CN212134532U - X-ray automatic detection device of double robots - Google Patents
X-ray automatic detection device of double robots Download PDFInfo
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- CN212134532U CN212134532U CN202020513566.5U CN202020513566U CN212134532U CN 212134532 U CN212134532 U CN 212134532U CN 202020513566 U CN202020513566 U CN 202020513566U CN 212134532 U CN212134532 U CN 212134532U
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Abstract
The utility model discloses a X ray automatic checkout device of duplex robot, including the shielded cell, lay in proper order along the detection line direction and run through elevating system, robotic arm and the transfer chain that the shielded cell set up, the X ray detection mechanism who corresponds with the robotic arm position to and the musical instrument formula operation panel of being connected with elevating system, robotic arm, transfer chain and X ray detection mechanism electricity respectively. By the proposal, the utility model has the advantages of simple structure, detection efficiency height have very high practical value and spreading value in X-ray detection technical field.
Description
Technical Field
The utility model belongs to the technical field of the X ray detection technique and specifically relates to a X ray automatic checkout device of duplex robot.
Background
X-ray inspection is an experimental technique that utilizes X-ray techniques to observe, study and examine material microstructures, chemical compositions, surface or internal structural defects. Such as X-ray powder diffraction, X-ray fluorescence spectroscopy, radiography, X-ray topography, and the like. At present, the structure of the X-ray detection device in the prior art is complex; most of detection adopts a manual mode, the detection efficiency is low, and the problem of large radiation exists. The automatic detection device described herein is used for smaller-sized parts in other industries such as automobile parts (e.g., steering knuckle, subframe), however, there is a lack in detection safety of the prior art devices that have not been provided with a steering knuckle.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide a X ray automatic checkout device of duplex robot, the utility model discloses a technical scheme as follows:
an X-ray automatic detection device of a double-robot is used for automatically detecting a steering knuckle, and comprises a shielding chamber, a lifting mechanism, a mechanical arm, a conveying line, an X-ray detection mechanism and a piano type operation table, wherein the lifting mechanism, the mechanical arm, the conveying line and the X-ray detection mechanism are sequentially arranged along the direction of a detection line and penetrate through the shielding chamber;
the lifting mechanism comprises a first lifting mechanism and a second lifting mechanism which bear the knuckle to be detected and are arranged in a mirror image-to-image manner, and a third lifting mechanism and a fourth lifting mechanism which bear the knuckle to be detected and are arranged in a mirror image-to-image manner;
the mechanical arms comprise a first mechanical arm and a second mechanical arm which are arranged on the front side and the rear side of the X-ray detection mechanism and have the same structure;
the third lifting mechanism is arranged between the first lifting mechanism and the first mechanical arm along the detection line direction, and the fourth lifting mechanism is arranged between the second lifting mechanism and the second mechanical arm along the detection line direction.
Furthermore, the conveying lines comprise a second lower conveying line and a second upper conveying line which are vertically arranged and are arranged behind the first mechanical arm along the detection line direction, and a first lower conveying line and a first upper conveying line which are vertically arranged and are arranged behind the second mechanical arm along the detection line direction; a third conveying line is arranged between the first lifting mechanism and the third lifting mechanism, and a fourth conveying line is arranged between the second lifting mechanism and the fourth lifting mechanism.
Further, the first lifting mechanism and the third lifting mechanism have the same structure, and the second lifting mechanism and the fourth lifting mechanism have the same structure;
first elevating system includes the base, fixes the door type frame on the base, sets up the slide rail in the inboard of door type frame, the lower part is fixed on the base, and arrange the lift cylinder in the door type frame in, a pot head is established on the slide rail, and fixed with the top of lift cylinder, and by the support frame that the slide rail reciprocated is followed in the lift cylinder drive, fix the transmission band on the support frame, be connected with the transmission band, and drive the driving motor of transmission band, and set up on the transmission band, be used for bearing the knuckle mount table of the knuckle that waits to detect.
Furthermore, the first mechanical arm comprises a horizontal rotator fixed in the shielding chamber, a large arm motor arranged on the horizontal rotator, a large arm with the rear end connected with the large arm motor, a small arm motor arranged at the front end of the large arm, a small arm with the rear end connected with the small arm motor, a gripper head arranged at the front end of the small arm, and a gripper connected with the gripper head.
