CN201974413U - Probe positioning device of rim and spoke flaw detection system based on manipulator - Google Patents
Probe positioning device of rim and spoke flaw detection system based on manipulator Download PDFInfo
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- CN201974413U CN201974413U CN2011200263634U CN201120026363U CN201974413U CN 201974413 U CN201974413 U CN 201974413U CN 2011200263634 U CN2011200263634 U CN 2011200263634U CN 201120026363 U CN201120026363 U CN 201120026363U CN 201974413 U CN201974413 U CN 201974413U
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- mechanical arm
- probe
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Abstract
An embodiment of the utility model discloses a probe positioning device of rim and spoke flaw detection system based on manipulator, which comprises the manipulator, a probe carrier, a sensor and a controller. The controller controls the manipulator to fast and accurately convey the probe carrier to a coupling surface of a wheel to be detected according to feedback signals of the sensor. During operation, the sensor on the probe carrier can sense surrounding barriers and feeds back sensing signals to the controller, the controller controls the manipulator to realize active avoidance, and when a probe is close to the coupling surface, the sensor on the probe carrier can automatically sense whether the probe is attached with the coupling surface or not. Accordingly, the probe positioning device can guarantee that the probe is accurately attached with the coupling surface of the wheel under the condition that the wheel does not drop.
Description
Technical field
The utility model relates to probe location, the laminating apparatus of a kind of rim for automobile wheel, spoke ultrasonic fault detection system, more particularly, relates to a kind of rim and spoke fault detection system probe locating device based on mechanical arm.
Background technology
Wheel is the critical component of motor train unit, rolling stock traveling portion, and the running status and the quality condition of wheel are directly connected to traffic safety.The development of high-speed railway and heavy haul railway is had higher requirement to the quality of wheel, presses for wheel is detected a flaw comprehensively.Realize comprehensive ultrasonic inspection of rim and spoke, need arrange ultrasonic probe in the combination of different parts such as rim for automobile wheel, spoke, wheel hub.But the wheel exposed parts is limited under the situation of wheel that do not fall, and there are barriers such as reducer casing, brake flange, sand pipe the side under the car stops that the coupling probe carrier is difficult to navigate on the coupling surface.When especially needing compatible various motor train unit, rolling stock wheel to flaw detection, need take all factors into consideration the car bottom structure and the car base space of various car, probe carrier is bigger in the positioning difficulty of coupling surface.
The utility model content
In view of this, the utility model provides a kind of rim and spoke fault detection system probe locating device based on mechanical arm, with guarantee under the situation that is implemented in to fall wheel probe and wheel coupling surface fast, accurately fit.
The purpose of this utility model provides a kind of rim and spoke fault detection system probe locating device based on mechanical arm, comprising:
Mechanical arm;
Probe carrier, it is provided with probe;
Load bar, described load bar are arranged between the power control flange and described probe carrier of described mechanical arm, and give described probe carrier with the transmission of torque of described mechanical arm;
Sensor comprises position transducer and force feedback sensor, and described position transducer is arranged on the described probe carrier, and whether the described probe applying of perception degree is big or small and have foreign object to block; Described force feedback sensor is arranged between mechanical hand-power control flange and the load bar,
Controller, described controller is stored the corresponding relation of the motion path of vehicle and described mechanical arm in advance, controls the motion path of mechanical arm according to the feedback signal of described sensor.
Preferably, in above-mentioned rim and spoke fault detection system probe locating device based on mechanical arm, described position transducer number is two, is separately positioned on the two ends of probe carrier.
Preferably, in above-mentioned rim and spoke fault detection system probe locating device based on mechanical arm, described controller comprises: communication unit, processing unit, storage unit and performance element, wherein,
Described communication unit: be used to receive described sensor feedback signal, and will be sent to described processing unit;
Storage unit: the corresponding relation of storing the motion path of vehicle and mechanical arm in advance;
Processing unit: receive the electric signal that described communication unit sends, and send steering order to corresponding performance element according to this electric signal and in conjunction with described cell stores information;
Performance element: according to the operation of described steering order control relevant device.
Preferably, in above-mentioned rim and spoke fault detection system probe locating device based on mechanical arm, described controller also comprises input block, described input block can be set the motion path of mechanical arm according to different automobile types, and be sent to described processing unit, after described processing unit processes, be stored to storage unit.
