A robotic arm end effector module with sampling bottle and oil injection components

Abstract

This utility model relates to the technical field of high-speed train gear transmission maintenance, and discloses a robotic end effector module with a sampling bottle and an oil injection component. The module includes a robotic arm with a connecting shaft at its end. A visual sampling and oil injection unit is mounted on the connecting shaft. The visual sampling and oil injection unit includes a base with a visual recognition component mounted on it. A sampling bottle gripping component mounted on the base is located on one side of the visual recognition component. The sampling bottle gripping component is used to hold the sampling bottle, and an oil injection component is located on one side of the sampling bottle gripping component. This robotic end effector module can easily identify the drain plug and oil injection plug on the high-speed train gear transmission device through the visual recognition component. This allows the robotic arm to move the sampling bottle gripping component holding the sampling bottle to the drain plug, and then sample the old lubricating oil through the sampling bottle. The sampling and oil injection process does not require manual intervention, greatly improving replacement efficiency and reducing replacement time.

Description

Technical Field

[0001] This utility model relates to the technical field of gear transmission maintenance for high-speed trains, and more specifically, to a robotic end effector module with a sampling bottle and an oil injection assembly. Background Technology

[0002] The gear transmission device of a high-speed train is a key component of the running gear, which directly drives the train. In order to ensure that the gearbox has good lubrication performance during operation, the gearbox lubricating oil needs to be changed regularly.

[0003] However, the current process of changing the gearbox lubricating oil requires multiple people to operate simultaneously. The old lubricating oil that has been drained also needs to be sampled and sent for testing to understand the wear condition of the train's gearbox. After the lubricating oil is drained, new lubricating oil needs to be manually injected through the oil filler plug. The whole process is inefficient and takes a long time. Utility Model Content

[0004] In order to overcome the defects of the existing technology, this utility model provides a robotic end effector module with sampling bottle and oil injection components to solve the problems in the existing technology.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a robotic arm end effector module with a sampling bottle and an oil injection component, including a robotic arm, the end of which is provided with a connecting shaft, a visual sampling and oil injection unit is installed on the connecting shaft, the visual sampling and oil injection unit includes a base, a visual recognition component is installed on the base, a sampling bottle gripping component is provided on one side of the visual recognition component and installed on the base, the sampling bottle gripping component is used to grip the sampling bottle, and an oil injection component is provided on one side of the sampling bottle gripping component.

[0006] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, the visual recognition component includes an industrial camera mounted on a base, a lamp holder surrounding the outside of the industrial camera, and a light source mounted on the lamp holder.

[0007] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, the sampling bottle gripping assembly includes a finger cylinder. The cylinder body of the finger cylinder is fixedly mounted on a base, and a gripper for holding the sampling bottle is provided on the output shaft of the finger cylinder.

[0008] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, at least two finger cylinders are provided.

[0009] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, the oil injection assembly includes an oil injection nozzle located between the vision recognition assembly and the sampling bottle gripping assembly. The oil injection nozzle is mounted on a base, and a movable oil injection connecting plate is provided on one side of the oil injection nozzle. One end of the oil injection connecting plate is connected to the oil injection button of the oil injection nozzle.

[0010] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, the end of the oil injection connecting plate away from the oil injection nozzle is connected to an oil injection cylinder, and the cylinder body of the oil injection cylinder is mounted on a base.

[0011] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, a check valve is installed at the oil outlet of the refueling gun.

[0012] In the aforementioned robotic end effector module with a sampling bottle and an oil injection assembly, a displacement sensor on a mounting base is disposed above the industrial camera.

[0013] The beneficial effect of this utility model is that the visual recognition component can easily identify the oil drain plug and oil filling plug on the gear transmission device of the EMU, so that the robotic arm can move the sampling bottle clamping component holding the sampling bottle to the oil drain plug, sample the old lubricating oil through the sampling bottle, and after the oil drain is completed, the robotic arm can insert the oil filling component into the oil filling plug to fill the oil. The sampling and oil filling process does not require manual labor, which greatly improves the replacement efficiency and reduces the replacement time. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the robotic arm end effector module in this embodiment.

[0015] Figure 2 This is one of the three-dimensional structural schematic diagrams of the visual sampling oil injection unit in this embodiment.

[0016] Figure 3 This is the second three-dimensional structural schematic diagram of the visual sampling oil injection unit in this embodiment.

[0017] In the diagram: 1. Robotic arm; 2. Connecting shaft; 3. Vision sampling and oiling unit; 4. Base; 5. Industrial camera; 6. Lamp holder; 7. Displacement sensor; 8. Sampling bottle gripping assembly; 9. Sampling bottle; 10. Oiling assembly; 11. Finger cylinder; 12. Gripper; 13. Oiling gun; 14. Check valve; 15. Oiling cylinder; 16. Oiling connecting plate. Detailed Implementation

[0018] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0019] Combination Figures 1 to 3 The illustrated robotic arm end effector module includes a sampling bottle and an oil injection assembly. The robotic arm 1 has a connecting shaft 2 at its end, and a visual sampling and oil injection unit 3 is mounted on the connecting shaft 2. The visual sampling and oil injection unit 3 includes a base 4, on which a visual recognition component is mounted. A sampling bottle gripping component 8, mounted on the base 4, is located on one side of the visual recognition component. The sampling bottle gripping component 8 is used to grip the sampling bottle 9, and an oil injection assembly 10 is located on one side of the sampling bottle gripping component 8. In this embodiment, the visual recognition component can easily identify the drain plug and oil injection plug on the gear transmission device of the high-speed train. This allows the robotic arm 1 to move the sampling bottle gripping component 8, holding the sampling bottle 9, to the drain plug. The old lubricating oil is sampled through the sampling bottle 9. After draining the oil, the robotic arm 1 can insert the oil injection assembly 10 into the oil injection plug for oil injection. The sampling and oil injection processes do not require manual intervention, greatly improving replacement efficiency and reducing replacement time.

[0020] The visual recognition component in this embodiment includes an industrial camera 5 mounted on a base 4. A lamp holder 6 is arranged around the outside of the industrial camera 5, and a light source is provided on the lamp holder 6. The light source can be an LED light to provide supplementary lighting for the recognition position and improve recognition accuracy. The industrial camera 5 identifies oil drain plugs and oil filling plugs in the recognition area, so that the robot arm 1 can move the sampling bottle gripping component 8 and the oil filling component 10 to the corresponding positions. The robot arm 1 in this embodiment is a Huashu collaborative six-axis robot, which is a commonly used robot arm structure in the prior art. Those skilled in the art should understand the principle of the multi-axis swing structure of the robot arm 1, which will not be described in detail here.

[0021] Specifically, the sampling bottle gripping assembly 8 in this embodiment includes a finger cylinder 11. The cylinder body of the finger cylinder 11 is fixedly mounted on the base 4. A gripper 12 for gripping the sampling bottle 9 is provided on the output shaft of the finger cylinder 11. After the sampling bottle 9 is gripped by the finger cylinder 11, it is convenient for automatic sampling without the need for manual sampling, thus improving efficiency. There are two finger cylinders 11, and the two finger cylinders 11 grip the sampling bottle 9 respectively, that is, it can grip two sampling bottles 9, so that after sampling is completed, one sampling bottle 9 can be sent for testing and the other sampling bottle 9 can be retained for retesting.

[0022] The oil filling assembly 10 in this embodiment includes an oil filling nozzle 13, which is located between the visual recognition assembly and the sampling bottle clamping assembly 8. The oil filling nozzle 13 is mounted on the base 4, and a movable oil filling connecting plate 16 is provided on one side of the oil filling nozzle 13. One end of the oil filling connecting plate 16 is connected to the oil filling button of the oil filling nozzle 13. The oil filling nozzle 13 is prior art, and the specific oil circuit structure should be understood by those skilled in the art. By moving the oil filling connecting plate 16, the oil filling button of the oil filling nozzle 13 can be pressed down, thereby enabling oil filling. Oil filling stops when the oil filling connecting plate 16 is reset, without the need for manual operation.

[0023] Specifically, in this embodiment, the end of the refueling connecting plate 16 away from the refueling nozzle 13 is connected to a refueling cylinder 15, and the cylinder body of the refueling cylinder 15 is mounted on the base 4; the refueling connecting plate 16 can be moved by the refueling cylinder 15, thereby completing the refueling process.

[0024] It is worth noting that a check valve 14 is installed at the oil outlet of the oil nozzle 13 in this embodiment to prevent the output lubricating oil from flowing back and affecting the quality of the unoutput lubricating oil.

[0025] It is also worth noting that a displacement sensor 7 is mounted on the mounting base 4 above the industrial camera 5. The displacement sensor 7 can be a laser displacement sensor or an infrared displacement sensor, used to detect the distance between the substrate 4 and the gear transmission device of the train set.

[0026] The embodiments of this utility model have been described in detail above with reference to the accompanying drawings, but this utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, and these variations still fall within the protection scope of this utility model.

Claims

1. A mechanical hand end execution module with a sampling bottle and oil injection assembly, comprising a mechanical hand (1), characterized in that, The end of the robotic arm (1) is provided with a connecting shaft (2), and a visual sampling and oiling unit (3) is installed on the connecting shaft (2). The visual sampling and oiling unit (3) includes a base (4), and a visual recognition component is installed on the base (4). A sampling bottle gripping component (8) is installed on one side of the visual recognition component and is used to grip the sampling bottle (9). An oiling component (10) is provided on one side of the sampling bottle gripping component (8).

2. The end-of-arm module having a sampling bottle and oil injection assembly of claim 1, wherein, The visual recognition component includes an industrial camera (5) mounted on a base (4), a lamp holder (6) is provided around the outside of the industrial camera (5), and a light source is provided on the lamp holder (6).

3. The end-of-arm module having a sampling bottle and oil injection assembly of claim 2, wherein, The sampling bottle gripping assembly (8) includes a finger cylinder (11), the cylinder body of which is fixedly mounted on the base (4), and a gripper (12) for gripping the sampling bottle (9) is provided on the output shaft of the finger cylinder (11).

4. The robotic end effector module with a sampling bottle and an oil injection assembly according to claim 3, characterized in that, At least two finger cylinders (11) are provided.

5. The robotic end effector module with a sampling bottle and an oil injection assembly according to claim 3, characterized in that, The oil filling assembly (10) includes an oil filling gun (13), which is located between the visual recognition assembly and the sampling bottle clamping assembly (8). The oil filling gun (13) is mounted on the base (4). A movable oil filling connecting plate (16) is provided on one side of the oil filling gun (13), and one end of the oil filling connecting plate (16) is connected to the oil filling button of the oil filling gun (13).

6. The robotic end effector module with a sampling bottle and an oil injection assembly according to claim 5, characterized in that, The end of the refueling connection plate (16) away from the refueling nozzle (13) is connected to a refueling cylinder (15), and the cylinder body of the refueling cylinder (15) is mounted on the base (4).

7. The robotic end effector module with a sampling bottle and an oil injection assembly according to claim 6, characterized in that, A check valve (14) is installed at the oil outlet of the refueling nozzle (13).

8. The robotic end effector module with a sampling bottle and an oil injection assembly according to claim 2, characterized in that, A displacement sensor (7) is mounted on a mounting base (4) above the industrial camera (5).

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