CN104084948A - Auto-uncovering robot - Google Patents
Auto-uncovering robot Download PDFInfo
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- CN104084948A CN104084948A CN201410296165.8A CN201410296165A CN104084948A CN 104084948 A CN104084948 A CN 104084948A CN 201410296165 A CN201410296165 A CN 201410296165A CN 104084948 A CN104084948 A CN 104084948A
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Abstract
The invention discloses an auto-uncovering robot in a modular design structure. The auto-uncovering robot comprises a lifting mechanism, a rotating mechanism, a barrel center positioning mechanism, a shifting mechanism, a cover storage mechanism, a cover picking mechanism, a support and a tightening shaft mechanism. Through the reasonable structure and coordination of the mechanisms, functions of automatically uncovering multiple target barrels and picking and storing the covers are achieved; the flexibility, safety, precision and stability problems of existing equipment are made up.
Description
Technical field
The present invention relates to belong to mechanical automation technical field, specifically robot is covered in a kind of Kaifeng automatically.
Background technology
Nowadays, industrial automation technology is more and more universal, and automation equipment can be enhanced productivity significantly, and all trades and professions are also more and more urgent to the requirement of automation.Therefore, the Kaifeng of nuclear waste barrel lid automation requirement is also the basic demand that present nuclear power station is processed nuke rubbish.The Kaifeng lid of nuke rubbish processed and existed very large safety and efficiency present stage, and can bring injury because nuke rubbish has strong radioactivity to people, and therefore, the Kaifeng lid arrangement design of trash receptacle design automation just becomes more and more important.
But, with regard to current existing equipment, still there is following shortcoming in the Kaifeng lid arrangement of nuclear waste barrel: though the lid operation of the existing current Kaifeng for nuclear waste barrel can realize automation, but there is larger problem in its flexibility and security, stability and control accuracy aspect, on to the degree of tightness of bolt, also there is many problems simultaneously, have a strong impact on the efficiency in nuke rubbish encapsulation process, brought potential potential safety hazard simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of automatic Kaifeng lid robot for solving the problems of the technologies described above.
Robot is covered in a kind of Kaifeng automatically, it carries out Kaifeng lid operation automatically for realization to target bucket, it is characterized in that: this automatic Kaifeng is covered robot and comprised elevating mechanism, rotating mechanism, bucket center positioning mechanism, parallel moving mechanism, deposits lid mechanism, cap taking mechanism, support, tightens axis mechanism, wherein, elevating mechanism is for carrying out integral elevating and self-locking to rotating mechanism, rotating mechanism is used for being rotated, bucket center positioning mechanism positions for the bucket heart to target bucket, parallel moving mechanism is used for driving elevating mechanism, rotating mechanism, bucket center positioning mechanism, cap taking mechanism and tighten axis mechanism complete translational motion in XY direction, definition directions X is the axial direction of translation leading screw in parallel moving mechanism, Y-direction is the radial direction of translation leading screw in parallel moving mechanism, deposit lid mechanism depositing and gripping for bung, cap taking mechanism has been used for getting and has covered function, support is for being fixed and installing parallel moving mechanism, tighten the operation of axis mechanism for the bolt on target bucket bung is screwed into or is back-outed.
Further, described elevating mechanism is assemblied on parallel moving mechanism, and it comprises AC servo motor, fixed flat planar, lifting board, electromagnet, ball-screw nut, slide block, guide rail and ball-screw; AC servo motor is secured by bolts on fixed flat planar; and be connected with ball-screw; ball-screw nut and slide block are fixed on lifting board; on guide rail, carry out elevating movement by AC servo machinery driving ball-screw and then drive lifting board; elevating mechanism is installed respectively alignment sensor and limit sensors at the two ends of guide rail, to realize initial alignment and the position limitation protection function of this elevating mechanism.
Further, described rotating mechanism comprises electric rotating machine assembly, multiple reinforcement gusset and Rotating Plates; One end of multiple reinforcement gussets is connected with electric rotating machine assembly, and the other end fixes by bolt and Rotating Plates, makes this rotating mechanism in the time of work, is rotated by electric rotating machine Component driver Rotating Plates.