Preferably, in above-mentioned rim and spoke fault detection system probe locating device based on mechanical arm, described mechanical arm is provided with the force feedback sensor, and described mechanical arm is adjusted the moment size that imposes on described load bar according to described force feedback sensor senses moment size.
From above-mentioned technical characterictic as can be seen, adopt mechanical arm, probe carrier, sensor and controller in the probe locating device probe position fixing process among the utility model embodiment.Controller is stored different motor train unit and rolling stock vehicle in advance, formulate the different operating path of mechanical arm, after the position transducer perception probe applying situation, controller is controlled mechanical quick-moving speed and exactly probe carrier is sent to coupling surface of taking turns to be checked, and guarantees that probe and coupling surface fit tightly, accurately locate.In operational process, barrier around the position transducer energy perception on the probe carrier, and this perceptual signal fed back to controller, controller control mechanical arm is initiatively dodged, when popping one's head near coupling surface, the automatic inductive probe of position transducer energy on the probe carrier and the relative position of coupling surface.Therefore, adopt above-mentioned probe locating device among the utility model embodiment, can not only under the situation of the wheel that do not fall, guarantee the accurate applying of probe and wheel coupling surface, and adopt mechanical arm at position fixing process at this probe, mechanical arm has flexible operation characteristics fast, this also be general device can not compare, mechanical arm when operation path is certain, and need not the people for operating, reduced the difficulty of location.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The structural representation that Fig. 1 provides for the utility model embodiment based on the rim and spoke fault detection system of mechanical arm probe locating device;
Fig. 2 provides the structural representation of probe carrier for the utility model embodiment;
Fig. 3 is a kind of structured flowchart of the utility model embodiment middle controller;
Fig. 4 is the another kind of structured flowchart of the utility model embodiment middle controller.
Embodiment
Mechanical arm mainly is made up of hand, motion and control system three parts.Hand is the parts that are used for grasping workpiece (or instrument), according to the shape that is grasped object, size, weight, material and job requirements multiple version is arranged, as clamp-type, holding type and absorbent-type etc.Motion makes hand finish various rotations (swing), move or compound motion is realized specified action, changes the position and the posture that are grasped object.Self-movement modes such as the lifting of motion, flexible, rotation are called the degree of freedom of mechanical arm.
By adopting mechanical arm can realize the location quick and precisely of popping one's head in, locate and to guarantee the effect of detecting a flaw after intact among the utility model embodiment.
Below in conjunction with the accompanying drawing among the utility model embodiment, the technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
The utility model embodiment provides a kind of rim and spoke fault detection system probe locating device based on mechanical arm, please refer to shown in Figure 1ly, comprising: mechanical arm 3, probe carrier 1, sensor, load bar 2 and controller 6, wherein,
Probe carrier 1 is provided with the position transducer that probe 4 and perception are popped one's head in 4 applying degree sizes and whether had foreign object to block, the position transducer number is two in the utility model embodiment, as shown in Figure 2, comprise position transducer 51 and position transducer 52, position transducer 51 and position transducer 52 are separately positioned on the two ends of probe carrier 1;
In addition, owing in probe 4 position fixing processs, need to act on to the certain moment of wheel, in order to control mechanical arm 3 puts on probe carrier 1 moment by load bar 2 size, please refer to shown in Figure 1, mechanical arm 3 is provided with force feedback sensor 7, and mechanical arm 3 is adjusted the moment size that imposes on described load bar according to described power control sensor 7 perception moments size.According to the moment feedback signal, to regulate the applying dynamics of probe and coupling surface, thereby guarantee the coupling effect of probe, after finished the location, probe began wheel is detected a flaw.Therefore, can under the situation of wheel that do not fall, guarantee the accurate applying of probe and wheel coupling surface by adopting above-mentioned probe locating device, and the operating path of mechanical arm 3 is certain in this process, does not need the people for operating, and has reduced the difficulty of location.
Above-mentioned controller 6 please refer to shown in Figure 3ly, comprising: communication unit 61, processing unit 62, storage unit 63 and performance element 64, wherein,
Communication unit 61: be used for the receiving sensor feedback signal, and be sent to processing unit 62;
Storage unit 63: the corresponding relation of storing the motion path of vehicle and mechanical arm in advance;
Processing unit 62: the electric signal that receiving communication unit sends, and send steering order to corresponding performance element 64 according to this electric signal and in conjunction with storage unit 63 canned datas;
Performance element 64: according to the operation of steering order control relevant device.