Furthermore, the X-ray detection mechanism comprises an X-ray tube mounting bracket fixed at the lower part of the inner wall of the shielding chamber, an X-ray tube fixed on the X-ray tube mounting bracket and facing upwards, a detector mounting bracket fixed at the upper part of the inner wall of the shielding chamber, and a detector fixed on the detector mounting bracket and arranged opposite to the X-ray tube.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the utility model skillfully arranges the shielding chamber as an isolation component, and utilizes the lifting mechanism and the conveying line to transmit the steering knuckle, so as to realize the assembly line detection and improve the detection efficiency;
(2) the lifting mechanism of the utility model adopts a first lifting mechanism and a second lifting mechanism, a third lifting mechanism and a fourth lifting mechanism which are opposite in mirror image, and utilizes a first mechanical arm and a second mechanical arm to clamp and take a steering knuckle alternately, so as to realize high-efficiency detection;
(3) the utility model provides a transfer chain about two sets to in categorised with the knuckle that detects, when guaranteeing detection efficiency, also can guarantee to detect categorised reliably.
To sum up, the utility model has the advantages of simple structure, detection efficiency height have very high practical value and spreading value in X ray detection technical field.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as a limitation of the scope of protection, and for those skilled in the art, other related drawings may be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram (unshielded chamber) of the present invention.
Fig. 3 is a schematic structural view of the conveying line of the present invention.
Fig. 4 is a schematic structural diagram of the lifting mechanism of the present invention.
Fig. 5 is a schematic structural diagram (a) of the first robot arm and the X-ray detection mechanism according to the present invention.
Fig. 6 is a schematic structural diagram (ii) of the first robot arm and the X-ray detection mechanism according to the present invention.
Fig. 7 is a schematic structural diagram (iii) of the first robot arm and the X-ray detection mechanism according to the present invention.
Fig. 8 is a schematic structural diagram (a) of the first robot arm according to the present invention.
Fig. 9 is a schematic structural diagram (ii) of the first robot arm according to the present invention.
Fig. 10 is a partial schematic structural view of a first robot arm according to the present invention.
Fig. 11 is a schematic structural view of the gripper of the present invention.
Fig. 12 is a schematic structural diagram (a) of the first lifting mechanism according to the present invention.
Fig. 13 is a schematic structural view (ii) of the first lifting mechanism of the present invention.
Fig. 14 is a partial schematic structural view of the first lifting mechanism of the present invention.
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
1-shielding room, 2-piano type operating platform, 3-first lifting mechanism, 4-second lifting mechanism, 5-third lifting mechanism, 6-fourth lifting mechanism, 7-first mechanical arm, 8-second mechanical arm, 9-X-ray detection mechanism, 10-first lower conveying line, 11-second lower conveying line, 12-first upper conveying line, 13-second upper conveying line, 14-steering knuckle, 15-third conveying line, 16-fourth conveying line, 31-base, 32-portal frame, 33-lifting cylinder, 34-sliding rail, 35-supporting frame, 36-conveying belt, 37-driving motor, 38-steering knuckle mounting platform, 71-horizontal rotator, 72-large arm motor, 73-large arm, 74-small arm motor, 75-small arm, 76-gripper head, 77-gripper, 91-X-ray tube mounting bracket, 92-X-ray tube, 93-detector mounting bracket and 94-detector.
Detailed Description
To make the objectives, technical solutions and advantages of the present application more clear, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1 to 14, the present embodiment provides an automatic X-ray detection device for a dual robot, which is used for automatically detecting a knuckle 14. In the present embodiment, the terms "first", "second", and the like are used only for distinguishing the similar components, and are not to be construed as limiting the scope of protection. In the present embodiment, the terms of orientation such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings. In addition, the software program used in the piano type console 2 in the present embodiment is a combination of conventional program segments, which will not be described herein.
Specifically, the automatic X-ray detection device for a double robot in this embodiment includes a shielding chamber 1, a lifting mechanism, a robot arm, and a conveyor line that are sequentially arranged along a detection line direction and penetrate through the shielding chamber 1, an X-ray detection mechanism 9 corresponding to the position of the robot arm, and a piano-type console 2 electrically connected to the lifting mechanism, the robot arm, the conveyor line, and the X-ray detection mechanism 9, respectively.
