LU101572B1

LU101572B1 - Dual-arm robot for sampling and detecting casting

Info

Publication number: LU101572B1
Application number: LU101572A
Authority: LU
Inventors: Chengjun Wang; Hanwei Yu; Jun Zhang; Yongcun Guo; Yuzhe Shen; Yourui Huang; Hongtao Yang
Original assignee: Univ Anhui Sci & Technology
Priority date: 2018-05-14
Filing date: 2019-04-17
Publication date: 2020-05-29
Also published as: CN108393894A; LU101572A1; WO2019218834A1

Abstract

Disclosed is a dual-arm casting sampling and detecting robot, comprising a movable platform, a waist reverse-rotating apparatus, a liftable/lowerable machine body, a shoulder support frame, a left working arm, a right working arm, a binocular stereoscopic vision system, and a detection apparatus. The movable platform is a traveling mechanism and a supporting platform for the present invention, the waist reverse-rotating apparatus and the liftable/lowerable machine body respectively are used for implementing a reverse rotation and a lifting/lowering adjustment function, the right working arm and the left working arm mounted on the shoulder support frame respectively are used for clamping a casting and for cutting the casting, a three-dimensional scan and a component analysis test are performed in the detection apparatus, the binocular stereoscopic vision system is used for acquiring an onsite image and executing tasks such as navigation, target identification, and measurement. The present invention is used for replacing labor in detection operations such as automated sampling, geometric parameter measurement, casting defect and cost analysis in the production of castings, has the advantages of a high automation level, strong adaptability, being quick and convenient, overcomes the technical defect of an existing detection apparatus, and is more suitable for promotion.

Description

| 1 | DUAL-ARM ROBOT FOR SAMPLING AND DETECTING CASTING 1u101572

FIELD OF THE INVENTION

[0001] The present invention relates to a robot in the automation equipment field, and in | particular, to a movable dual-arm robot for sampling and detecting a casting. 5 DESCRIPTION OF RELATED ART | [0002] With the rise in labor prices, the "demographic dividend" of China's manufacturing | industry is disappearing. The international economy is complex and volatile, and the world | economy is undergoing profound adjustments. The developed countries promote the | "reindustrialization" and the "return of manufacturing". High-end competition in the global manufacturing industry becomes increasingly intense. China's manufacturing industry has a robot density much lower than the global average, and the robot industry has a large room for development. The technical level of industrial robots determines the precision, accuracy, and efficiency of manufacturing production. The depth and breadth of the application of industrial robots have become an important indicator of a country's manufacturing level and technological level. However, there are serious deficiencies in the fields of materials and key components in the manufacturing automation technology in China, and such fields are dominated by foreign technology. In order to optimize and upgrade the manufacturing industry and sustain the economic growth, China must improve traditional industries with modern and automated equipment and transition from demographic dividend to technology | 20 dividend. Replacing humans with machines becomes an important measure to promote the ; transformation and upgrade of traditional manufacturing industries. The improvement of traditional industries with modern and automated equipment and the transition from | demographic dividend to technology dividend drive new industrial optimization and upgrade, sustain economic growth, and are particularly vital to achieve technological process, enhance labor quality, improve the production efficiency of enterprises, facilitate the adjustment of industrial structure, and promote the transformation of development modes of industries.

[0003] In casting production, the proportions of trace elements to be added need to be strictly controlled, and the trace elements need to be added and adjusted in time due to burning loss. In production, it is often necessary to sample and analyze the components of castings that are initially poured and castings that are poured after feeding. In addition, casting defects and shape parameters in castings also need to be tracked and monitored to

| 2 | reduce a rejection rate and improve the quality and yield of castings. However, trips |u101572 | between an enterprise laboratory and a pouring site that are relatively far away from each | other require extra intensive labor and cause a waste of time. In addition, because casting | production is usually carried out at night, intensive manual labor is required, and the | 5 production is prone to deviations. As detection equipment such as metal component analysis equipment becomes increasingly miniaturized, convenient, and modular, how to | conveniently sample and analyze castings is crucial for the improvement of production | capacity and also facilitates quality control of products. | [0004] In casting production, especially in the implementation of continuous casting | 10 production, the control of casting defects, rejection rates, and metal components is the key | to ensuring the quality of castings, improving the yield, and reducing production costs. The accuracy of manual sampling and detection can no longer meet the requirements of automated production and casting quality. Therefore, during casting production, timely sampling, analysis, and detection of castings are of great significance for reducing rejection rates, improving the quality and production efficiency of castings, and reducing the | consumption of raw materials and the labor intensity of employees. | [0005] A robot for sampling and detecting a casting is an industrial robot used for automated sorting, cutting, sampling, and performing image acquisition, geometric parameter measurement, casting defect analysis, and component analysis and detection on castings or samples. Different sensors may be added to an end effector or different end effectors may be used to enable the robot for sampling and detecting a casting to perform molten metal temperature measurement, molten metal sample extraction, sample forming, and the like, which greatly reduces labor intensity. The robot for sampling and detecting a | casting may be widely applied to the fields such as casting production, field exploration, nuclear tests, nuclear power plants, and Mars exploration to replace human labor. At present, most of the sampling, analysis, and detection work is performed manually, resulting in disadvantages such as high risks, intensive labor, and consumption of effort and time.

[0006] Regarding the sampling technology and equipment in metal casting and molding processes, many technical implementation plans have also been proposed in existing domestic patent literature. For example, Chinese Patent Application No. 2009102640779 discloses a sampling device and sampling method for accurate quantification of carbon content in spheroidal graphite cast iron. A molten iron sampling spoon is used to take out —