In addition, please refer to shown in Figure 4ly, in storage unit 63 occurring not during the vehicle of storage, the user can will new vehicle information input in the storage unit 63 by input block 65 and stores.This input block 65 can be set the motion path of mechanical arm according to different automobile types, and is sent to processing unit, is stored to storage unit 63 after treated unit 62 is handled.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the utility model.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from spirit or scope of the present utility model in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (5)
1. the rim and spoke fault detection system probe locating device based on mechanical arm is characterized in that, comprising:
Mechanical arm;
Probe carrier, it is provided with probe;
Load bar, described load bar are arranged between the power control flange and described probe carrier of described mechanical arm, and give described probe carrier with the transmission of torque of described mechanical arm;
Sensor comprises position transducer and force feedback sensor, and described position transducer is arranged on the described probe carrier, and whether the described probe applying of perception degree is big or small and have foreign object to block; Described force feedback sensor is arranged between mechanical hand-power control flange and the load bar,
Controller, described controller is stored the corresponding relation of the motion path of motor train unit, rolling stock model and described mechanical arm in advance, controls the motion path of mechanical arm according to the feedback signal of described sensor.
2. the rim and spoke fault detection system probe locating device based on mechanical arm according to claim 1 is characterized in that described position transducer number is two, is separately positioned on the two ends of probe carrier.
3. the rim and spoke fault detection system probe locating device based on mechanical arm according to claim 1 and 2 is characterized in that described controller comprises: communication unit, processing unit, storage unit and performance element, wherein,
Described communication unit: be used to receive described sensor feedback signal, and will be sent to described processing unit;
Storage unit: the corresponding relation of storing the motion path of motor train unit, rolling stock model and mechanical arm in advance;
Processing unit: receive the electric signal that described communication unit sends, and send steering order to corresponding performance element according to this electric signal and in conjunction with described cell stores information;
Performance element: according to the operation of described steering order control relevant device.
4. the rim and spoke fault detection system probe locating device based on mechanical arm according to claim 3, it is characterized in that, described controller also comprises input block, described input block can be set the motion path of mechanical arm according to different automobile types, and be sent to described processing unit, after described processing unit processes, be stored to storage unit.
5. the rim and spoke fault detection system probe locating device based on mechanical arm according to claim 3, it is characterized in that, described mechanical arm is provided with the force feedback sensor, and described mechanical arm is adjusted the moment size that imposes on described load bar according to described force feedback sensor senses moment size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200263634U CN201974413U (en) | 2011-01-26 | 2011-01-26 | Probe positioning device of rim and spoke flaw detection system based on manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200263634U CN201974413U (en) | 2011-01-26 | 2011-01-26 | Probe positioning device of rim and spoke flaw detection system based on manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN201974413U true CN201974413U (en) | 2011-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200263634U Expired - Lifetime CN201974413U (en) | 2011-01-26 | 2011-01-26 | Probe positioning device of rim and spoke flaw detection system based on manipulator |
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| CN (1) | CN201974413U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175774A (en) * | 2011-01-26 | 2011-09-07 | 北京主导时代科技有限公司 | Device and method for positioning probe of rim spoke flaw detection system based on mechanical hand |
| CN105158542A (en) * | 2015-08-31 | 2015-12-16 | 苏州热工研究院有限公司 | Metal thermoelectric potential detection instrument |
| CN105234807A (en) * | 2015-08-24 | 2016-01-13 | 苏州大学 | Force-controlled flange for polishing operation of industrial robot and polishing method |
-
2011
- 2011-01-26 CN CN2011200263634U patent/CN201974413U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175774A (en) * | 2011-01-26 | 2011-09-07 | 北京主导时代科技有限公司 | Device and method for positioning probe of rim spoke flaw detection system based on mechanical hand |
| CN105234807A (en) * | 2015-08-24 | 2016-01-13 | 苏州大学 | Force-controlled flange for polishing operation of industrial robot and polishing method |
| CN105158542A (en) * | 2015-08-31 | 2015-12-16 | 苏州热工研究院有限公司 | Metal thermoelectric potential detection instrument |
| CN105158542B (en) * | 2015-08-31 | 2018-09-07 | 苏州热工研究院有限公司 | Metal fever potential detecting instrument |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110914 Effective date of abandoning: 20130501 |
|
| RGAV | Abandon patent right to avoid regrant |