The lifting mechanism comprises a first lifting mechanism 3 and a second lifting mechanism 4 which bear the knuckle 14 to be detected and are arranged oppositely in a mirror image manner, and a third lifting mechanism 5 and a fourth lifting mechanism 6 which bear the knuckle 14 to be detected and are arranged oppositely in a mirror image manner. Further, a third transfer line 15 is provided between the first elevating mechanism 3 and the third elevating mechanism 5, and a fourth transfer line 16 is provided between the second elevating mechanism 4 and the fourth elevating mechanism 6. In the present embodiment, the third lifting mechanism 5 is disposed between the first lifting mechanism 3 and the first robot arm 7 in the detection line direction, and the fourth lifting mechanism 6 is disposed between the second lifting mechanism 4 and the second robot arm 8 in the detection line direction. The first lifting mechanism 3 and the third lifting mechanism 5 have the same structure, and the second lifting mechanism 4 and the fourth lifting mechanism 6 have the same structure; the first lifting mechanism 3 comprises a base 31, a door type frame 32 fixed on the base 31, a sliding rail 34 arranged on the inner side of the door type frame 32, a lifting cylinder 33 fixed on the base 31 at the lower part and arranged in the door type frame 32, a supporting frame 35 which is sleeved on the sliding rail 34, fixed with the top of the lifting cylinder 33 and driven by the lifting cylinder 33 to move up and down along the sliding rail 34, a transmission belt 36 fixed on the supporting frame 35, a driving motor 37 connected with the transmission belt 36 and driving the transmission belt 36, and a knuckle mounting table 38 arranged on the transmission belt 36 and used for bearing the knuckle 14 to be detected. In the present embodiment, the support frame 35 is driven to move up and down by the lift cylinder 33.
In addition, the robot arm of the present embodiment includes a first robot arm 7 and a second robot arm 8 which are disposed on both front and rear sides of the X-ray detection mechanism 9 and have the same structure; the first robot arm 7 includes a horizontal rotator 71 fixed in the shield room 1, a large arm motor 72 provided on the horizontal rotator 71, a large arm 73 having a rear end connected to the large arm motor 72, a small arm motor 74 provided at a front end of the large arm 73, a small arm 75 having a rear end connected to the small arm motor 74, a gripper head 76 provided at a front end of the small arm 75, and a gripper 77 connected to the gripper head 76.
In this embodiment, the conveyor line includes a second lower conveyor line 11 and a second upper conveyor line 13 which are arranged up and down and are arranged behind the first robot arm 7 along the detection line direction, and a first lower conveyor line 10 and a first upper conveyor line 12 which are arranged up and down and are arranged behind the second robot arm 8 along the detection line direction.
The X-ray detection mechanism 9 of the present embodiment includes an X-ray tube mounting bracket 91 fixed to a lower portion of the inner wall of the shield room 1, an X-ray tube 92 fixed to the X-ray tube mounting bracket 91 and directed upward, a detector mounting bracket 93 fixed to an upper portion of the inner wall of the shield room 1, and a detector 94 fixed to the detector mounting bracket 93 and disposed opposite to the X-ray tube 92.
In the embodiment, the first lifting mechanism 3, the second lifting mechanism 4, the third lifting mechanism 5 and the fourth lifting mechanism 6 are used for conveying the steering knuckle 14, and the first mechanical arm 7 and the second mechanical arm 8 are used for sequentially grabbing the steering knuckle 14 and are arranged between the X-ray tube 92 and the detector so as to shoot X-ray; the X-ray image is preset manually or in a piano type operation table to place the intact knuckle 14 on the upper conveyor line and the damaged title 14 on the lower conveyor line for comparison (existing conventional means) and output to the outside of the shielding room 1.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and are not limitations on the protection scope of the present invention, but all the changes made by adopting the design principle of the present invention and performing non-creative work on this basis shall fall within the protection scope of the present invention.