| , | molten spheroidal graphite cast iron and pour it into a sampling cavity to form a white iron |u101572 | sheet sample that is 0.8 mm to 1.5 mm thick. This method is suitable for the sampling of | molten metals. Chinese Patent Application No. 201010288862.0 discloses an accurate | temperature measuring and sampling system of molten steel and a method thereof. The | 5 system includes an intelligent robot system, an automatic temperature measuring and | sampling gun system, a liquid level height detection device, and an industrial control | computer. The liquid level height detection device measures a liquid level depth of molten | steel. An automatic gun carried by a robot automatically measures and samples a | temperature. Therefore, an occasional systematic error of a measurement result caused by a | 10 manual measurement method is eliminated. This method is also only suitable for sampling | and temperature measurement of molten metals and does not have a function of component | determination. Chinese Patent Application No. 2015104457379 discloses a pouring | manipulator with component analysis. An induction cup of a component analysis module is | fixed on a rotating shaft cross beam of a casting ladle. When the casting ladle is filled with molten iron, a ceramic long handle scoop is used to scoop a proper amount of molten iron | and fill the molten iron in the induction cup, so that the component analysis module | performs fast component analysis on the sample in the induction cup. This component | analysis is also used for molten metals and is easily susceptible to thermal radiation. | Chinese Patent Application No. 201621438941.4 discloses a casting defect detection device including a worktable and a transport vehicle. À detector is disposed on the worktable, an X-ray tube is disposed in the detector, and the casting is detected by using an X-ray. By means of the plan, defects such as pores, inclusions, cracks, and incomplete penetration that may occur inside the casting can be detected. However, this plan does not have the functions of casting feature recognition, geometric parameter determination, and component analysis.

[0007] In the case of a dual-arm robot, Chinese Patent No. 200810209775.4 discloses a | dual-arm and dual-hand mobile robot for ground movement and space truss climbing, to resolve the problems of grasping a truss rod by the mobile robot and the movement of the mobile robot in a space truss. Chinese Patent Application No. 200910187853.X discloses a dual-arm and four-wheel routing inspection robot mechanism, including a box body and front and rear arm mechanisms with the same structure mounted on the box body. Each arm mechanism includes a walking mechanism, a turning mechanism, a tilting mechanism, a clamping mechanism, and a support arm. This routing inspection robot mechanism is used

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| to carry out automatic routing inspection on a transmission line in place of a human. 101572 | Chinese Patent Application No. 201410159419.1 discloses a dual-arm fruit picking robot | and a fruit picking method. A serial manipulator is provided at each of the front and rear | ends of a mobile platform to pick and collect fruit on fruit trees on the left and right sides in | 5 the traveling direction of the robot. In addition, Chinese Patent Application No. | 201510800702.2 discloses an indoor mobile robot for delivering food. Chinese Patent | Application No. 201610478459.1 discloses a dual-arm loading and transporting robot for | implementing fast loading of packages in air transportation. Chinese Patent Application No. | 201610757007.7 discloses an Automated Guided Vehicle (AGV)-based self-propelled | 10 dual-arm industrial robot device, including an AGV trolley and a gripping mechanism with | two simple mechanical arms mounted on the AGV trolley. A gripping assembly of the | gripping mechanism has only four degrees of freedom. Chinese Patent Application No. | 201710361950.0 discloses a dual-arm collaborative robot including a binocular vision | assembly, an integrated control cabinet, a dual-arm assembly, and a movable platform. | 15 [0008] Existing dual-arm robots are applied to various industries such as material | handling, mechanical equipment maintenance, welding, cutting, spray painting, and | assembly. Robots come in different shapes and functions, but their practicality depends on | one thing in common, that is, the mobility of robots, However, monocular cameras or | ordinary binocular cameras are usually used in the vision systems of existing robots, and | 20 planar information is usually obtained. As a result, distances measured by the robots are not ; accurate enough, and two arms coordinate with inadequate precision. Next, the robots have | single functions, insufficient degrees of freedom, and nonadjustable intervals between two | arms, and a rotating pair is usually used as a motion pair. As a result, the working space and | mobility of the two arms are restricted, and the robots are not up to complex work tasks. The existing dual-arm robots cannot be directly used to perform work tasks such as casting sampling after casting and component analysis and detection.

SUMMARY OF THE INVENTION

[0009] The objective of the present invention is to, in view of the deficiencies in the prior art, provide a dual-arm robot for sampling and detecting a casting, which is configured to perform sampling, geometrical parameter measurement, casting defect analysis, component analysis and other detection tasks on castings or samples in casting production and can overcome the drawbacks in the prior art.

[0010] The present invention resolves the technical problems by using the following EB emer

| technical solutions. lu101572 ) [0011] A dual-arm robot for sampling and detecting a casting includes a mobile platform, | a waist rotating device, a liftable body, a shoulder support, a left working arm, a right | working arm, a binocular stereo vision system, and a detection device. The waist rotating | 5 device is fixedly mounted at the rear end of the top of the mobile platform, and is | configured to implement rotary motion of the liftable body and the shoulder support | mounted on the liftable body. The detection device is fixedly mounted at the front end of | the top of the mobile platform, and is configured to perform three-dimensional scanning, | casting defect detection, and component analysis and detection on a to-be-detected sample. | 10 The bottom of the liftable body is fixedly mounted at the top of the waist rotating device, | and is configured to support and drive the shoulder support and the left working arm and ) the right working arm mounted on the shoulder support for lifting, to adjust working | heights of the left working arm and the right working arm. The shoulder support is fixedly | mounted at the top of the liftable body, and is configured to connect, support, and mount | 15 the left working arm and the right working arm. The shoulder support is a hollow cuboid, | and each of side surfaces of two ends of the shoulder support is provided with a circular | mounting hole. The left working arm and the right working arm are respectively located on | left and right sides of the upper end of the liftable body, the rear end of the left working : arm and the rear end of the right working arm are both fixedly mounted in the shoulder | 20 support, the right working arm is configured to pick and clamp a casting or a to-be-detected | sample, and the left working arm is configured to cut a casting, to obtain a to-be-detected | sample. The binocular stereo vision system is located above the shoulder support, the | bottom of the binocular stereo vision system is fixedly mounted in the middle of the top of | the shoulder support by a screw, and the binocular stereo vision system is configured to obtain on-site images and perform tasks such as navigation and identification and measurement of castings and to-be-detected samples in a foundry.

[0012] The mobile platform is a walking mechanism and a carrying platform of the present invention, including a chassis, a drive motor, a drive sprocket, a guide wheel, a thrust wheel, a support chain wheel, and a track. The chassis has a U-shaped structure, and | | 30 is configured to mount the drive motor, the drive sprocket, the guide wheel, the thrust wheel, and the support chain wheel. A DC drive power supply is disposed in the middle of the center of the chassis, and is configured to supply power to the drive motor and other electric drivers. The drive motor is located on two sides of the front end of the chassis and

| is connected to the chassis by a screw, to supply power for mobile walking of the mobile |,191572 | . platform.

