CN114102503A - Sensor dismounting device - Google Patents
Sensor dismounting device Download PDFInfo
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- CN114102503A CN114102503A CN202111373909.8A CN202111373909A CN114102503A CN 114102503 A CN114102503 A CN 114102503A CN 202111373909 A CN202111373909 A CN 202111373909A CN 114102503 A CN114102503 A CN 114102503A
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- sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- Mechanical Engineering (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention discloses a sensor dismounting device, which comprises: a drive adjustment device; the connecting rod is connected to the driving adjusting device, and the driving adjusting device drives the connecting rod to adjust the position; and the dismounting device is connected to the connecting rod and comprises a push-pull air cylinder, a clamping air cylinder and a clamping jaw, the push-pull air cylinder pushes the dismounting device to move, and the clamping air cylinder drives the clamping jaw to dismount the sensor. Compared with the prior art, the sensor dismounting device disclosed by the invention drives the connecting rod to adjust the position through the driving adjusting device, pushes the dismounting device to move through the push-pull air cylinder, drives the clamping jaw to dismount the sensor through the clamping air cylinder, and can adjust the length of the connecting rod as required, so that the sensor dismounting requirement at a long-distance and narrow-gap position can be met.
Description
Technical Field
The invention belongs to the technical field of industrial design and manufacture, and particularly relates to a sensor dismounting device.
Background
In recent years, with the development of monitoring technology, more and more industrial devices are adopting diversified monitoring systems to realize the monitoring of the device state. As an important device at the front end of a monitoring system, the sensor is widely applied to various occasions.
For some special use occasions, such as severe environments of high temperature, high pressure, high irradiation and the like, in order to ensure the accuracy and reliability of equipment state monitoring, after working for a certain time, the sensor needs to be replaced and maintained regularly. For example, in nuclear power technology field, the pressure vessel that is equipped with magnetism and inhales formula sensor is located equipment supporting platform's equipment hole, and the pressure vessel outer wall passes through equipment supporting key to be connected with the support cooperation on the equipment supporting platform, and magnetism is inhaled formula sensor and is installed in pressure vessel's bottom, and the distance between pressure vessel and equipment supporting platform's the equipment hole is narrow and small, is subject to abominable operational environment and narrow and small operating space, and personnel can't carry out sensor's dismouting and maintenance through narrow and small passageway.
In view of the above, it is necessary to provide a sensor mounting and dismounting device to mount and dismount a sensor in a narrow space.
Disclosure of Invention
The invention aims to: at least one defect in the prior art is overcome, and a sensor assembling and disassembling device is provided to realize the assembling and disassembling of the sensor in a narrow space.
In order to achieve the above object, the present invention provides a sensor attaching and detaching device, including:
a drive adjustment device;
the connecting rod is connected to the driving adjusting device, and the driving adjusting device drives the connecting rod to adjust the position; and
the dismounting device is connected to the connecting rod and comprises a push-pull air cylinder, a clamping air cylinder and a clamping jaw, the push-pull air cylinder pushes the dismounting device to move, and the clamping air cylinder drives the clamping jaw to dismount the sensor.
According to one embodiment of the sensor assembling and disassembling device, the connecting rod comprises a straight rod connected with the driving adjusting device and a hinge rod connected with the straight rod, the hinge rod comprises a plurality of connecting arms connected through hinges, and rollers are arranged on two sides of each connecting arm.
According to one embodiment of the sensor dismounting device, the straight rod is provided with a plurality of rectangular pipes, a double-layer perforated welding lug is welded at one end of each rectangular pipe, a single-layer perforated welding lug is welded at the other end of each rectangular pipe, and the single-layer welding lugs of the rectangular pipes are inserted into the double-layer welding lugs of the adjacent rectangular pipes and connected through pin shafts.
According to one embodiment of the sensor assembling and disassembling device, wing plates are symmetrically arranged on two side surfaces of the long square pipe, and universal wheels are mounted on the wing plates.
According to an embodiment of the sensor attaching and detaching device of the present invention, the attaching and detaching device is provided with an imaging device.
According to one embodiment of the sensor assembling and disassembling device, a bending arm is arranged between the connecting rod and the assembling and disassembling device, a driving motor is arranged on the bending arm, and the driving motor drives the bending arm to adjust the angle.
According to an embodiment of the sensor mounting and dismounting device of the present invention, the bending arm includes a plurality of sections of brackets, and a plurality of driving motors are provided corresponding to the plurality of sections of brackets, and the driving motors drive the plurality of sections of brackets to adjust the angle relatively.
