CN212497731U - Wheel set flaw detection equipment based on six robots - Google Patents
Wheel set flaw detection equipment based on six robots Download PDFInfo
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- CN212497731U CN212497731U CN202020699908.7U CN202020699908U CN212497731U CN 212497731 U CN212497731 U CN 212497731U CN 202020699908 U CN202020699908 U CN 202020699908U CN 212497731 U CN212497731 U CN 212497731U
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Abstract
The utility model relates to a wheel pair flaw detection device based on a six-axis robot, which comprises a gantry frame and a jacking base which are adjacently arranged; the gantry frame is provided with a flaw detection robot which is a six-axis robot type manipulator, and a flaw detection head is arranged at the tool end of the flaw detection robot; and the two sides of the jacking base are provided with oppositely arranged jacking systems, and the surface of the jacking base between the jacking systems is provided with a guide rail for placing a wheel pair. The utility model discloses can utilize the robot to realize making things convenient for fast the land wheel pair to detect a flaw, the limited work radius of six robots of effectual utilization need not with the help of mechanisms such as other runners, has simplified external mechanism, has simplified work flow, practices thrift the human cost.
Description
Technical Field
The utility model relates to a locomotive, vehicle, motor car maintenance and repair technical field among the railway industry, concretely relates to wheel pair equipment of detecting a flaw based on six robots.
Background
With the rapid development of railways, more and more locomotives and vehicle sections are built and put into use in various places, and various maintenance equipment in the sections are also put into use successively. The locomotive is periodically overhauled according to relevant regulatory requirements. The wheel set is an important part for train operation, and the health condition of the wheel set has important influence on the safe operation of the train. Along with the acceleration heavy load of railway transportation, the scotch, peeling off, out of roundness and unusual wearing and tearing of train wheel aggravate, especially the very serious rim of nature splits the trouble occasionally to take place in the circumference, directly endangers driving safety, and people have proposed higher requirement to the security of train wheel pair. The wheel needs to be inspected regularly for roundness, wear, defects on the tread, rim thickness, etc.
At present, in most sections, one mode is a manual mode, flaw detection is carried out by using a handheld flaw detection device, the working mode is low in efficiency, workers need to have higher understanding on flaw detection and probe principles, and skilled flaw detection methods have higher technical requirements. The other type is that automatic or semi-automatic equipment is utilized, a lifting pressing tool and the like are adopted to press the probe at the position of the wheel set to be subjected to flaw detection, and ultrasonic flaw detection is carried out.
Disclosure of Invention
The utility model aims at providing a wheel pair equipment of detecting a flaw based on six robots can utilize the robot to realize making things convenient for fast the wheel pair to detect a flaw, the limited working radius of six robots of effectual utilization, and this kind of operation method need not with the help of mechanisms such as other runners, has simplified external mechanism, has simplified work flow, has improved the precision of detecting a flaw, practices thrift the human cost.
The utility model discloses the technical scheme who adopts does:
the utility model provides a wheel set inspection equipment based on six robots which characterized in that:
the equipment comprises a gantry frame and a jacking base which are adjacently arranged;
the gantry frame is provided with a flaw detection robot which is a six-axis robot type manipulator, and a flaw detection head is arranged at the tool end of the flaw detection robot;
and the two sides of the jacking base are provided with oppositely arranged jacking systems, and the surface of the jacking base between the jacking systems is provided with a guide rail for placing a wheel pair.
The gantry frame comprises upright columns on two sides and a cross beam between the tops of the upright columns, a horizontal guide rail is arranged on the side face of the cross beam, a horizontal sliding table which transversely moves along the horizontal guide rail is mounted on the horizontal guide rail, and the flaw detection robot is fixed onto the horizontal sliding table.
The horizontal sliding table is driven by a servo motor to drive an internal screw rod structure and drive the horizontal sliding table to move transversely.