The drive sprocket is located on two sides of the front end of the chassis, is | fixedly mounted on an output shaft of the drive motor by a flat key and a locking screw, | and is configured to drive the track to move.

The guide wheel is located on two sides of the | 5 rear end of the chassis, is connected to the chassis by a bearing seat and a tensioning ; hydraulic cylinder, and is configured to support and tension the track.

The thrust wheel is : located at the lower end of two sides of the chassis, is connected to the chassis by a bearing | seat, and is configured to support the weight of the mobile platform and its load, which also | rolls on a track link or a track surface of the track, and has the function of preventing the | 10 track from slipping laterally.

The support chain wheel is located at the upper end of two | sides of the chassis, is connected to the chassis by a bearing seat, and is configured to | support the track located above the thrust wheel.

The track is sleeved on the drive sprocket, | the guide wheel, the thrust wheel, and the support chain wheel, and also meshes with the | drive sprocket and the guide wheel. | 15 [0013] The waist rotating device includes a rotating deceleration motor, a driving gear, a | driven gear shaft, and a combination bearing.

The rotating deceleration motor is fixedly | mounted inside the chassis by a screw, to supply power for the rotation of the driving gear. | The driving gear is fixedly mounted on an output shaft of the rotating deceleration motor | and is located above the chassis.

The driven gear shaft is mounted in the middle of the rear | 20 end of the chassis, the lower end of the driven gear shaft is connected to the chassis by a combination bearing, and the driven gear shaft is configured to support the liftable body | and drive the liftable body to rotate.

The driving gear meshes with a driven gear of the | driven gear shaft.

The combination bearing includes a radial bearing and a thrust bearing, : the radial bearing is a radial cylindrical roller bearing, and the thrust bearing is a thrust ball | 25 bearing. | [0014] The liftable body includes a lifting push rod, an inner casing, and an outer casing. : There are two lifting push rods, and the two lifting push rôds are disposed in parallel | between the shoulder support and the driven gear shaft and are configured to drive the | shoulder support and the left working arm and the right working arm mounted on the | 30 shoulder support to rise or lower together.

The lower ends of the two lifting push rods are fixedly mounted at the top of the driven gear shaft by screws, and the upper ends of the two lifting push rods are both fixedly mounted at the bottom of the shoulder support by screws.

The bottom of the inner casing is fixedly mounted at the top of the driven gear shaft by a

| 7 | screw, the top of the outer casing is fixedly mounted at the bottom of the shoulder support 101572 | by a screw, and the outer casing is sleeved on the inner casing and can slide vertically along | the inner casing. The inner casing and the outer casing together form a complete retractable | dust cover, the dust cover is used to protect and beautify the lifting push rod, and the outer | 5 casing can also provide support for the arm-lifting movement of the left working arm and | the right working arm. / [0015] The left working arm includes a left extension arm push rod, a left guide shaft, a | left linear bearing seat, a left large arm, a left small arm, a left arm-lifting device, a left | pendulum elbow push rod, and a cutter. The outer side end of the left extension arm push | 10 rod is fixedly mounted in the shoulder support, the left extension arm push rod is | configured to drive the left large arm to extend or retract transversely, and the output end of | the left extension arm push rod is connected to the inner side end of the left guide shaft by a | left connecting rod. The inner side end of the left guide shaft is disposed in the shoulder | support and is connected to the shoulder support through the left linear bearing seat. The | 15 rear end of the left large arm is connected to the outer side end of the left guide shaft by a | first left hinge, the front end of the left large arm is connected to the rear end of the left | small arm by a second left hinge, and the front end of the left small arm is connected to the | rear end of the cutter by a built-in rotary motor. The rear end of the left pendulum elbow / push rod is connected to the inner side of the middle of the left large arm by a hinge, and | 20 the front end of the left pendulum elbow push rod is connected to the rear end of the left | small arm by a linkage, to supply power for transverse swing of the left small arm. The left | arm-lifting device includes a left double-link guide rod, a left connecting seat, and a left ; arm-lifting push rod, and is configured to drive the left large arm to swing longitudinally. | The inner side end of the left double-link guide rod is disposed in the outer casing and is | 25 connected to a left guide sleeve on the outer casing by a sliding pair, the left connecting | seat is fixedly mounted at the outer side end of the left double-link guide rod, and front and rear ends of the left arm-lifting push rod are respectively connected to the left large arm and the left connecting seat by hinges, to supply power for longitudinal swing of the left large arm. The axis of the second left hinge is parallel to the axis of a third left hinge, and the axis of the second left hinge and the axis of the second left hinge are both perpendicular to the axis of the first left hinge. The rear end of the cutter can also rotate relative to the left small arm to ensure that the cutter has sufficient freedom of movement and extend the adjustment function of the cutting posture of the cutter. The built-in rotary motor is a

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| 8 | | pneumatic motor or a hydraulic motor or a servo deceleration motor, and the cutter is a high |u101572 i speed electric grinding wheel cutting machine or a plasma cutting machine or a laser | cutting machine.