According to one embodiment of the sensor mounting and dismounting device of the present invention, a magnetic isolation plate is disposed between the bending arm and the push-pull cylinder.
According to one embodiment of the sensor disassembling and assembling device, the sensor disassembling and assembling device is provided with a driving mechanism for providing power for the sensor disassembling and assembling device, the driving mechanism comprises an air source pump and an electric control box, an air path interface is arranged on the electric control box, and the air path interface is connected with connecting ports of the driving motor, the push-pull air cylinder and the clamping air cylinder through connecting pipelines.
According to an embodiment of the sensor mounting and dismounting device of the present invention, the driving adjustment device includes a first supporting platform, a second supporting platform mounted on the first supporting platform, a third supporting platform mounted on the second supporting platform, the first supporting platform is provided with a first lead screw and a first slide rail, the second supporting platform is provided with a first nut, the second supporting platform is matched with the first lead screw through the first nut, the second supporting platform is movable along the X direction of the first slide rail, the second supporting platform is provided with a second lead screw and a second slide rail perpendicular to the first slide rail, the third supporting platform is provided with a second nut, the third supporting platform is movable along the Y direction of the second slide rail through the matching of the second nut and the second lead screw, a rotary support is fixed on the third supporting platform, and a third slide rail is welded on the top of the rotary support, the third slide rail is sleeved with a third lead screw and a slide block, the connecting rod is connected to the slide block, the slide block is provided with an internal thread and is matched with the third lead screw through the internal thread, and the slide block moves up and down along the Z axis of the third slide rail.
Compared with the prior art, the sensor dismounting device has the following advantages:
through drive adjusting device drive connecting rod and the crooked arm adjustment position that sets up on the connecting rod, promote through push-and-pull cylinder and set up in the terminal dismouting device of crooked arm and remove to realize the sensor dismouting through die clamping cylinder drive dismouting device, the length of connecting rod can be adjusted as required, consequently can satisfy the sensor dismouting demand of long distance, narrow clearance position department.
Drawings
The sensor mounting and dismounting device and the technical effects thereof according to the present invention will be described in detail with reference to the accompanying drawings and the detailed description, wherein:
FIG. 1 is a schematic view of the mounting of the sensor attaching and detaching device of the present invention on the supporting platform of the equipment.
Fig. 2 is a schematic cross-sectional view of the support platform of the apparatus of fig. 1.
Fig. 3 is a partially enlarged schematic view of the sensor mounting and dismounting device shown in fig. 2.
Fig. 4 and 5 are schematic structural views of a connecting rod in the sensor mounting and dismounting device of the present invention.
Fig. 6 and 7 are schematic views showing the structure of the bending arm in the sensor attaching and detaching device according to the present invention.
FIG. 8 is a schematic structural diagram of a driving adjustment device in the sensor mounting and dismounting device of the present invention.
Wherein: 10- -a drive means; 100- -gas source pump; 102- -Electrical control Box; 20- -a connecting rod; 200- -straight rod; 202- -double layer perforated weld ears; 204-single layer perforated weld ears; 206- -wing plate; 207- -universal wheel; 208- -hinge rod; 210- -connecting arm; 212- -hinge bolt; 214- -a roller; 216- -curved arms; 218- -first section holder; 220- -first drive motor; 222-a gear box; 224-second section holder; 225 — a second drive motor; 226- -shaft sleeve; 227- -U shaped plate; 228- -a third section support; 230- -third drive Motor; 232- -fourth section holder; 234- -magnetic shield; 30- -dismounting device; 300- -push-pull cylinder; 302- -a clamping cylinder; 304-a jaw; 306- -guide bar; 40- -driving the adjusting device; 400- -first support platform; 402- -first slide rail; 404- -a first handle; 406- -a second support platform; 408-a second slide rail; 409- -a second handle; 410- -third support platform; 412- -third slide rail; 414 — slewing bearing; 416- -a slider; 418- -adjusting plate; 420- -third handle.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 and 2, the sensor mounting and dismounting device of the present invention includes:
a drive adjusting device 40;
the connecting rod 20 is connected to the driving adjusting device 40, and the driving adjusting device 40 drives the connecting rod 20 to adjust the position; and
the dismounting device 30 is connected to the connecting rod 20 and comprises a push-pull cylinder 300, a clamping cylinder 302 and a clamping jaw 304, wherein the push-pull cylinder 300 pushes the clamping cylinder 302 to move, and the clamping cylinder 302 drives the clamping jaw 304 to dismount the sensor.