The equipment also comprises a drag chain system, wherein the drag chain system comprises a drag chain, a drag chain fixed end mounting seat and a drag chain moving end mounting seat;
the mounting seat for the fixed end of the drag chain is mounted on the gantry frame, the mounting seat for the movable end of the drag chain is mounted on the horizontal sliding table, and the horizontal sliding table drives the drag chain to move.
The center system comprises a movable center, the tail of the movable center is connected to a screw rod, a rotating nut is arranged on the screw rod, and a driving motor acts on the rotating nut to further control the movable center to move.
The lifting device comprises a lifting block, the bottom of the lifting block is a hydraulic oil cylinder, and the hydraulic oil cylinder is connected to a hydraulic system.
A rotating wheel device is arranged between the guide rails tightly propping the surface of the base and comprises a depended wheel oil cylinder, a driving motor and a driving wheel;
after the wheel pair is lifted by the lifting device, the center system acts on the wheel shaft to tightly push the wheel pair to be positioned, the rotating wheel device enables the driving wheel to be attached to the inner side face of the wheel pair through the wheel leaning oil cylinder and applies force, the driving motor drives the driving wheel to rotate, and the wheel pair is rubbed to rotate.
And the flaw detection robot is fixed on the sliding table base of the horizontal sliding table through a bottom flange plate.
The utility model has the advantages of it is following:
1. the robot is adopted as an executing body of the flaw detection action, the flexibility is high, and the flaw detection requirements of wheel sets of different sizes can be better met. The requirement of the force on the wheel set is placed to the probe when can control to detect a flaw, can satisfy the demand of placing the different angles of probe.
2. By adopting a passing type portal frame structure, other equipment can pass through without obstacles when the equipment is not used.
3. The mechanism is adopted to carry out uniform rotation operation on the wheel set, and can be matched with a robot and a probe to carry out omnibearing flaw detection operation.
4. The wheel set rotating wheel device is positioned above the ground, so that large-scale change of the foundation is avoided. And enhances the electrical safety of the runner device.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a left side view of the present invention.
Fig. 3 is a plan view of the present invention.
Fig. 4 is an effect diagram of the present invention.
In the figure, 1-gantry frame, 2-drag chain system, 3-horizontal transmission system, 4-flaw detection robot, 5-flaw detection head, 6-abutting base, 7-center system, 8-lifting device, 9-wheel pair, 10-wheel device, 11-operation cabinet and 12-hydraulic system.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The utility model relates to a wheel pair flaw detection device based on a six-axis robot, which comprises a gantry frame 1 and a jacking base 6 which are adjacently arranged; a flaw detection robot 1 which is a six-axis robot type manipulator is arranged on the gantry frame 1, and a flaw detection head 5 (with the suggested model of BC-5M) is arranged at the tool end of the flaw detection robot 1; and the two sides of the jacking base 6 are provided with oppositely arranged jacking systems 7, and the surface of the jacking base 6 between the jacking systems 7 is provided with a guide rail for placing a wheel pair 9.
The gantry frame 1 comprises upright columns on two sides and a cross beam between the tops of the upright columns, a horizontal guide rail is arranged on the side face of the cross beam, a horizontal sliding table which transversely moves along the horizontal guide rail is mounted on the horizontal guide rail, and the flaw detection robot 1 is fixed onto the horizontal sliding table. The horizontal sliding table is driven by a servo motor to drive an internal screw rod structure and drive the horizontal sliding table to move transversely, and the horizontal sliding table adopting the screw rod structure can provide higher positioning precision.
The drag chain system comprises a drag chain, a drag chain fixed end mounting seat and a drag chain moving end mounting seat. And the drag chain system is arranged on the gantry frame and is used for connecting the robot and a cable required by the robot end probe to the robot on the sliding table through the drag chain.
The mounting seat for the fixed end of the drag chain is mounted on the gantry frame, the mounting seat for the movable end of the drag chain is mounted on the horizontal sliding table, and the horizontal sliding table drives the drag chain to move.