i [0016] The right working arm includes a right extension arm push rod, a right guide shaft, | 5 aright linear bearing seat, a right large arm, a right small arm, a right arm-lifting device, a | right pendulum elbow push rod, and a gripper. The outer side end of the right extension | arm push rod is fixedly mounted in the shoulder support, the right extension arm push rod | is configured to drive the right large arm to extend or retract transversely, and the output | end of the right extension arm push rod is connected to the inner side end of the right guide | 10 shaft by a right connecting rod. The inner side end of the right guide shaft is disposed in the | shoulder support and is connected to the shoulder support by the right linear bearing seat. The rear end of the right large arm is connected to the outer side end of the right guide shaft | by a first right hinge, the front end of the right large arm is connected to the rear end of the | right small arm by a second right hinge, and the front end of the right small arm is | 15 connected to the rear end of the gripper by a third right hinge. The rear end of the right | pendulum elbow push rod is connected to the inner side of the middle of the right large arm | by a hinge, and the front end of the right pendulum elbow push rod is connected to the rear | end of the right small arm by a linkage, to supply power for transverse swing of the right | small arm. The right arm-lifting device includes a right double-link guide rod, a right | 20 connecting seat, and a right arm-lifting push rod, and is configured to drive the right large | arm to swing longitudinally. The inner side end of the right double-link guide rod is | disposed in the outer casing and is connected to a right guide sleeve on the outer casing by | a sliding pair, the right connecting seat is fixedly mounted at the outer side end of the right | double-link guide rod, and front and rear ends of the right arm-lifting push rod are | 25 respectively connected to the right large arm and the right connecting seat by hinges, to : supply power for longitudinal swing of the right large arm. The axis of the first left hinge is { parallel to or coaxial with the axis of the first right hinge. The axis of the second right hinge | is perpendicular to the axis of the first right hinge, a servo deceleration motor is disposed in | a rear small arm of the right small arm and is configured to drive a front small arm of the | 30 right small arm to rotate relative to the rear small arm, and the front small arm is connected | to the rear small arm by the servo deceleration motor. | [0017] The binocular stereo vision system includes a transverse swing motor, a pitch | motor, a head U-shaped support, and a binocular camera set. The lower end of the em TEE ETF

| transverse swing motor is fixedly mounted in the middle of the top of the shoulder support, 4101572 | and the transverse swing motor is configured to implement a transverse swing adjustment | function of the binocular camera set. The lower end of the pitch motor is fixedly mounted | on an output flange of the transverse swing motor, and the pitch motor is configured to | 5 implement a pitch adjustment function of the binocular camera set. The lower end of the | head U-shaped support is fixedly connected to the double output shafts of the pitch motor. | The bottom of the binocular camera set is located at the top of the head U-shaped support, | and is fixedly connected to the head U-shaped support. Two three-dimensional industrial | cameras are disposed in the binocular camera set, and are configured to obtain images of a | 10 work site and provide assisted navigation, | [0018] The detection device includes a rotatable lifting column, a miniature spectrum | analyzer, a three-dimensional scanner, and a sample holder. The bottom of the rotatable | lifting column is fixedly mounted on the right side of the front end of the chassis, and a | rotary motor is disposed at the bottom of the rotatable lifting column and is configured to | 15 drive the rotatable lifting column to rotate around the axis of the rotatable lifting column. A | servo electric push rod is disposed in the rotatable lifting column, and is configured to | implement the lifting function of the rotatable lifting column and the three-dimensional | scanner mounted at the top of the rotatable lifting column. The three-dimensional scanner is | fixedly mounted at the top of the rotatable lifting column, and is configured to obtain | 20 images, geometric parameter information, and casting defects of the to-be-detected samples. | The bottom of the miniature spectrum analyzer is fixedly mounted in the middle of the | front end of the chassis, and the bottom of the sample holder is fixedly mounted on the left | side of the front end of the chassis. An X-ray tube may also be added to the | three-dimensional scanner for X-ray scanning and detection of the castings or samples, to | 25 analyze the internal casting defects of the castings and the to-be-detected samples. | [0019] The lifting push rod, the left extension arm push rod, the right extension arm push | rod, the left pendulum elbow push rod, the right pendulum elbow push rod, the left arm-lifting push rod, and the right arm-lifting push rod may be electric push rods or servo pneumatic cylinders or servo hydraulic cylinders.

[0020] When a sampling and detection task is performed, it is necessary to select a suitable casting from a site according to work requirements or select a suitable part on a designated casting for cutting and sampling. Under the cooperation and guidance of the binocular stereo vision system, the left working arm and the right working arm need to

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| work together. The gripper on the right working arm clamps and fixes a casting, the cutter | 101572 | on the left working arm then cuts the casting and separates a to-be-detected sample from | the casting, the gripper then clamps the to-be-detected sample and places the to-be-detected | sample on an objective table of the miniature spectrum analyzer in the detection device, and | 5 the sample holder fixes the to-be-detected sample. Finally, the three-dimensional scanner | performs the three-dimensional scanning on the casting or the to-be-detected sample, to | obtain geometric parameters, appearance characteristics, external casting defects, and | internal casting defects of the casting or the to-be-detected sample, and the miniature | spectrum analyzer performs spectral analysis on the components of the to-be-detected | 10 sample. | [0021] The tracked mobile platform in the present invention increases a walking distance | of a sampling and detection robot, and the sampling and detection robot is away from a | ladle furnace and a hot casting when the sampling work is not performed, thereby | effectively reducing damage to the robot caused by thermal radiation. | 15 [0022] Compared with the prior art, beneficial effects of the present invention are that, a / body of the present invention has the mobile platform, which can facilitate the overall | movement of the robot, the waist rotating device and the liftable body may respectively | implement the rotating function and the lifting function of the shoulder support and the left | working arm and the right working arm mounted on the shoulder support, and there are two | 20 degrees of freedom of movement. In addition, the left working arm has four degrees of | freedom of movement, and the right working arm has five degrees of freedom of movement, | thereby ensuring high operational flexibility and a large working space of the left working | arm and the right working arm, and implementing cooperative work of the double arms. | The present invention may be used on a casting production site to replace humans to | 25 perform detection work such as automatic sampling, geometric parameter measurement, casting defect analysis, and component analysis and measurement on the casting, has the : advantages such as a high degree of automation, high adaptability, and fast and convenient operations, can effectively shorten the sampling and detection time and reduce the labor intensity, can also be applied to sampling, analysis, and detection work in field work and dangerous places, overcomes the technical defects of existing sampling and detection devices, and is more suitable for popularization and application.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Fig. 1 is an overall schematic structural diagram according to the present -_ ss

| invention; lu101572 | [0024] Fig. 2 is a schematic diagram of internal structures of a waist rotating device, a | liftable body, and a shoulder support according to the present invention; and | [0025] Fig. 3 is a schematic diagram of a connection relationship among a left working | | 5 arm, a right working arm, a liftable body, and a shoulder support according to the present | invention.

| DETAILED DESCRIPTION OF THE INVENTION | [0026] To make the technical means, creative features, objectives and achieved effects of | the present invention more comprehensible, the present invention is further described | 10 below with reference to specific embodiments and the drawings.