Referring to fig. 1, the driving mechanism 10 provides power for the dismounting device 30, and includes an air source pump 100 and an electrical control box 102 connected to the air source pump 100. The air source pump 100 is used as a power source of the dismounting device 40, is provided with an air storage tank, automatically compresses outside air continuously according to the pressure, stores the compressed air in the air storage tank, stores the stored air at the pressure of 0.8-1.2bar, and needs to be externally connected with a 220v power supply during working. The lower portion of the air source pump 100 is provided with a guide wheel which can move in a small range according to the size of the space.
The electrical control box 102 is provided with a control button, and the air path is correspondingly controlled through the button. The electrical control box 102 is provided with an air path interface, and the air path interface is connected with the connecting ports of the push-pull air cylinder 300 and the clamping air cylinder 302 through a connecting pipeline.
Referring also to fig. 3-5, the connecting rod 20 includes a straight rod 200 positioned on the equipment support platform and a hinged rod 208 extending into the gap between the pressure vessel and the equipment pit of the support platform. The length of the main body part of the connecting rod 208 can reach 4000mm, the width of the cross section of the rod is 60.5mm, and the dismounting requirement of the magnetic-type sensor at the position of a long distance and a narrow gap (less than 90mm) can be met. The straight rod 200 is formed by connecting a plurality of metal rectangular pipes, for example, as shown in fig. 4, a double-layer welding lug with holes 202 is welded to one end of each rectangular pipe, and a single-layer welding lug with holes 204 is welded to the other end of each rectangular pipe. The vertical connection of the two rectangular pipes can be realized by changing the positions of the welding lugs relative to the ends of the rectangular pipes. Symmetrical wing plates 206 are welded on the side faces of the long square pipe at intervals, the wing plates 206 are rectangular and are provided with threaded holes (not shown), and universal wheels 207 with stud structures are connected in the threaded holes and can support the long square pipe to leave the plane of the supporting platform and move freely on the supporting platform. The two ends of the connecting rod 20 close to the pressure container are provided with fixed wing plates, the wing plates are provided with through holes and are fixed on the pressure container supporting platform through bolts.
Referring to fig. 3 in particular, the hinge rod 208 can be bent freely, and includes a plurality of connecting arms 210, the connecting arms 210 are connected by heavy hinge bolts 212, the connecting arms 210 and the connecting arms 210 can rotate along the hinge axis, rollers 214 are symmetrically installed on two sides of the connecting arms 210, and the rollers 214 are made of nylon. The rollers 214 perform a guiding function as the hinge rod 208 is lowered into the gap, avoiding the connecting rod 20 from scratching the pressure vessel wall and the equipment pit interior surface.
Referring to fig. 6 and 7, a curved arm 216 is disposed between the connecting rod 20 and the dismounting device 30, and the curved arm 216 is a multi-section bracket structure made of aluminum alloy. Referring to fig. 6 in particular, the bending arm 216 is a multi-section bracket structure, and a square flange (not labeled) is welded to an end of the first section of the bracket 218, and a bolt through hole is formed on the square flange, and is matched with and mechanically connected to a square flange hole at the end of the connecting rod 20 through a bolt. The bracket plate is provided with a first driving motor 220, a connecting shaft of the first driving motor 220 is connected with a micro gear transmission box 222, the gear transmission box 222 is fixed on the first section of bracket 218 through bolts, a driving shaft (not labeled) extending out of the gear transmission box 222 is connected with a shaft sleeve 226 on the second section of bracket 224, and a shaft sleeve structure is arranged between the driving shaft and the clamping plate of the first section of bracket 218. The electric control box 102 controls the first driving motor 220 to enable the driving shaft to rotate at a fixed angle, so that the first section of support 218 and the second section of support 224 are bent at an angle, the tail part of the second section of support 224 of the bending arm 216 is provided with a U-shaped plate 227, holes on two sides of the U-shaped plate 227 are connected with the second driving motor 225, the driving shaft on the other side of the second driving motor 225 is directly connected with the U-shaped plate on the third section of support 228, and when the electric control box 102 controls the second driving motor 225, the second driving shaft rotates at a fixed angle, so that the second section of support 224 and the third section of support 228 are bent at an angle. The third section of support 228 is formed by connecting and assembling rectangular metal frames through bolts, the tail end of the third section of support is provided with a hole and is connected with a third driving motor 230, a driving shaft of the third driving motor 230 is connected with a U-shaped plate of a fourth section of support 232, and the other side of the U-shaped plate of the fourth section of support 232 is provided with a bolt through hole and is connected with the dismounting device 30 through bolts.
