阅读说明：本技术 一种压力阀门智能检测机器人 (Intelligent detection robot for pressure valve ) 是由 王中进 王斌锐 刁福涛 于 2019-03-13 设计创作，主要内容包括：本发明公开了一种压力阀门智能检测机器人,包括机架以及设置在机架内侧的检测组件,所述检测组件包括检测基台,检测基台的前侧位置设置有下料升降台以及上料升降台,下料升降台以及上料升降台分别用于进行下料托举以及上料托举,下料升降台以及上料升降台均由用于平托的托板以及位于托板下方的升降气缸构成,本发明可以实现全自动化测试,整体效率高,可以极大的提高实际的检测效率,而且整体具备较好的扩展能力,从而适用用多种不同结构的阀门,整体也具备多种接口的不同扩展。(The invention discloses an intelligent detection robot for a pressure valve, which comprises a rack and a detection assembly arranged on the inner side of the rack, wherein the detection assembly comprises a detection base station, a blanking lifting table and a loading lifting table are arranged at the front side position of the detection base station, the blanking lifting table and the loading lifting table are respectively used for blanking lifting and loading lifting, and the blanking lifting table and the loading lifting table are respectively composed of a supporting plate for flat supporting and a lifting cylinder positioned below the supporting plate.)

1. The utility model provides a pressure valve intellectual detection system robot, its characterized in that, includes the frame and sets up the detection subassembly in the frame inboard, detection subassembly is provided with unloading elevating platform and material loading elevating platform including detecting the base station, the front side position that detects the base station, and unloading elevating platform and material loading elevating platform are used for respectively unloading to lift and material loading to lift, and unloading elevating platform and material loading elevating platform constitute by the layer board that is used for flat support and the lift cylinder that is located the layer board below.

2. A mechanical gripper is fixedly installed on the detection base platform through bolts, a plate type detection position and a tube type detection position are respectively arranged on the left side and the right side of the mechanical gripper, and adjusting units are arranged at positions right above the plate type detection position and the tube type detection position;

the plate-type detection position comprises a plate-type detection substrate which is horizontally arranged, the plate-type detection substrate is fixed on the upper surface of the detection base station by bolts, a sealing plate which is horizontally arranged is fixedly and horizontally placed at the central position of the plate-type detection substrate, and a plurality of limiting columns which are vertically upwards arranged and are mutually spaced are arranged at intervals around the sealing plate; the left side and the right side of the sealing plate are provided with two compression assemblies which are arranged in a bilateral symmetry mode, each compression assembly comprises a sliding rail, a pushing cylinder, a sliding block, a compression cylinder and a pressing plate, the sliding rails are horizontally arranged in the left-right direction and fixed on the plate-type detection substrate through bolts, the sliding blocks are installed on the sliding rails in a sliding mode, the compression cylinders are fixed on the upper surfaces of the sliding blocks through screws, cylinder shafts of the compression cylinders are vertically arranged upwards, and the pressing plates are fixed on the tops of the cylinder shafts of the compression cylinders through bolts; the pushing cylinder is fixed on the plate-type detection substrate by screws, a cylinder shaft of the pushing cylinder is horizontally arranged from left to right, and the tail end of the cylinder shaft of the pushing cylinder points to the sealing plate and is fixed with the corresponding sliding block by screws; the pressing plate is of a horizontal U-shaped fork-shaped structure; the upper surface of the sealing plate is provided with an inflating nozzle which is arranged corresponding to the bottom inlet and the bottom outlet of the plate valve and is connected with an inflating assembly;

the tubular detection position comprises a horizontally arranged tubular detection substrate, the tubular detection substrate is fixed on the upper surface of the detection base station by bolts, a horizontally arranged supporting plate is fixedly and horizontally placed at the central position of the plate type detection substrate, a plurality of vertically upwards arranged limiting columns which are mutually spaced are arranged at intervals around the supporting plate, and the limiting columns play a role in limiting the horizontal placement position of the tubular valve; two opposite pressing components which are symmetrically arranged left and right are arranged on the left side and the right side of the supporting plate, each opposite pressing component comprises a supporting block, a jacking air cylinder and a jacking sealing block, the supporting blocks are fixed on the upper surface of the plate type detection substrate through screws, and the jacking air cylinders are fixed on the upper surface of the supporting blocks through bolts; the cylinder shaft of the jacking cylinder is horizontally arranged from left to right, the jacking sealing blocks are fixed at the tail end of the cylinder shaft of the jacking cylinder by bolts, the jacking sealing blocks are arranged right to left, an inflating nozzle is arranged at the center of the right opposite surface of the jacking sealing block, the inflating nozzle is arranged corresponding to the inlet and the outlet at the two ends of the tubular valve, and the inflating nozzle is connected with an inflating assembly;

the adjusting unit comprises an installation frame fixed on the detection base station by bolts, and further comprises a pressing cylinder, an installation plate, a pushing cylinder, a motor and a wrench, wherein the pressing cylinder is fixed on the installation frame by bolts, a cylinder shaft of the pressing cylinder is vertically arranged downwards, and the installation plate is fixed at the bottom of the cylinder shaft of the pressing cylinder by bolts; the push cylinder adopts the bolt fastening on the bottom surface of mounting panel, and push cylinder's jar axle level sets up forward, and the motor adopts the bolt fastening at push cylinder's jar axle front end portion, and the motor shaft of motor is vertical sets up down, and the spanner is fixed at the motor shaft bottom of motor.

3. The intelligent detection robot for the pressure valve according to claim 1, wherein a touch computer, an emergency stop switch and a manual adjusting switch are fixed on the rack by bolts.

4. The intelligent detection robot for the pressure valve according to claim 1, wherein the abutting sealing block and the sealing plate are provided with sealing rings.

5. The intelligent detection robot for the pressure valve according to claim 1, wherein a torque sensor is installed between the motor and the wrench.

Technical Field

The invention relates to the field of valve detection, in particular to an intelligent detection robot for a pressure valve.

Background

The pressure reducing valve is a valve which reduces the inlet pressure to a certain required outlet pressure through regulation and leads the outlet pressure to be automatically kept stable by relying on the energy of the medium. From the viewpoint of hydrodynamics, the pressure reducing valve is a throttling element with variable local resistance, namely, the flow speed and the kinetic energy of fluid are changed by changing the throttling area to cause different pressure losses, thereby achieving the purpose of pressure reduction. Then, the fluctuation of the pressure behind the valve is balanced with the spring force by means of the regulation of the control and regulation system, so that the pressure behind the valve is kept constant within a certain error range.

Disclosure of Invention

The invention aims to provide an intelligent detection robot for a pressure valve, which can realize high-efficiency detection of the air tightness of the valve.

An intelligent detection robot for a pressure valve comprises a rack and a detection assembly arranged on the inner side of the rack, wherein the detection assembly comprises a detection base station, a blanking lifting table and a loading lifting table are arranged at the front side position of the detection base station, the blanking lifting table and the loading lifting table are respectively used for blanking lifting and loading lifting, and the blanking lifting table and the loading lifting table are respectively composed of a supporting plate for flat supporting and a lifting cylinder positioned below the supporting plate;

the detection base station is fixedly provided with a mechanical gripper by bolts, the left side and the right side of the mechanical gripper are respectively provided with a plate type detection position and a tube type detection position, and the positions right above the plate type detection position and the tube type detection position are respectively provided with an adjusting unit, wherein the mechanical gripper is used for gripping a tube type valve placed on the material storage base station and placing the plate type valve on the plate type detection position and the tube type detection position respectively;

the plate-type detection position comprises a plate-type detection substrate which is horizontally arranged, the plate-type detection substrate is fixed on the upper surface of the detection base station by bolts, a sealing plate which is horizontally arranged is fixedly and horizontally placed at the central position of the plate-type detection substrate, a plurality of limiting columns which are vertically arranged upwards and are mutually spaced are arranged at intervals around the sealing plate, and the limiting columns play a role in limiting the horizontal placement position of the plate-type valve; the left side and the right side of the sealing plate are provided with two compression assemblies which are arranged in a bilateral symmetry mode, each compression assembly comprises a sliding rail, a pushing cylinder, a sliding block, a compression cylinder and a pressing plate, the sliding rails are horizontally arranged in the left-right direction and fixed on the plate-type detection substrate through bolts, the sliding blocks are installed on the sliding rails in a sliding mode, the compression cylinders are fixed on the upper surfaces of the sliding blocks through screws, cylinder shafts of the compression cylinders are vertically arranged upwards, and the pressing plates are fixed on the tops of the cylinder shafts of the compression cylinders through bolts; the pushing cylinder is fixed on the plate-type detection substrate by screws, a cylinder shaft of the pushing cylinder is horizontally arranged from left to right, and the tail end of the cylinder shaft of the pushing cylinder points to the sealing plate and is fixed with the corresponding sliding block by screws; the pressing plate is of a horizontal U-shaped fork-shaped structure; at the moment, for the plate type valve placed on the sealing plate, vertical compression between the pressing plate and the plate type valve is realized through left-right adjustment of the pushing cylinder and up-down adjustment of the compressing cylinder; the upper surface of the sealing plate is provided with an inflating nozzle which is arranged corresponding to the bottom inlet and the bottom outlet of the plate valve and is connected with an inflating assembly;

the tubular detection position comprises a horizontally arranged tubular detection substrate, the tubular detection substrate is fixed on the upper surface of the detection base station by bolts, a horizontally arranged supporting plate is fixedly and horizontally placed at the central position of the plate type detection substrate, a plurality of vertically upwards arranged limiting columns which are mutually spaced are arranged at intervals around the supporting plate, and the limiting columns play a role in limiting the horizontal placement position of the tubular valve; two opposite pressing components which are symmetrically arranged left and right are arranged on the left side and the right side of the supporting plate, each opposite pressing component comprises a supporting block, a jacking air cylinder and a jacking sealing block, the supporting blocks are fixed on the upper surface of the plate type detection substrate through screws, and the jacking air cylinders are fixed on the upper surface of the supporting blocks through bolts; the cylinder shaft of the jacking cylinder is horizontally arranged from left to right, the jacking sealing blocks are fixed at the tail end of the cylinder shaft of the jacking cylinder by bolts, the jacking sealing blocks are arranged right to left, an inflating nozzle is arranged at the center of the right opposite surface of the jacking sealing block, the inflating nozzle is arranged corresponding to the inlet and the outlet at the two ends of the tubular valve, and the inflating nozzle is connected with an inflating assembly; the jacking sealing block is jacked on the left and right ports of the tubular valve by pushing the jacking cylinder left and right, and then the interior of the tubular valve is inflated through the inflation nozzle;

the adjusting unit comprises an installation frame fixed on the detection base station by bolts, and further comprises a pressing cylinder, an installation plate, a pushing cylinder, a motor and a wrench, wherein the pressing cylinder is fixed on the installation frame by bolts, a cylinder shaft of the pressing cylinder is vertically arranged downwards, and the installation plate is fixed at the bottom of the cylinder shaft of the pressing cylinder by bolts; the pushing cylinder is fixed on the bottom surface of the mounting plate by adopting a bolt, a cylinder shaft of the pushing cylinder is horizontally arranged forwards, the motor is fixed at the front end part of the cylinder shaft of the pushing cylinder by adopting a bolt, a motor shaft of the motor is vertically arranged downwards, and the wrench is fixed at the bottom end part of the motor shaft of the motor; the upper position and the lower position are adjusted through the pressing cylinder, the cylinder is pushed to adjust the front position and the rear position, the valve rod of the valve is tightly connected with the wrench sleeve after the position is adjusted, the motor drives the wrench to rotate to achieve locking of the valve, and then sealing operation is conducted.

As a further scheme of the invention: a touch computer, an emergency stop switch and a manual adjusting switch are fixed on the rack through bolts, wherein the touch computer is used for commanding programming to realize operation control on each air cylinder and the mechanical gripper, the emergency stop switch is used for emergently cutting off a power supply of the equipment, and the manual adjusting switch is used for converting programming into manual operation.

As a further scheme of the invention: and sealing rings are arranged on the jacking sealing block and the sealing plate.

As a further scheme of the invention: a torque sensor is arranged between the motor and the wrench.

The invention has the beneficial effects that: the invention can realize full-automatic test, has high overall efficiency, can greatly improve the actual detection efficiency, and has better expansion capability, thereby being suitable for valves with various different structures and having different expansions of various interfaces.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of the internal structure of the present invention.

FIG. 3 is a schematic diagram of a plate-type detection site according to the present invention.

Fig. 4 is a schematic structural diagram of an adjusting unit in the present invention.

FIG. 5 is a schematic diagram of the structure of the tube-type detection site of the present invention.

Fig. 6 is a diagram of a detection gas path in the present invention.

Fig. 7 is a flow chart in the present invention.

In the figure: the device comprises a machine frame 1, a touch computer 2, a scram switch 3, a manual adjusting switch 4, a feeding lifting table 5, a detection base table 6, a blanking lifting table 7, a mechanical gripper 8, a plate detection position 9, a tube detection position 10, an adjustment unit 11, a plate detection substrate 12, a sealing plate 13, a limiting column 14, a sliding rail 15, a push-in cylinder 16, a sliding block 17, a compression cylinder 18, a compression plate 19, a tube detection substrate 20, a support block 21, a top tight cylinder 22, a top tight sealing block 23, a bottom tight cylinder 24, a mounting plate 25, a push cylinder 26, a motor 27 and a wrench 28.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Referring to fig. 1 to 7, in the embodiment of the present invention, an intelligent pressure valve detection robot includes a frame 1 and a detection assembly disposed inside the frame 1, where the detection assembly includes a detection base 6, a blanking lifting table 7 and a loading lifting table 5 are disposed at a front side position of the detection base 6, the blanking lifting table 7 and the loading lifting table 5 are respectively used for carrying out blanking lifting and loading lifting, and the blanking lifting table 7 and the loading lifting table 5 are both composed of a supporting plate for flat supporting and a lifting cylinder located below the supporting plate;

the detection base station 6 is fixedly provided with a mechanical gripper 8 by bolts, the left side and the right side of the mechanical gripper 8 are respectively provided with a plate type detection position 9 and a tube type detection position 10, and the positions right above the plate type detection position 9 and the tube type detection position 10 are respectively provided with an adjusting unit 11, wherein the mechanical gripper 8 is used for grabbing a tube type valve placed on the material storage base station 5 and placing the plate type valve on the plate type detection position 9 and the tube type detection position 10 respectively;

the plate-type detection position 9 comprises a plate-type detection substrate 12 which is horizontally arranged, the plate-type detection substrate 12 is fixed on the upper surface of the detection base station 6 by bolts, a sealing plate 13 which is horizontally arranged is fixedly and horizontally arranged at the central position of the plate-type detection substrate 12, a plurality of limiting columns 14 which are vertically arranged upwards and are mutually spaced are arranged at intervals around the sealing plate 13, and the limiting columns 14 play roles in limiting the horizontal arrangement position of the plate-type valve; two compression assemblies which are arranged in a bilateral symmetry mode are arranged on the left side and the right side of the sealing plate 13, each compression assembly comprises a sliding rail 15, a pushing cylinder 16, a sliding block 17, a compression cylinder 18 and a pressing plate 19, the sliding rails 15 are horizontally arranged on the left side and the right side and are fixed on the plate-type detection substrate 12 through bolts, the sliding blocks 17 are installed on the sliding rails 15 in a sliding mode, the compression cylinders 18 are fixed on the upper surfaces of the sliding blocks 17 through screws, cylinder shafts of the compression cylinders 18 are arranged vertically upwards, and the pressing plates 19 are fixed on the tops of the cylinder shafts of the compression cylinders; the pushing cylinder 16 is fixed on the plate-type detection substrate 12 by screws, the cylinder shaft of the pushing cylinder 16 is horizontally arranged from left to right, and the tail end of the cylinder shaft of the pushing cylinder 16 points to the sealing plate 13 and is fixed with the corresponding slide block 17 by screws; the pressure plate 19 is of a horizontal U-shaped fork-shaped structure; at this time, for the plate type valve placed on the sealing plate 13, the vertical compression of the pressing plate 19 and the plate type valve is realized through the left-right adjustment of the pushing cylinder 16 and the up-down adjustment of the compressing cylinder 18; the upper surface of the sealing plate 13 is provided with an inflating nozzle which is arranged corresponding to the bottom inlet and the bottom outlet of the plate valve and is connected with an inflating assembly;

the tubular detection position 10 comprises a horizontally arranged tubular detection substrate 20, the tubular detection substrate 20 is fixed on the upper surface of the detection base station 6 by bolts, a horizontally arranged supporting plate is fixedly and horizontally arranged at the center of the plate type detection substrate 12, a plurality of vertically upward arranged limiting columns 14 which are mutually spaced are arranged at intervals around the supporting plate, and the limiting columns 14 play roles in limiting the horizontal arrangement position of the tubular valve; two oppositely-pressing components which are symmetrically arranged left and right are arranged on the left side and the right side of the supporting plate, each oppositely-pressing component comprises a supporting block 21, a tightly-jacking air cylinder 22 and a tightly-jacking sealing block 23, the supporting blocks 21 are fixed on the upper surface of the plate-type detection substrate 12 through screws, and the tightly-jacking air cylinders 22 are fixed on the upper surface of the supporting blocks 21 through bolts; the cylinder shaft of the jacking cylinder 22 is horizontally arranged from left to right, the jacking sealing blocks 23 are fixed at the tail end of the cylinder shaft of the jacking cylinder 22 by bolts, the jacking sealing blocks 23 are arranged right and left oppositely, an inflating nozzle is arranged at the center of the right opposite surface of the jacking sealing block 23, the inflating nozzle is arranged corresponding to the inlet and the outlet at the two ends of the tubular valve, and the inflating nozzle is connected with an inflating assembly; the jacking sealing block 23 is jacked on the left and right ports of the tubular valve by pushing the jacking cylinder 22 left and right, and then the interior of the tubular valve is inflated through the inflation nozzle;

the adjusting unit 11 comprises a mounting frame fixed on the detection base station 6 by bolts, the adjusting unit 11 further comprises a lower air cylinder 24, a mounting plate 25, a pushing air cylinder 26, a motor 27 and a wrench 28, the lower air cylinder 24 is fixed on the mounting frame by bolts, a cylinder shaft of the lower air cylinder 24 is vertically arranged downwards, and the mounting plate 25 is fixed at the bottom of the cylinder shaft of the lower air cylinder 24 by bolts; the pushing cylinder 26 is fixed on the bottom surface of the mounting plate 25 by bolts, the cylinder shaft of the pushing cylinder 26 is horizontally arranged forwards, the motor 27 is fixed at the front end part of the cylinder shaft of the pushing cylinder 26 by bolts, the motor shaft of the motor 27 is vertically arranged downwards, and the wrench 28 is fixed at the bottom end part of the motor shaft of the motor 27; the upper position and the lower position are adjusted by pressing the air cylinder 24 downwards, the air cylinder 26 is pushed to adjust the front position and the rear position, the valve rod of the valve is tightly sleeved by the wrench 28 after the position is adjusted, the motor 27 drives the wrench 28 to rotate to lock the valve, and then the sealing operation is carried out;

a touch computer 2, an emergency stop switch 3 and a manual adjusting switch 4 are fixed on the rack 1 through bolts, wherein the touch computer 2 is used for commanding programming to realize operation control on each air cylinder and the mechanical gripper 8, the emergency stop switch 3 is used for emergently cutting off a power supply of equipment, and the manual adjusting switch 4 is used for converting programming into manual operation.

And sealing rings are arranged on the jacking sealing block 23 and the sealing plate 13.

A torque sensor is arranged between the motor and the wrench.

The working principle is as follows: the technical scheme sequentially comprises the following steps that 1, a feeding trolley is manually pushed to a feeding position; and (5) tightly pushing the cylinder in place, and guiding and positioning. Ensuring the position precision of the material;

2. the lifting mechanism lifts the upper tray to a robot grabbing position;

3. the robot grabs the detected valve body and puts the valve body into a detection position;

4. tightly pushing the cylinder, and detecting the air tightness; and the electromagnetic valve acts, the locking nut is automatically opened, the adjusting bolt is automatically adjusted, and corresponding functionality test is carried out.

The material trolley carries 4 layers of trays at one time, and the requirement of 4-hour detection is met; the manipulator uses a wide-finger pneumatic claw to grab the valve body; the detection positions are divided into a tubular detection position and a plate detection position; the two detection positions can be interchanged; when the adjusting unit is used for functional detection, the locking nut and the adjusting bolt are adjusted to be used as a tool for industry, and a finished product is tested and is grabbed to a blanking position trolley tray by a robot; after the upper tray valve body is detected, the robot grabs the tray and places the tray to the discharging trolley lifting mechanism.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.