, [0027] As shown in Fig. 1, Fig. 2, and Fig. 3, a dual-arm robot for sampling and detecting | a casting includes a mobile platform 1, a waist rotating device 2, a liftable body 3, a ; shoulder support 4, a left working arm 5, a right working arm 6, a binocular stereo vision | system 7, and a detection device 8. The waist rotating device 2 is fixedly mounted at the | ; 15 rear end of the top of the mobile platform 1, and is configured to implement rotary motion | of the liftable body 3 and the shoulder support 4 mounted on the liftable body 3. The | detection device 8 is fixedly mounted at the front end of the top of the mobile platform 1, | and is configured to perform three-dimensional scanning, casting defect detection, and | component analysis and detection on a to-be-detected sample 9. The bottom of the liftable | 20 body 3 is fixedly mounted at the top of the waist rotating device 2, and is configured to | support and drive the shoulder support 4 and the left working arm 5 and the right working | arm 6 mounted on the shoulder support 4 for lifting, to adjust working heights of the left | working arm 5 and the right working arm 6. The shoulder support 4 is fixedly mounted at | the top of the liftable body 3, and is configured to connect, support, and mount the left | 25 working arm 5 and the right working arm 6. The shoulder support 4 is a hollow cuboid, and | each of side surfaces of two ends of the shoulder support 4 is provided with a circular | mounting hole. The left working arm 5 and the right working arm 6 are respectively located | on left and right sides of the upper end of the liftable body 3, the rear end of the left | working arm 5 and the rear end of the right working arm 6 are both fixedly mounted in the | 30 shoulder support 4, the right working arm 6 is configured to pick and clamp a casting or the- | ; to-be-detected sample 9, and the left working arm 5 is configured to cut a casting, to obtain | the to-be-detected sample 9. The binocular stereo vision system 7 is located above the a a |

| shoulder support 4, the bottom of the binocular stereo vision system 7 is fixedly mounted in |u101572 / the middle of the top of the shoulder support 4 by a screw, and the binocular stereo vision | system 7 is configured to obtain on-site images and perform tasks such as navigation and | identification and measurement of the to-be-detected sample 9 in a foundry. ; | 5 [0028] As shown in Fig. 1, Fig. 2, and Fig. 3, the mobile platform 1 is a walking | mechanism and a carrying platform of the present invention, including a chassis 11, a drive | motor 12, a drive sprocket 13, a guide wheel 14, a thrust wheel 15, a support chain wheel | 16, and a track 17. The chassis 11 has a U-shaped structure, and is configured to mount the | drive motor 12, the drive sprocket 13, the guide wheel 14, the thrust wheel 15, and the . 10 support chain wheel 16. À DC drive power supply is disposed in the middle of the center of | the chassis 11, and is configured to supply power to the drive motor 12 and other electric | drivers. The drive motor 12 is located on two sides of the front end of the chassis 11 and is | connected to the chassis 11 by a screw, to supply power for mobile walking of the mobile ; | platform 1. The drive sprocket 13 is located on two sides of the front end of the chassis 11, | 15 is fixedly mounted on an output shaft of the drive motor 12 by a flat key and a locking | | screw, and is configured to drive the track 17 to move, The guide wheel 14 is located on | two sides of the rear end of the chassis 11, is connected to the chassis 11 by a bearing seat | and a tensioning hydraulic cylinder, and is configured to support and tension the track 17.

| The thrust wheel 15 is located at the lower end of two sides of the chassis 11 and is | 20 connected to the chassis 11 by a bearing seat, and is configured to support the weight of the | mobile platform 1 and its load, which also rolls on a track link or a track surface of the | track 17, and has the function of preventing the track 17 from slipping laterally. The | support chain wheel 16 is located at the upper end of two sides of the chassis 11 and is | connected to the chassis 11 by a bearing seat, and is configured to support the track 17 | 25 located above the thrust wheel 15. The track 17 is sleeved on the drive sprocket 13, the | guide wheel 14, the thrust wheel 15, and the support chain wheel 16, and also meshes with | the drive sprocket 13 and the guide wheel 14. | | [0029] As shown in Fig. 1, Fig. 2, and Fig. 3, the waist rotating device 2 includes a | rotating deceleration motor 21, a driving gear 22, a driven gear shaft 23, and a combination | 30 bearing 24. The rotating deceleration motor 21 is fixedly mounted inside the chassis 11 by | a screw, to supply power for the rotation of the driving gear 22. The driving gear 22 is fixedly mounted on an output shaft of the rotating deceleration motor 21 and is located | above the chassis 11. The driven gear shaft 23 is mounted in the middle of the rear end of

| the chassis 11, the lower end of the driven gear shaft 23 is connected to the chassis 11 by a lu101572 | combination bearing 24, and the driven gear shaft 23 is configured to support the liftable | body 3 and drive the liftable body 3 to rotate. The driving gear 22 meshes with a driven gear of the driven gear shaft 23. The combination bearing 24 includes a radial bearing and a : 5 thrust bearing, the radial bearing is a radial cylindrical roller bearing, and the thrust bearing : is a thrust ball bearing.

/ [0030] As shown in Fig. 1, Fig. 2, and Fig. 3, the liftable body 3 includes a lifting push | rod 31, an inner casing 32, and an outer casing 33. There are two lifting push rods 31, and | the two lifting push rods 31 are disposed in parallel between the shoulder support 4 and the | 10 driven gear shaft 23 and are configured to drive the shoulder support 4 and the left working | arm 5 and the right working arm 6 that are mounted on the shoulder support 4 to rise or | lower together, the lower ends of the two lifting push rods 31 are fixedly mounted at the top | of the driven gear shaft 23 by screws, and the upper ends of the two lifting push rods 31 are i both fixedly mounted at the bottom of the shoulder support 4 by screws. The bottom of the | 15 inner casing 32 is fixedly mounted at the top of the driven gear shaft 23 by a screw, the top | of the outer casing 33 is fixedly mounted at the bottom of the shoulder support 4 by a screw, | and the outer casing 33 is sleeved on the inner casing 32 and can slide vertically along the | inner casing 32. The inner casing 32 and the outer casing 33 together form a complete | retractable dust cover, the dust cover is used to protect and beautify the lifting push rod 31, | 20 and the outer casing 33 can also provide support for the arm-lifting movement of the left ] working arm 5 and the right working arm 6. | [0031] As shown in Fig. 1, Fig. 2, and Fig. 3, the left working arm 5 includes a left | extension arm push rod 51, a left guide shaft 52, a left linear bearing seat 53, a left large | arm 54, a left small arm 55, a left arm-lifting device 56, a left pendulum elbow push rod 57, | 25 and a cutter 58. The outer side end of the left extension arm push rod 51 is fixedly mounted ‘ in the shoulder support 4, the left extension arm push rod 51 is configured to drive the left | large arm 54 to extend or retract transversely, and the output end of the left extension arm push rod 51 is connected to the inner side end of the left guide shaft 52 by a left connecting | rod 511. The inner side end of the left guide shaft 52 is disposed in the shoulder support 4 | 30 and is connected to the shoulder support 4 through the left linear bearing seat 53. The rear | end of the left large arm 54 is connected to the outer side end of the left guide shaft 52 by a | first left hinge, the front end of the left large arm 54 is connected to the rear end of the left | small arm 55 by a second left hinge, and the front end of the left small arm 55 is connected a