Claims (5)
1. An X-ray automatic detection device of a double-robot is used for automatically detecting a steering knuckle (14), and is characterized by comprising a shielding chamber (1), a lifting mechanism, a mechanical arm and a conveying line which are sequentially arranged along the direction of a detection line and penetrate through the shielding chamber (1), an X-ray detection mechanism (9) corresponding to the position of the mechanical arm, and a piano type operating platform (2) which is electrically connected with the lifting mechanism, the mechanical arm, the conveying line and the X-ray detection mechanism (9) respectively;
the lifting mechanism comprises a first lifting mechanism (3) and a second lifting mechanism (4) which bear the knuckle (14) to be detected and are arranged in a mirror image-to-image manner, and a third lifting mechanism (5) and a fourth lifting mechanism (6) which bear the knuckle (14) to be detected and are arranged in a mirror image-to-image manner; a third conveying line (15) is arranged between the first lifting mechanism (3) and the third lifting mechanism (5), and a fourth conveying line (16) is arranged between the second lifting mechanism (4) and the fourth lifting mechanism (6);
the mechanical arms comprise a first mechanical arm (7) and a second mechanical arm (8) which are arranged on the front side and the rear side of the X-ray detection mechanism (9) and have the same structure;
the third lifting mechanism (5) is arranged between the first lifting mechanism (3) and the first mechanical arm (7) along the detection line direction, and the fourth lifting mechanism (6) is arranged between the second lifting mechanism (4) and the second mechanical arm (8) along the detection line direction.
2. The double-robot X-ray automatic detection device according to claim 1, wherein the conveyor lines include a second lower conveyor line (11) and a second upper conveyor line (13) which are arranged up and down and arranged behind the first robot arm (7) in the detection line direction, and a first lower conveyor line (10) and a first upper conveyor line (12) which are arranged up and down and arranged behind the second robot arm (8) in the detection line direction.
3. The automatic X-ray detection device for double robots according to claim 1, wherein the first lifting mechanism (3) and the third lifting mechanism (5) have the same structure, and the second lifting mechanism (4) and the fourth lifting mechanism (6) have the same structure;
first elevating system (3) include base (31), fix door type frame (32) on base (31), slide rail (34) of the inboard of setting at door type frame (32), the lower part is fixed on base (31), and arrange lift cylinder (33) in door type frame (32) in, a pot head is established on slide rail (34), and fixed with the top of lift cylinder (33), and support frame (35) that reciprocates along slide rail (34) are driven by lift cylinder (33), transmission band (36) of fixing on support frame (35), be connected with transmission band (36), and drive driving motor (37) of transmission band (36), and set up on transmission band (36), be used for bearing knuckle mount table (38) of the knuckle (14) that awaits measuring.
4. The automatic X-ray detection device for the double robots as claimed in claim 1, wherein the first robot arm (7) comprises a horizontal rotator (71) fixed in the shielding room (1), a large arm motor (72) arranged on the horizontal rotator (71), a large arm (73) having a rear end connected to the large arm motor (72), a small arm motor (74) arranged at a front end of the large arm (73), a small arm (75) having a rear end connected to the small arm motor (74), a gripper head (76) arranged at a front end of the small arm (75), and a gripper (77) connected to the gripper head (76).
5. The automatic X-ray detection device for the double robots as claimed in any one of claims 1 to 4, wherein the X-ray detection mechanism (9) comprises an X-ray tube mounting bracket (91) fixed to the lower part of the inner wall of the shielding room (1), an X-ray tube (92) fixed to the X-ray tube mounting bracket (91) and facing upward, a detector mounting bracket (93) fixed to the upper part of the inner wall of the shielding room (1), and a detector (94) fixed to the detector mounting bracket (93) and arranged opposite to the X-ray tube (92).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020513566.5U CN212134532U (en) | 2020-04-09 | 2020-04-09 | X-ray automatic detection device of double robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020513566.5U CN212134532U (en) | 2020-04-09 | 2020-04-09 | X-ray automatic detection device of double robots |
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| CN212134532U true CN212134532U (en) | 2020-12-11 |
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| CN202020513566.5U Active CN212134532U (en) | 2020-04-09 | 2020-04-09 | X-ray automatic detection device of double robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117347400A (en) * | 2023-10-19 | 2024-01-05 | 苏州一目万相科技有限公司 | High-efficiency online continuous industrial CT detection system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117347400A (en) * | 2023-10-19 | 2024-01-05 | 苏州一目万相科技有限公司 | High-efficiency online continuous industrial CT detection system |
| CN117347400B (en) * | 2023-10-19 | 2024-03-05 | 苏州一目万相科技有限公司 | High-efficiency online continuous industrial CT detection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Double Robot X-ray Automatic Detection Device Effective date of registration: 20230506 Granted publication date: 20201211 Pledgee: Lanzhou Bank Co.,Ltd. Silicon Valley Branch Pledgor: LANZHOU RICH-GOLDEN TEST & CONTROL TECHNOLOGY Co.,Ltd. Registration number: Y2023980039808 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |