed beam and a second fixed beam are fixedly connected between the two support rods, the guide seat is fixed on the first fixed beam, and the suspension seat is fixed on the second fixed beam.

Preferably, a guide groove is formed on one side of the guide seat.

Preferably, one side of the suspension seat is provided with a suspension groove, and the upper end of the suspension groove is provided with a clamping groove.

Preferably, the lower end of the support rod is fixedly connected with the mounting plate.

Preferably, the clamping device comprises a substrate, the substrate is fixed at one end of the fixing rod, and the upper side of the substrate is fixedly connected with two linear guide rails which are arranged in parallel;

the clamping device comprises two sliding plates which are correspondingly arranged, the lower side of each sliding plate is fixedly connected with two guide blocks, the two guide blocks slide on the linear guide rail in a reciprocating manner in a one-to-one correspondence manner, and at least one clamping plate is fixedly connected to each sliding plate;

the clamping device also comprises a power device for controlling the two sliding plates to slide along the linear guide rail.

Preferably, the power device comprises two racks, one rack is fixed on the lower side of one sliding plate, the other rack is fixed on the lower side of the other sliding plate, tooth surfaces of the two racks are arranged oppositely, the upper side of the base plate is rotatably connected with the gear, the gear is arranged between the two racks and is meshed with the two racks, an electric push-pull rod is arranged on the lower side of the base plate, a telescopic end of the electric push-pull rod is fixedly connected with a push plate, a yielding opening is formed in the base plate, and the push plate penetrates through the yielding opening and is fixedly connected with one sliding plate or one rack.

Preferably, a V-shaped groove is provided at one side of the clamping plate.

The invention has the advantages that: the automatic picking and placing system for the flaw detection sample rod provided by the invention can vertically place the sample rod on the three-dimensional sample rod storage rack, vertically hang the sample rod, avoid bending deformation caused by self weight when horizontally placed, occupy small space, provide more effective utilization space for production and maintenance, have high efficiency and are convenient to manage.

Drawings

FIG. 1 is a schematic diagram of a basic structure of an automatic pick-and-place system for a flaw detection sample bar provided by the invention;

FIG. 2 is a schematic diagram of the basic structure of the storage rack of FIG. 1 without the stereosticks;

FIG. 3 is a schematic diagram of the basic structure of a stereoscopic coupon storage rack;

FIG. 4 is a schematic view showing a connection structure of the guide holder and the sample rod;

FIG. 5 is a schematic view showing a connection structure of a hanging holder and a sample rod;

FIG. 6 is a schematic view of the basic structure of the suspension mount;

FIG. 7 is a schematic view of the basic structure of the grasping and playback apparatus;

FIG. 8 is a perspective view of the clamping device;

fig. 9 is a schematic view of the basic structure of the clamping device.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 9, the automatic picking and placing system for a flaw detection sample bar provided by the present invention includes a three-dimensional rectangular coordinate manipulator 1, where the three-dimensional rectangular coordinate manipulator 1 is in the prior art, the three-dimensional rectangular coordinate manipulator 1 in this embodiment includes two guide beams 12 arranged in parallel, each guide beam 12 is supported and fixed by a set of upright posts 11, each guide beam 12 is connected with a first slider 13 in a sliding manner, a cross beam 14 is fixedly connected between the two first sliders 13, a second slider 15 is connected on the cross beam 14 in a sliding manner, a telescopic rod 16 is fixedly connected to a lower side of the second slider 15, the three-dimensional rectangular coordinate manipulator 1 further includes a traveling device for controlling the first slider 13 and the second slider 15 to move, and specific working principles are not described herein again.

At least one three-dimensional sample rod storage rack 2 is equipped with between two guide beam 12, and three-dimensional sample rod storage rack 2 includes the mounting bracket, and the mounting bracket includes two vertical setting's bracing piece 21, bracing piece 21 lower extreme fixed connection mounting panel 22, conveniently fixes three-dimensional sample rod storage rack 2 subaerial through mounting panel 22. A first fixed beam 23 and a second fixed beam 24 are fixedly connected between the two support rods 21, a guide seat 25 is fixedly connected on the first fixed beam 23, and a suspension seat 26 is fixed on the second fixed beam 24. The guide seats 25 are arranged in one-to-one correspondence with the suspension seats 26. One side of the guide holder 25 is provided with a guide groove 251. One side of the hanging seat 26 is provided with a hanging groove 261, and the upper end of the hanging groove 261 is provided with a clamping groove 262. When using three-dimensional appearance stick storage rack 2 to deposit appearance stick 100, be equipped with central screw hole with the one end of appearance stick 100, bolt connecting screw 200 in central screw hole, when placing, with appearance stick 100 card in guide way 251, screw 200 joint in draw-in groove 262 of appearance stick 100 upper end to prevent appearance stick 100 landing downwards under the action of gravity.

The grabbing and replaying device 3 is arranged on the telescopic rod 16 of the three-dimensional rectangular coordinate manipulator 1, the grabbing and replaying device 3 comprises a fixed seat 31, and the fixed seat 31 is fixed at the lower end of the telescopic rod 16. The fixed seat 31 is rotatably connected with a rotating shaft 32, and one side of the fixed seat 31 is provided with a motor 33 for controlling the rotating shaft to rotate. One end of the rotating shaft 32 is fixedly connected with a mounting plate 34, one side of the mounting plate 34 is fixedly connected with a fixing rod 35, and the mounting plate 34 is positioned in the middle of the fixing rod 35. The clamping devices 4 are arranged at both ends of the fixed rod 35. The clamping device 4 comprises a substrate 41, the substrate 41 is fixed at one end of the fixing rod 35, and two parallel linear guide rails 42 are fixedly connected to the upper side of the substrate 41. Clamping device 4 includes still that two correspond the slide 49 that sets up, two guide blocks 43 of every equal fixed connection of slide 49 downside, and two guide blocks 43 one-to-one are reciprocal to slide on linear guide 42, equal fixed connection at least one splint 44 on every slide 49, and every splint 44 one side is equipped with the V-arrangement groove, can improve the clamping performance to appearance stick 100 through the V-arrangement groove. The gripping device 4 also comprises power means for controlling the sliding of the two slides 49 along the linear guides 42. The power device comprises two racks 45, wherein one rack 45 is fixed on the lower side of one sliding plate 49, the other rack 45 is fixed on the lower side of the other sliding plate 49, the tooth surfaces of the two racks 45 are arranged oppositely, a gear 46 is rotatably connected on the upper side of the base plate 41, the gear 46 is arranged between the two racks 45, the gear 46 is meshed with the two racks 45, an electric push-pull rod 47 is arranged on the lower side of the base plate 41, the telescopic end of the electric push-pull rod 47 is fixedly connected with a push plate 48, a yielding opening 411 is arranged on the base plate 41, and the push plate 48 penetrates through the yielding opening 411 and is fixedly connected with one sliding plate 49 or one rack 45.

In use, the proof sticks 100 are vertically mounted on the stereoscopic proof stick storage rack 2 so that the proof sticks 100 are not bent and deformed when stored. When the sample rod 100 needs to be taken down, the fixed rod 35 is driven to be in a vertical state through the motor 33, the grabbing and playback device 3 is moved to a specified height and a specified position through the three-dimensional rectangular coordinate manipulator 1, the push plate 48 is pushed to move through the electric push-pull rod 47, so that one sliding plate 49 is driven to move, the rack 45 on the lower side of the sliding plate 49 also moves in the process, the rack 45 moves due to the fact that the gear is meshed with the rack, the other rack moves in the opposite direction under the action of the gear, so that the other sliding plate 49 is driven to move in the opposite direction, and the sample rod 100 is clamped through the clamping plates 44 on the two sliding plates 49. The sample stick 100 is lifted up and separated from the stereoscopic sample stick storage rack 2 by the three-dimensional rectangular coordinate manipulator 1, and the fixing rod 35 is rotated to a horizontal state and placed on the ground by the operation of the motor 33.