The dismounting device 30 comprises a push-pull cylinder 300, a clamping cylinder 302 and a clamping jaw 304, the end part of the push-pull cylinder 300 is connected with the fourth section of support 232 of the bending arm 216 through a bolt, the end part of a guide rod 306 in the push-pull cylinder 300 penetrates through the L-shaped plate and is fixedly connected with the L-shaped plate in a threaded manner, the other end of the L-shaped plate is provided with a bolt through hole, the clamping cylinder 302 is fixed on the other side of the L-shaped plate through a bolt, and the guide rod 306 of the push-pull cylinder 300 can drive the clamping cylinder 302 to move together when being ejected outwards. The end of the clamping cylinder 302 is provided with a clamping jaw moving slide rail (not labeled), the clamping jaw 304 is connected with a guide rod in the clamping cylinder 302, when the cylinder is air-intake, the guide rod drives the two clamping jaws to move along the moving slide rail in opposite directions to be clamping operation, and the reverse movement is releasing operation. It should be noted that the clamping force provided by the clamping jaw 304 can overcome the adsorption force of the sensor magnetic base, and the sensor can be assembled and disassembled in a small space.
In the actual disassembly and assembly process, after the hinge rod 208 is lowered to a designated position in a gap between the pressure vessel and the wall of the equipment pit, the first section of support 218, the second section of support 224, the third section of support 228 and the fourth section of support 232 are driven to bend to a designated angle by the first driving motor 200, the second driving motor 220 and the third driving motor 230, the disassembly and assembly device 30 is swung to a position near the sensor, the push-pull cylinder 300 pushes the clamping cylinder 302 to approach the sensor, and the clamping cylinder 302 is controlled by the control panel to clamp the sensor. Epoxy resin is sprayed on the bent arms 216, so that the sharp metal parts of the bent arms 216 can be prevented from damaging the guide plate.
Referring to fig. 7, according to an embodiment of the present invention, a screw hole for fixing a magnetic isolation plate is formed on an upper end surface of a U-shaped plate of the fourth bracket 232, a bolt through hole is formed at a corresponding position on the magnetic isolation plate 234, the magnetic isolation plate 234 is fixed on an upper portion of the push-pull cylinder 300 by a bolt, the push-pull cylinder 300, the clamping cylinder 302 and the clamping jaw 304 are isolated from a wall of the pressure vessel, the magnetic isolation plate 234 is made of nylon, and the magnetic isolation plate 234 can prevent a removed sensor from being adsorbed on the surface of the pressure vessel again.
According to an embodiment of the present invention, a camera device is disposed on the dismounting device 30, the camera device has 4 cameras, the 4 cameras are respectively fixed on the side surfaces of the dismounting device 30 through pipe hoops, the connecting wires of the cameras are connected with a power box above the platform through flexible cables, the conditions of the bending positions and the relative positions of the clamping cylinder 302 and the sensor are monitored in real time, and the relative positions are fed back to a display of the platform, the operation process is visible, and the control by an operator is convenient.
Referring to fig. 8, the driving adjustment device 40 mainly includes a first supporting platform 400 mounted on the supporting platform of the apparatus, a first slide rail 402 disposed on the first supporting platform 400, a second supporting platform 406 mounted on the first supporting platform 400, a second slide rail 408 disposed on the second supporting platform 406, a third supporting platform 410 mounted on the second supporting platform 406, and a third slide rail 412 disposed on the third supporting platform 410. The first slide rail 402 is fixed to the first support platform 400 and includes two cylindrical rails, and the first handle 404 is connected to a first lead screw (not shown) fixed to the first support platform 400. The second slide rail 408 is fixed to the second support platform 406, and a first nut structure (not shown) is fixed in a lower groove of the second support platform 406, and the first nut structure is engaged with the first lead screw, so that the second support platform 406 can move along the first slide rail 402 in the X direction when the first handle 404 is rotated. The track direction of the second sliding rail 408 is arranged at 90 degrees with the first sliding rail 402, a second handle 409 is connected with a second lead screw on a second supporting platform 406, a second nut structure is fixed in a lower groove of the third supporting platform 410, a second nut is matched with the second lead screw, when the second handle 409 is rotated, the third supporting platform 410 can move along the second sliding rail 408 in the Y direction, a rotary support 414 is fixed on the third supporting platform 410, the rotary support 414 can rotate around the central axis Z thereof, a square supporting column and a third sliding rail 412 are welded at the top of the rotary support 414, a sliding block 416 is in a rectangular structure and is provided with 2 guide holes, the sliding block 416 is sleeved in the third sliding rail 412 and is connected with an L-shaped adjusting plate 418 through a bolt, the central position of the sliding block 416 is provided with a hole, the third lead screw is connected with a third handle 420 and penetrates through the sliding block 416, a central hole of the sliding block 416 is internally threaded and is matched with the third lead screw, when the third handle 420 is rotated, the slider 416 moves up and down along the third slide rail 412 along the Z-axis, so that by rotating the first handle 404, the second handle 409 and the third handle 420, the L-shaped adjusting plate 418 moves along the second support platform 406 in the X-direction, moves along the third support platform 410 in the Y-direction, rotates along the Z-axis along with the rotary support 414, and moves up and down along the Z-axis along with the slider 416.
The lower end of the L-shaped adjusting plate 418 is welded with a rectangular flange, 4 oblong holes are formed in the rectangular flange and are in bolt connection with the end face flange of the connecting rod 20 on the supporting platform, and therefore the whole dismounting device 30 can be integrally moved at the bottom position of the pressure vessel through driving of the driving adjusting device 40. The parameter table of the drive adjusting device 40 is as follows. Usually, after the dismounting device 30 is arranged at the bottom of the pressure vessel, the driving device 40 is adjusted, so that the gripping rod pieces can be adjusted in X, Y and Z directions integrally, and the adjustment distance in each direction is at least 100 mm.
TABLE 1 drive adjustment device parameter table
According to an embodiment of the sensor mounting and dismounting device of the present invention, the sensor mounting and dismounting device 30 may be controlled by a power control system, the power control system includes a power supply system, a dismounting device control system, a detection system, and an execution system, the power supply system receives a total power externally supplied to the sensor mounting and dismounting device, and supplies power to the control system, the detection system, and the execution system via a dc power supply.
The control system of the dismounting device comprises a circuit breaker, a PLC, a touch screen and a relay, wherein the touch screen is connected with an endoscope with a network interface through an LAN interface. According to one embodiment of the sensor dismounting device, a PLC selects a brand SS system host (DI8-DO6, relay type output) and a SS system extension (DI8-DO8, relay type output), a touch screen selects a 7-inch high color screen controlled by Shanghai speed, an endoscope with a network interface is connected through a LAN interface, a logic program is compiled through the PLC, the logic program is solidified on the touch screen, and then touch screen instructions are combined to realize the mounting and dismounting of the sensor.
According to one embodiment of the sensor assembling and disassembling device, the detection system comprises a magnetic switch and an endoscope which are arranged on the air cylinder, the magnetic switch is connected with a power supply, when the air cylinder is in place or retracted, the magnetic switch is induced, signals are transmitted to the PLC, and the action steps are displayed on the touch screen after logical judgment.
The execution system comprises an air cylinder, a clutch and an electromagnet, compressed air drives the air cylinder to act through the electromagnetic valve, and the clutch and the electromagnet are driven by the converted DC power supply to realize clutching and suction actions.
The following describes in detail the process of disassembling the sensor by using the sensor disassembling device of the invention with reference to the accompanying drawings:
the gas from the gas source pump 100 passes through the electrical control box 102, and the control buttons on the electrical control box 102 are used to control the gas path accordingly. The electrical control box 102 is provided with an air path interface, and the air path interface is connected with the connecting ports of the bending arm driving cylinder 9, the push-pull cylinder 300 and the clamping cylinder 302 through connecting pipelines.
After the driving adjustment device 40 is fixed on the supporting platform, the connecting rod part on the supporting platform is connected, the hinge rod 208 is put down along the edge gap of the pressure vessel, and the real-time position of the dismounting device 30 is observed through the imaging displayed by the camera device. When the connecting rod 20 is mounted in place, the first driving motor 220 is turned on and the second link bracket 224 is bent. The image is displayed by the camera device, the second drive motor 225 is switched on, and the third link bracket 228 is bent. During the process, if the position needs to be finely adjusted, the first handle 404, the second handle 409 and the third handle 420 of the driving adjusting device 40 can be adjusted to translate the whole detachable device 30X, Y, Z and rotate along the Z-axis.