) 14

| to the rear end of the cutter 58 by a built-in rotary motor.

The rear end of the left pendulum |u101572 | elbow push rod 57 is connected to the inner side of the middle of the left large arm 54 by aà hinge, and the front end of the left pendulum elbow push rod 57 is connected to the rear end

/ of the left small arm 55 by a linkage, to supply power for transverse swing of the left small

; 5 arm 55. The left arm-lifting device 56 includes a left double-link guide rod 561, a leftconnecting seat 562, and a left arm-lifting push rod 563, and is configured to drive the left

| large arm 54 to swing longitudinally.

The inner side end of the left double-link guide rod

/ 561 is disposed in the outer casing 33 and is connected to a left guide sleeve 331 on the

| outer casing 33 by a sliding pair, the left connecting seat 562 is fixedly mounted at the

| 10 outer side end of the left double-link guide rod 561, and front and rear ends of the left

| arm-lifting push rod 563 are respectively connected to the left large arm 54 and the left

| connecting seat 562 by hinges, to supply power for longitudinal swing of the left large arm | 54. The axis of the second left hinge is parallel to the axis of a third left hinge, and the axis ; | of the second left hinge and the axis of the second left hinge are both perpendicular to the

| 15 axis of the first left hinge.

The rear end of the cutter 58 can also rotate relative to the left

| small arm 55 to ensure that the cutter 58 has sufficient freedom of movement and extend | the adjustment function of the cutting posture of the cutter 58. The built-in rotary motor is a | pneumatic motor or a hydraulic motor or a servo deceleration motor, and the cutter 58 is a | high speed electric grinding wheel cutting machine or a plasma cutting machine or a laser cutting machine. | [0032] As shown in Fig. 1, Fig. 2, and Fig. 3, the right working arm 6 includes a right | extension arm push rod 61, a right guide shaft 62, a right linear bearing seat 63, a right | large arm 64, a right small arm 65, a right arm-lifting device 66, a right pendulum elbow J push rod 67, and a gripper 68. The outer side end of the right extension arm push rod 61 is | 25 fixedly mounted in the shoulder support 4, the right extension arm push rod 61 is | configured to drive the right large arm 64 to extend or retract transversely, and the output end of the right extension arm push rod 61 is connected to the inner side end of the right / guide shaft 62 by a right connecting rod 611. The inner side end of the right guide shaft 62 | is disposed in the shoulder support 4, and is connected to the shoulder support 4 by the | 30 right linear bearing seat 63. The rear end of the right large arm.64 is connected to the outer | side end of the right guide shaft 62 by a first right hinge, the front end of the right large arm | 64 is connected to the rear end of the right small arm 65 by a second right hinge, and the | front end of the right small arm 65 is connected to the rear end of the gripper 68 by a third

SE”

| | right hinge.

The rear end of the right pendulum elbow push rod 67 is connected to the inner 4101572 | side of the middle of the right large arm 64 by a hinge, and the front end of the right

: pendulum elbow push rod 67 is connected to the rear end of the right small arm 65 by a

/ linkage, to supply power for transverse swing of the right small arm 65. The rightarm-lifting device 66 includes a right double-link guide rod 661, a right connecting seat 662,

| and a right arm-lifting push rod 663, and is configured to drive the right large arm 64 to

| swing longitudinally.

The inner side end of the right double-link guide rod 661 is disposed

| in the outer casing 33 and is connected to a right guide sleeve 332 on the outer casing 33 by

| a sliding pair, the right connecting seat 662 is fixedly mounted at the outer side end of the : | 10 right double-link guide rod 661, and front and rear ends of the right arm-lifting push rod

| 663 are respectively connected to the right large arm 64 and the right connecting seat 662

| by hinges, to supply power for longitudinal swing of the right large arm 64. The axis of the

| first left hinge is parallel to or coaxial with the axis of the first right hinge.

The axis of the

| second right hinge is perpendicular to the axis of the first right hinge, and a servo

| 15 deceleration motor is disposed in a rear small arm 651 of the right small arm 65 and is

| configured to drive a front small arm 652 of the right small arm 65 to rotate relative to the | rear small arm 651. The gripper 68 is a pneumatic clamping grip, and an anti-slip layer is | | disposed on the inner side of the clamping jaw of the gripper 68. | [0033] As shown in Fig. 1, Fig. 2, and Fig. 3, the binocular stereo vision system 7 | 20 includes a transverse swing motor 71, a pitch motor 72, a head U-shaped support 73, and a | binocular camera set 74. The lower end of the transverse swing motor 71 is fixedly | mounted in the middle of the top of the shoulder support 4, and the transverse swing motor | is configured to implement a transverse swing adjustment function of the binocular camera | set 74. The lower end of the pitch motor 72 is fixedly mounted on an output flange of the | 25 transverse swing motor 71, and the pitch motor 72 is configured to implement a pitch ; | adjustment function of the binocular camera set 74. The lower end of the head U-shaped support 73 is fixedly connected to the double output shafts of the pitch motor 72. The | ; bottom of the binocular camera set 74 is located at the top of the head U-shaped support 73, | and is fixedly connected to the head U-shaped support 73. Two three-dimensional industrial | 30 cameras are disposed in the binocular camera set 74, and are configured to obtain images of | a work site and provide assisted navigation. | [0034] As shown in Fig. 1, Fig. 2, and Fig. 3, the detection device 8 includes a rotatable | lifting column 81, a miniature spectrum analyzer 82, a three-dimensional scanner 83, and a

NEN nn...