The center system 7 comprises a movable center, the tail of the movable center is connected to a screw rod, a rotating nut is arranged on the screw rod, and a driving motor acts on the rotating nut to further control the movement of the movable center.
The guide rail both sides on the tight base 6 surface in top are provided with lifting device 8, and lifting device 8 includes the lifting piece, and lifting piece bottom is hydraulic cylinder, and hydraulic cylinder is connected to hydraulic system 12.
And a rotating wheel device 10 is arranged between the guide rails tightly propping the surface of the base 6, and the rotating wheel device 10 comprises a wheel-leaning oil cylinder, a driving motor and a driving wheel. After the wheel set is lifted by the lifting device, the center system tightly pushes the wheel set by acting on the wheel shaft, so that the wheel set is positioned. The rotating wheel device enables the driving wheel to be attached to the inner side face of the wheel pair through the idler wheel oil cylinder and applies force, the driving motor drives the driving wheel to rotate, and the driving wheel rotates by friction of the wheel pair.
Referring to the drawings:
a gantry frame 1 is arranged above the track, and a drag chain system 2 and a horizontal transmission system 3 are arranged above the gantry frame 1.
A horizontal sliding table is arranged on the horizontal transmission system 3, the load is 50kg, the flaw detection robot 4 is arranged on a sliding table base through a bottom flange plate, and the length of the sliding table meets the requirement of covering the axial length of a wheel pair. The probe device 5 is installed at the tail end of the flaw detection robot 4.
The jacking base 6 is installed in the equipment foundation pit, the two sets of jacking systems 7 are oppositely and horizontally installed on the jacking base 6, and equipment guide rails are installed on the upper surface of the jacking base 6. Lifting devices 8 are arranged below shaft necks on two sides of the guide rail, and rotating wheel devices are arranged on the inner side surfaces of the inner side wheels of the guide rail. An operation cabinet 11 and a hydraulic system 12 are arranged above the foundation.
A linear guide rail and a ball screw are arranged on the side face above the gantry frame 1, and a servo motor drives the screw to rotate to drive the horizontal sliding table to slide along the wheel-to-shaft direction. The servo system controls the sliding table to move horizontally, namely, the sliding table moves axially along the wheel set, the control precision is +/-1 mm according to the operation requirement, and the control precision is high.
The flaw detection robot 4 and the horizontal transmission system 3 jointly establish a space coordinate system, and can accurately and efficiently realize position control of each flaw detection position of the wheel pair.
The flaw detection head 5 adopts an international advanced ultrasonic flaw detection principle, and can effectively and quickly realize the internal flaw detection of the wheel set 9.
The center system 7 consists of a driving motor, a rotating nut, a screw rod and a movable center, and the two sets of center systems 7 are concentrically arranged on the jacking base 6, can lift the wheel pair 9 and fix the wheel pair 9 at a horizontal position through hydraulic lock locking.
The lifting device 8 is characterized in that the lifting blocks are controlled by a hydraulic oil cylinder to ascend, the two sets of lifting blocks act on the arc surface below the shaft neck, and the height of the wheel in the center height is controlled by a position sensor above the lifting device 8, so that the wheel pair 9 is ensured to be concentric with the center system 7.
The rotating wheel device 10 consists of a wheel leaning oil cylinder, a driving motor and a driving wheel, realizes the uniform rotation of the wheel pair, and meets the requirement of flaw detection in the circumference of the wheel pair.
The content of the present invention is not limited to the examples, and any equivalent transformation adopted by the technical solution of the present invention is covered by the claims of the present invention by those skilled in the art through reading the present invention.
Claims (8)
1. The utility model provides a wheel set inspection equipment based on six robots which characterized in that:
the equipment comprises a gantry frame (1) and a jacking base (6) which are arranged adjacently;
a flaw detection robot (4) is arranged on the gantry frame (1) and is a six-axis robot type manipulator, and a flaw detection head (5) is arranged at the tool end of the flaw detection robot (4);
two sides of the jacking base (6) are provided with oppositely arranged jacking systems (7), and the surface of the jacking base (6) between the jacking systems (7) is provided with a guide rail for placing a wheel pair (9).
