Device and method for manipulating a part.

摘要

A manipulator for positioning a part includes a manipulator mandrel, manipulator arms, a pneumatic actuator ball plunger, drive motors, and shaft encoders. The motors drive the manipulator mandrel vertically perpendicular to a plane of directed X-ray beams and one whose rotation axis is vertical and perpendicular to the plane of the directed X-ray beam. The motors include positioning encoders which generate encoding pulses representative of movement of the manipulator mandrel along either axis. The pneumatic ball plunger provides for the acquiring of a gripper which holds a part to be inspected in the X-ray beam. The manipulator mandrel includes two L-shaped arms inwardly extending towards the ball plunger for acquiring a gripper having outwardly extending flanges.