Further, described bucket center positioning mechanism is fixed in the Rotating Plates on rotating mechanism, and it comprises that embracing bucket gas pawl drives cylinder, embraces bucket gas pawl, deep groove ball bearing, bolt hole alignment sensor and centralized positioning sensor; Embracing bucket gas pawl drives cylinder to be fixed on the middle part of Rotating Plates, embracing bucket gas pawl is fixed in Rotating Plates, and drive a cylinder to be connected by gas pawl adpting flange with an armful bucket gas pawl, deep groove ball bearing is bolted in embracing on bucket gas pawl, and bolt hole alignment sensor and centralized positioning sensor are fixed on embraces bucket gas pawl (32).
Wherein, described armful of bucket gas pawl comprises some pull bars, some bar and some pasting boards of grabbing; Some one end of grabbing bar are rotatably connected on Rotating Plates on a side of bucket center positioning mechanism, and the some other end and some pasting boards of grabbing bar are fixed, and the two ends of some pull bars drive a cylinder, some bars of grabbing to be rotationally connected with an armful bucket gas pawl respectively; Deep groove ball bearing, bolt hole alignment sensor and centralized positioning sensor are fixed on the pasting board of embracing bucket gas pawl, and wherein deep groove ball bearing is arranged on the two ends of each pasting board.
Further, described parallel moving mechanism comprises translation leading screw, leading screw supporting seat, line slideway, leading screw box, Y-direction floating slider and AC driven motor; Line slideway is arranged on the both sides of leading screw supporting seat, AC driven motor is secured by bolts on leading screw supporting seat, and be connected with translation leading screw by shaft coupling, the guide runner that leading screw box is fixed with by its bottom is located on line slideway, drive translation leading screw and then drive leading screw box on line slideway, to carry out translation by AC driven motor, Y-direction floating slider is fixed on the top of leading screw box, and is connected with elevating mechanism with it.
Further, described in deposit lid mechanism and be located on support, it comprises bung storing board and bung storage rack support; Bung storing board is discoideus, and is secured by bolts on the side of bung storage rack support away from support.
Further, described cap taking mechanism comprises getting and covers gas pawl and cylinder mechanical position limitation assembly, and cylinder mechanical position limitation assembly is installed on to get and covers on gas pawl, plays a part to limit to get to cover gas pawl elongation.
Further, described support is set to mechanical framework structure, and it comprises stator, steel frame and installing plate; Stator is secured by bolts in the corner of steel frame, and installing plate is secured by bolts in the top of steel frame, for parallel moving mechanism is installed.
Further, described in, tighten axis mechanism and comprise the interior Hexagonal jacket, spacing collar, adjusting sleeve, reductor output adjusting sleeve, holder, torque sensor, shaft coupling, decelerator and the servomotor that connect successively; The described axis mechanism of tightening is fixed on rotating mechanism by holder), adjusting sleeve is universal joint adjusting sleeve, and limit the anglec of rotation of adjusting sleeve by spacing collar, so that interior Hexagonal jacket adapts to the Bolt to position of different angles, spring is installed in spacing collar, and needed precompression when realizing this and tighten axis mechanism and screw bolt by the upper lower compression of spring, be convenient to interior Hexagonal jacket and enter into bolt, and complete this by driven by servomotor and tighten axis mechanism tightening and the function of back-outing bolt.
Due to the application of technique scheme, the present invention has following beneficial effect:
Robot is covered in automatic Kaifeng of the present invention, by rational structure arrange and Shang Ge mechanism between cooperating, automatic Kaifeng lid to multiple target bucket bungs and the function of access are realized, can make up the problem that existing equipment brings in flexibility, security, accuracy and stability, and the damage of bolt is reduced to minimum when the present invention has added Flexible Design to make cover in Kaifeng by tightening on shaft device on to the degree of tightness of bolt, with the consequence of avoiding bolt failure to bring.
Brief description of the drawings
Fig. 1 is the structural representation that robot is covered in automatic Kaifeng of the present invention;
Fig. 2 is the structural representation of elevating mechanism in the present invention;
Fig. 3 is the structural representation of rotating mechanism in the present invention;
Fig. 4 is the structural representation of bucket center positioning mechanism in the present invention;
Fig. 5 is the structural representation of parallel moving mechanism in the present invention;
Fig. 6 is rotating mechanism in the present invention, bucket center positioning mechanism, deposits lid mechanism, cap taking mechanism and tighten the combination installation diagram of axis mechanism;
Fig. 7 is the structural representation of medium-height trestle of the present invention, in its medium-height trestle, is provided with and deposits lid mechanism;
Fig. 8 is the structural representation of tightening axis mechanism in the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Refer to Fig. 1, robot 10 is covered in the automatic Kaifeng that the embodiment of the present invention provides, and it carries out automatically breaking a seal to cover operating to target bucket for realizing, and is appreciated that the target bucket in the present embodiment is nuclear waste barrel.Automatic Kaifeng in the present embodiment is covered robot 10 and has been adopted modularized design structure, and it comprises elevating mechanism 1, rotating mechanism 2, bucket center positioning mechanism 3, parallel moving mechanism 4, deposits lid mechanism 5, cap taking mechanism 6, support 7 and tighten axis mechanism 8 particularly.