Claims

1. The automatic picking and placing system for the flaw detection sample rod is characterized by comprising a three-dimensional rectangular coordinate mechanical arm (1), wherein at least one three-dimensional sample rod storage rack (2) is arranged in the three-dimensional rectangular coordinate mechanical arm (1), and a grabbing and playback device (3) is arranged in the three-dimensional rectangular coordinate mechanical arm (1);

the three-dimensional sample rod storage rack (2) comprises a mounting rack, at least one side of the mounting rack is provided with a group of guide seats (25) and a group of suspension seats (26), and the guide seats (25) and the suspension seats (26) are arranged in a one-to-one correspondence manner;

the grabbing and playback device (3) comprises a fixed seat (31), one side of the fixed seat (31) is rotatably connected with a fixed rod (35), and clamping devices (4) are mounted at two ends of the fixed rod (35).

2. The automatic picking and placing system of the flaw detection sample bar according to claim 1, wherein: the axis of rotation (32) is connected in fixing base (31) internal rotation, axis of rotation (32) one end fixed connection mounting panel (34), mounting panel (34) fixed connection be in dead lever (35) middle part.

3. The automatic picking and placing system of the flaw detection sample bar according to claim 1, wherein: three-dimensional rectangular coordinate manipulator (1) includes two parallel arrangement's guide beam (12), and every guide beam (12) all supports fixedly through a set of stand (11), equal sliding connection first slider (13) on every guide beam (12), fixed connection crossbeam (14) between two first sliders (13) sliding connection second slider (15) on crossbeam (14), second slider (15) downside fixed connection telescopic link (16), fixing base (31) are fixed telescopic link (16) lower extreme.

4. The automatic picking and placing system of the flaw detection sample bar according to claim 1, wherein: the mounting rack comprises two vertically arranged supporting rods (21), a first fixing beam (23) and a second fixing beam (24) are fixedly connected between the two supporting rods (21), the guide seat (25) is fixed on the first fixing beam (23), and the suspension seat (26) is fixed on the second fixing beam (24).

5. The automatic picking and placing system of the flaw detection sample bar according to claim 1 or 4, wherein: one side of the guide seat (25) is provided with a guide groove (251).

6. The automatic picking and placing system of the flaw detection sample bar according to claim 1 or 4, wherein: one side of the suspension seat (26) is provided with a suspension groove (261), and the upper end of the suspension groove (261) is provided with a clamping groove (262).

7. The automatic picking and placing system of the flaw detection sample bar according to claim 1, wherein: the lower end of the support rod (21) is fixedly connected with a mounting plate (22).

8. The automatic pick-and-place system of flaw detection sample bars according to any one of claims 1-4, wherein: the clamping device (4) comprises a substrate (41), the substrate (41) is fixed at one end of the fixing rod (35), and two linear guide rails (42) which are arranged in parallel are fixedly connected to the upper side of the substrate (41);

the clamping device (4) comprises two sliding plates (49) which are correspondingly arranged, the lower side of each sliding plate (49) is fixedly connected with two guide blocks (43), the two guide blocks (43) correspondingly slide on the linear guide rails (42) in a reciprocating manner one by one, and at least one clamping plate (44) is fixedly connected on each sliding plate (49);

the clamping device (4) also comprises a power device for controlling the sliding of the two sliding plates (49) along the linear guide rail (42).

9. The automatic picking and placing system of the flaw detection sample bar according to claim 8, wherein: the power device comprises two racks (45), wherein one rack (45) is fixed on the lower side of the sliding plate (49), the other rack (45) is fixed on the lower side of the sliding plate (49), the tooth surfaces of the two racks (45) are oppositely arranged, the upper side of the base plate (41) is rotatably connected with the gear (46), the gear (46) is arranged between the two racks (45), the gear (46) is meshed with the two racks (45), an electric push-pull rod (47) is arranged on the lower side of the base plate (41), a telescopic end of the electric push-pull rod (47) is fixedly connected with a push plate (48), a abdicating opening (411) is formed in the base plate (41), and the push plate (48) penetrates through the abdicating opening (411) and is fixedly connected with one sliding plate (49) or one rack (45).

10. The automatic picking and placing system of the flaw detection sample bar according to claim 1, wherein: and a V-shaped groove is formed on one side of the clamping plate (44).