The air passages of the push-pull air cylinder 300 and the clamping air cylinder 302 are switched on, then the push-pull air cylinder 300 is switched off, and the clamping jaws 304 are controlled to take the sensor off from the fixed base.
The operation of mounting the sensor is reversed from the above-described steps.
In combination with the above detailed description of the embodiments of the present invention, it can be seen that, compared with the prior art, the sensor mounting and dismounting device of the present invention has the following advantages:
the connecting rod 20 and the bending arm 216 arranged on the connecting rod 20 are driven by the driving adjusting device 40 to adjust positions, the dismounting device 30 arranged at the tail end of the bending arm 216 is pushed to move by the push-pull air cylinder 300, the clamping jaw 304 is driven by the clamping air cylinder 302 to realize sensor dismounting, and the length of the connecting rod 20 can be adjusted as required, so that the sensor dismounting requirement at a long-distance and narrow-gap position can be met.
The present invention can be modified and adapted appropriately from the above-described embodiments, according to the principles described above. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. A sensor attaching and detaching device, comprising:
a drive adjustment device;
the connecting rod is connected to the driving adjusting device, and the driving adjusting device drives the connecting rod to adjust the position; and
the dismounting device is connected to the connecting rod and comprises a push-pull air cylinder, a clamping air cylinder and a clamping jaw, the push-pull air cylinder pushes the dismounting device to move, and the clamping air cylinder drives the clamping jaw to dismount the sensor.
2. The sensor mounting and dismounting device according to claim 1, wherein the connecting rod includes a straight rod connected to the driving adjustment device and a hinge rod connected to the straight rod, the hinge rod includes a plurality of connecting arms connected by hinges, and rollers are provided on both sides of the connecting arms.
3. The sensor dismounting device according to claim 2, wherein the straight rod is provided with a plurality of rectangular pipes, a double-layer perforated welding lug is welded at one end of each rectangular pipe, a single-layer perforated welding lug is welded at the other end of each rectangular pipe, and the single-layer welding lugs of the rectangular pipes are inserted into the double-layer welding lugs of the adjacent rectangular pipes and connected through pin shafts.
4. The sensor assembling and disassembling device according to claim 3, wherein wing plates are symmetrically arranged on two side surfaces of the long square tube, and universal wheels are mounted on the wing plates.
5. The sensor attaching and detaching device according to claim 1, wherein an image pickup device is provided on the attaching and detaching device.
6. The sensor assembling and disassembling device according to claim 1, wherein a bending arm is disposed between the connecting rod and the assembling and disassembling device, and a driving motor is disposed on the bending arm and drives the bending arm to adjust an angle.
7. The sensor assembling and disassembling device according to claim 5, wherein the bending arm includes a plurality of sections of brackets, a plurality of driving motors are provided corresponding to the plurality of sections of brackets, and the driving motors drive the plurality of sections of brackets to adjust the angle relatively.
8. The sensor assembling and disassembling device according to claim 5, wherein a magnetism isolating plate is arranged between the bending arm and the push-pull cylinder.
9. The sensor assembling and disassembling device according to claim 5, further comprising a driving mechanism for powering the assembling and disassembling device, wherein the driving mechanism comprises an air source pump and an electric control box, an air path interface is arranged on the electric control box, and the air path interface is connected with the connecting ports of the driving motor, the push-pull cylinder and the clamping cylinder through connecting pipelines.
10. The sensor assembling and disassembling device according to any one of claims 1 to 9, wherein the driving adjustment device includes a first supporting platform, a second supporting platform mounted on the first supporting platform, a third supporting platform mounted on the second supporting platform, a first lead screw and a first slide rail are provided on the first supporting platform, the second supporting platform is provided with a first nut, the second supporting platform is matched with the first lead screw through the first nut, the second supporting platform can move along the direction of the first slide rail X, the second supporting platform is provided with a second lead screw and a second slide rail perpendicular to the first slide rail, the third supporting platform is provided with a second nut, the third supporting platform can move along the direction of the second slide rail Y through the second nut and the second lead screw, and a rotary support is fixed on the third supporting platform, the welding of slewing bearing's top has the third slide rail, the cover is equipped with third lead screw and slider on the third slide rail, the connecting rod connect in on the slider, the slider is equipped with the internal thread, and through internal thread and third lead screw cooperation, the slider along the third slide rail is the Z axle and reciprocates.
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| CN112276897A (en) * | 2020-09-24 | 2021-01-29 | 南京大学 | Management robot |
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