2. The wheel set flaw detection device based on the six-axis robot as claimed in claim 1, wherein:
the gantry frame (1) comprises upright columns on two sides and a cross beam between the tops of the upright columns, a horizontal guide rail is arranged on the side face of the cross beam, a horizontal sliding table which transversely moves along the horizontal guide rail is installed on the horizontal guide rail, and the flaw detection robot (4) is fixed onto the horizontal sliding table.
3. The wheel set flaw detection device based on the six-axis robot as claimed in claim 2, wherein:
the horizontal sliding table is driven by a servo motor to drive an internal screw rod structure and drive the horizontal sliding table to move transversely.
4. The wheel set flaw detection device based on the six-axis robot as claimed in claim 3, wherein:
the equipment further comprises a drag chain system (2), wherein the drag chain system (2) comprises a drag chain, a drag chain fixed end mounting seat and a drag chain moving end mounting seat;
the mounting seat for the fixed end of the drag chain is mounted on the gantry frame (1), the mounting seat for the movable end of the drag chain is mounted on the horizontal sliding table, and the horizontal sliding table drives the drag chain to move.
5. The wheel set flaw detection device based on the six-axis robot as claimed in claim 4, wherein:
the center system (7) comprises a movable center, the tail of the movable center is connected to a screw rod, a rotating nut is arranged on the screw rod, and a driving motor acts on the rotating nut to further control the movable center to move.
6. The wheel set flaw detection device based on the six-axis robot as claimed in claim 5, wherein:
the lifting device (8) is arranged on two sides of the guide rail on the surface of the jacking base (6), the lifting device (8) comprises a lifting block, the bottom of the lifting block is provided with a hydraulic oil cylinder, and the hydraulic oil cylinder is connected to a hydraulic system (12).
7. The wheel set flaw detection device based on the six-axis robot as claimed in claim 6, wherein:
a rotating wheel device (10) is arranged between the guide rails on the surface of the jacking base (6), and the rotating wheel device (10) comprises a wheel-leaning oil cylinder, a driving motor and a driving wheel;
after the wheel pair (9) is lifted by the lifting device (8), the center system (7) acts on the wheel shaft to tightly press the wheel pair (9) to position the wheel pair, the rotating wheel device (10) enables the driving wheel to be attached to the inner side face of the wheel pair (9) through the wheel leaning oil cylinder and applies force, the driving motor drives the driving wheel to rotate, and the wheel pair (9) is rubbed to rotate.
8. The wheel set flaw detection device based on the six-axis robot as claimed in claim 7, wherein:
and the flaw detection robot (4) is fixed on the sliding table base of the horizontal sliding table through a bottom flange plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699908.7U CN212497731U (en) | 2020-04-30 | 2020-04-30 | Wheel set flaw detection equipment based on six robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699908.7U CN212497731U (en) | 2020-04-30 | 2020-04-30 | Wheel set flaw detection equipment based on six robots |
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| Publication Number | Publication Date |
|---|---|
| CN212497731U true CN212497731U (en) | 2021-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202020699908.7U Active CN212497731U (en) | 2020-04-30 | 2020-04-30 | Wheel set flaw detection equipment based on six robots |
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| CN (1) | CN212497731U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847441A (en) * | 2022-12-19 | 2023-03-28 | 杭州电子科技大学 | Based on axle type work piece measuring robot |
-
2020
- 2020-04-30 CN CN202020699908.7U patent/CN212497731U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847441A (en) * | 2022-12-19 | 2023-03-28 | 杭州电子科技大学 | Based on axle type work piece measuring robot |
| CN115847441B (en) * | 2022-12-19 | 2023-07-28 | 杭州电子科技大学 | Shaft-based workpiece measuring robot |
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