: sample holder 84. The bottom of the rotatable lifting column 81 is fixedly mounted on the lu101572 ; right side of the front end of the chassis 11, and a rotary motor is disposed at the bottom of | the rotatable lifting column 81 and is configured to drive the rotatable lifting column 81 to rotate around the axis of the rotatable lifting column 81. A servo electric push rod is : 5 disposed in the rotatable lifting column 81, and is configured to implement the lifting | function of the rotatable lifting column 81 and the three-dimensional scanner 83 mounted at | the top of the rotatable lifting column 81. The three-dimensional scanner 83 is fixedly | mounted at the top of the rotatable lifting column 81, and is configured to obtain images, | geometric parameter information, and casting defects of the to-be-detected sample 9. The | 10 bottom of the miniature spectrum analyzer 82 is fixedly mounted in the middle of the front | end of the chassis 11, and the bottom of the sample holder 84 is fixedly mounted on the left | side of the front end of the chassis 11. An X-ray tube may also be added to the | three-dimensional scanner 83 for X-ray scanning and detection of the castings or samples, | ; to analyze the internal casting defects of the castings and the to-be-detected sample 9.

| 15 [0035] As shown in Fig. 1, Fig. 2, and Fig. 3, the lifting push rod 31, the left extension | arm push rod 52, the right extension arm push rod 62, the left pendulum elbow push rod 57, | the right pendulum elbow push rod 67, the left arm-lifting push rod 563, and the right | arm-lifting push rod 663 are electric push rods or servo pneumatic cylinders or servo | hydraulic cylinders.

| 20 [0036] The specific operation process of the apparatus is as follow: Firstly, a suitable | casting is selected from a site according to work requirements or a suitable part is selected | on a designated casting for cutting and sampling. The binocular stereo vision system 7 of | the apparatus is used to obtain images of a work site and provide assisted navigation for | filed operation, the left working arm 5 and the right working arm 6 need to work together, | 25 The gripper 68 on the right working arm 6 clamps and fixes a casting, the cutter 58 on the | left working arm 5 then cuts the casting and separates the to-be-detected sample 9 from the | casting, the gripper 68 then clamps the to-be-detected sample 9 and places the | to-be-detected sample 9 on an objective table of the miniature spectrum analyzer 82 in the | detection device 8, and the sample holder 84 fixes the to-be-detected sample 9. Finally, the | 30 three-dimensional scanner 83 performs the three-dimensional scanning on the casting or the | to-be-detected sample 9, to obtain geometric parameters, appearance characteristics, | external casting defects, and internal casting defects of the casting or the to-be-detected i sample 9, and the miniature spectrum analyzer 82 performs spectral analysis on the

| components of the to-be-detected sample 9. lu101572 | [0037] In the description of the present invention, it should be understood that orientation | or position relationships indicated by the terms such as "above", "below", "top", "bottom", | "inside", "outside", "front", "rear", "left", and "right" are based on orientation or position | 5 relationships shown in the accompanying drawings, and are used only for ease and brevity | of illustration and description, rather than indicating or implying that the mentioned | apparatuses or components must have a particular orientation or must be constructed and | operated in a particular orientation. Therefore, such terms should not be construed as a | limitation to the present invention. |

[0038] The basic principles, main features and advantages of the present invention are | shown and described above. A person skilled in the art should understand that the present | invention is not limited to the above embodiments, and the descriptions in the above embodiments and the specification are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall all fall within the protection scope of the present invention. The protection scope of the present invention is defined by the appended claims and equivalents thereof.

JE

Claims

PTT a a | 18 | | CLAIMS lu101572

1. À dual-arm robot for sampling and detecting a casting, comprising a mobile platform, a waist rotating device, a liftable body, a shoulder support, a left working arm, a right working arm, a binocular stereo vision system, and a detection device, wherein the waist rotating device is fixedly mounted at the rear end of the top of the mobile platform, and the detection device is fixedly mounted at the front end of the top of the mobile platform: the bottom of the liftable body is fixedly mounted at the top of the waist rotating device, and the shoulder support is fixedly mounted at the top of the liftable body; the shoulder support is a hollow cuboid, and each of side surfaces of two ends of the shoulder support : is provided with a circular mounting hole; the left working arm and the right working arm are respectively located on left and right sides of the upper end of the liftable body, and the rear end of the left working arm and the rear end of the right working arm are both fixedly mounted in the shoulder support; the binocular stereo vision system is located above the shoulder support, and the bottom of the binocular stereo vision system is fixedly mounted in the middle of the top of the shoulder support by a screw; | the mobile platform comprises a chassis, a drive motor, a drive sprocket, a guide wheel, | a thrust wheel, a support chain wheel, and a track, the chassis has a U-shaped structure, | and a DC drive power supply is disposed in the middle of the center of the chassis; the | drive motor is located on two sides of the front end of the chassis and is connected to the | chassis by a screw; the drive sprocket is located on two sides of the front end of the | chassis and is fixedly mounted on an output shaft of the drive motor by a flat key and a | locking screw; the guide wheel is located on two sides of the rear end of the chassis and | ; is connected to the chassis by a bearing seat and a tensioning hydraulic cylinder; the | thrust wheel is located at the lower end of two sides of the chassis and is connected to / the chassis by a bearing seat; the support chain wheel is located at the upper end of two | sides of the chassis and is connected to the chassis by a bearing seat; the track is sleeved on the drive sprocket, the guide wheel, the thrust wheel, and the support chain wheel, ; and also meshes with the drive sprocket and the guide wheel; | the waist rotating device comprises a rotating deceleration motor, a driving gear, a | driven gear shaft, and a combination bearing, and the rotating deceleration motor is 1 fixedly mounted inside the chassis by a screw; the driving gear is fixedly mounted on an output shaft of the rotating deceleration motor and is located above the chassis; the | driven gear shaft is mounted in the middle of the rear end of the chassis, and the lower / end of the driven gear shaft is connected to the chassis by a combination bearing; the |

| 19 driving gear meshes with a driven gear of the driven gear shaft; the liftable body 1u101572 comprises a lifting push rod, an inner casing, and an outer casing, there are two lifting push rods, the two lifting push rods are disposed in parallel between the shoulder support and the driven gear shaft, the lower ends of the two lifting push rods are fixedly mounted at the top of the driven gear shaft by screws, and the upper ends of the two lifting push rods are both fixedly mounted at the bottom -of the shoulder support by | screws; the bottom of the inner casing is fixedly mounted at the top of the driven gear shaft by a screw, the top of the outer casing is fixedly mounted at the bottom of the shoulder support by a screw, and the outer casing is sleeved on the inner casing; the left working arm comprises a left extension arm push rod, a left guide shaft, a left linear bearing seat, a left large arm, a left small arm, a left arm-lifting device, a left pendulum elbow push rod, and a cutter, the outer side end of the left extension arm push rod is fixedly mounted in the shoulder support, and the output end of the left extension arm push rod is connected to the inner side end of the left guide shaft by a left connecting rod; the inner side end of the left guide shaft is disposed in the shoulder | support and is connected to the shoulder support through the left linear bearing seat; the / rear end of the left large arm is connected to the outer side end of the left guide shaft by / a first left hinge, the front end of the left large arm is connected to the rear end of the left | small arm by a second left hinge, and the front end of the left small arm is connected to / the rear end of the cutter by a built-in rotary motor; the rear end of the left pendulum : elbow push rod is connected to the inner side of the middle of the left large arm by a | hinge, and the front end of the left pendulum elbow push rod is connected to the rear end 1 ofthe left small arm by a linkage; the left arm-lifting device comprises a left double-link | guide rod, a left connecting seat, and a left arm-lifting push rod, the inner side end of the | left double-link guide rod is disposed in the outer casing, and is connected to a left guide ; sleeve on the outer casing by a sliding pair, the left connecting seat is fixedly mounted at | the outer side end of the left double-link guide rod, and front and rear ends of the left | arm-lifting push rod are respectively connected to the left large arm and the left : connecting seat by hinges; 2 the right working arm comprises a right extension arm push rod, a right guide shaft, a | right linear bearing seat, a right large arm, a right small arm, a right arm-lifting device, a | right pendulum elbow push rod, and a gripper, the outer side end of the right extension Ë arm push rod is fixedly mounted in the shoulder support, and the output end of the right ' extension arm push rod is connected to the inner side end of the right guide shaft by a ! eee EES

; 20 | right connecting rod; the inner side end of the right guide shaft is disposed in the |u101572 ; shoulder support, and is connected to the shoulder support by the right linear bearing | seat; the rear end of the right large arm is connected to the outer side end of the right | guide shaft by a first right hinge, the front end of the right large arm is connected to the | 5 rear end of the right small arm by a second right hinge, and the front end of the right | small arm is connected to the rear end of the gripper by a third right hinge; the rear end | of the right pendulum elbow push rod is connected to the inner side of the middle of the | right large arm by a hinge, and the front end of the right pendulum elbow push rod is | connected to the rear end of the right small arm by a linkage; the right arm-lifting device | 10 comprises a right double-link guide rod, a right connecting seat, and a right arm-lifting ) push rod, the inner side end of the right double-link guide rod is disposed in the outer | casing, and is connected to a right guide sleeve on the outer casing by a sliding pair, the | right connecting seat is fixedly mounted at the outer side end of the right double-link | guide rod, and front and rear ends of the right arm-lifting push rod are respectively | 15 connected to the right large arm and the right connecting seat by hinges; a servo deceleration motor is disposed in a rear small arm of the right small arm, and a front small arm of the right small arm is connected to the rear small arm by the servo deceleration motor; the binocular stereo vision system comprises a transverse swing motor, a pitch motor, a head U-shaped support, and a binocular camera set, the lower end of the transverse swing motor is fixedly mounted in the middle of the top of the shoulder support, the lower end of the pitch motor is fixedly mounted on an output flange of the transverse swing motor, and the lower end of the head U-shaped support is fixedly connected to the double output shafts of the pitch motor; the bottom of the binocular camera set is located at the top of the head U-shaped support, and is fixedly connected to the head U-shaped | support; two three-dimensional industrial cameras are disposed in the binocular camera / set; | the detection device comprises a rotatable lifting column, a miniature spectrum analyzer, | a three-dimensional scanner, and a sample holder, the bottom of the rotatable lifting | column is fixedly mounted on the right side of the front end of the chassis, a rotary | motor is disposed at the bottom of the rotatable lifting column, and a servo electric push | rod is disposed in the rotatable lifting column; the three-dimensional scanner is fixedly : mounted at the top of the rotatable lifting column, the bottom of the miniature spectrum / analyzer is fixedly mounted in the middle of the front end of the chassis, and the bottom 1 PETE ; ©

| of the sample holder is fixedly mounted on the left side of the front end of the chassis. lu101572 | 2. The dual-arm robot for sampling and detecting a casting according to claim 1, wherein | the combination bearing comprises a radial bearing and a thrust bearing, the radial | bearing is a radial cylindrical roller bearing, and the thrust bearing is a thrust ball | 5 bearing. | 3. The dual-arm robot for sampling and detecting a casting according to claim 1, wherein | the cutter is a high speed electric grinding wheel cutting machine or a plasma cutting | machine or a laser cutting machine. | 4. The dual-arm robot for sampling and detecting a casting according to claim 1, wherein | 10 the lifting push rod, the left extension arm push rod, the right extension arm push rod, | the left pendulum elbow push rod, the right pendulum elbow push rod, the left | arm-lifting push rod, and the right arm-lifting push rod are electric push rods or servo | pneumatic cylinders or servo hydraulic cylinders.

5. The dual-arm robot for sampling and detecting a casting according to claim 1, wherein the axis of the second left hinge is parallel to the axis of a third left hinge, and the axis of the second left hinge and the axis of the second left hinge are both perpendicular to the axis of the first left hinge; the axis of the second right hinge is perpendicular to the axis of the first right hinge; and the axis of the first left hinge is parallel to or coaxial with the | axis of the first right hinge. | eee