Refer to Fig. 2, elevating mechanism 1 in the present embodiment is for rotating mechanism 2 is carried out to overall lifting and self-locking action, be appreciated that this elevating mechanism 1 simultaneously also can be to being fixed on bucket center positioning mechanism 3, the cap taking mechanism 6 on rotating mechanism 2 and tightening axis mechanism 8 and carry out lift action.Described elevating mechanism 1 is assemblied on parallel moving mechanism 4, and it comprises AC servo motor 11, fixed flat planar 12, lifting board 13, electromagnet 14, ball-screw nut 15, slide block 16, guide rail 17 and ball-screw 18.
Be appreciated that in the present embodiment, the AC servo motor 11 for driving lifting board 13 to carry out elevating movement of elevating mechanism 1 has two, it is fixed on the both sides of fixed flat planar 12 symmetrically by bolt, and is connected with ball-screw 18.On ball-screw 18, be set with ball-screw nut 15, and ball-screw nut 15 is fixed on lifting board 13, when AC servo motor 11 is worked like this, drive ball-screw 18 to be rotated and then to drive ball-screw nut 15 on ball-screw 18, to carry out oscilaltion campaign,, drive lifting board 13 to carry out elevating movement.In the present embodiment, in order to improve the intensity of lifting board 13, it is also provided with on lifting board 13 strengthens gusset 19.Wherein the both sides of lifting board 13 fix with slide block 16 respectively, and this slide block 16 is embedded at the guide rail 17 that is positioned at these elevating mechanism 1 both sides, make lifting board 13 carry out oscilaltion campaign along guide rail 17 under the driving of AC servo motor 11.In the present embodiment, described elevating mechanism 1 is installed respectively alignment sensor (not shown) and limit sensors (not shown) at the two ends of guide rail 17, for realizing initial alignment and the position limitation protection function of this elevating mechanism 1.The adjustable height of elevating mechanism 1 in the present embodiment, can specifically arrange by the length of guide rail 17, and it has good flexibility.Electromagnet 14 is the bottoms that are fixed on this elevating mechanism 1, this elevating mechanism 1 is in the time carrying out elevating movement like this, in the time there is alarm and danger in this elevating mechanism 1 in the time working, such as the lifting distance of this elevating mechanism 1 has exceeded its safe distance, it can be switched on to electromagnet 14, and have and there is ferromagnetism and realize the auto-lock function of this elevating mechanism 1 by electromagnet 14 energising, to get back to safe condition.
Refer to Fig. 3, the rotating mechanism 2 in the present embodiment is for carrying out rotatablely moving on horizontal plane, so that the bucket center positioning mechanism 3 being fixed thereon realizes the effect of centralized positioning to target bucket.Described rotating mechanism 2 comprises electric rotating machine assembly 21, multiple reinforcement gusset 22 and Rotating Plates 23.Wherein one end of multiple reinforcement gussets 22 is connected with electric rotating machine assembly 21, the other end fixes by bolt and Rotating Plates 23, make this rotating mechanism 2 in the time of work, drive Rotating Plates 23 to be rotated on horizontal plane by electric rotating machine assembly 21.Multiple reinforcement gussets 22 in this rotating mechanism 2 can be symmetrical arranged, and between each reinforcement gusset 22 and adjacent two reinforcement gussets 22, angle equates, in the present embodiment, in preferred this rotating mechanism 2, include 4 and strengthen gusset 22, each like this reinforcement gusset 22 and adjacent two angles of strengthening between gusset 22 are 90 °.Be appreciated that the electric rotating machine assembly 21 in this rotating mechanism 2 is on the lifting board 13 in fixing and elevating mechanism 1, to carry out oscilaltion effect in company with elevating mechanism 1.
Refer to Fig. 4, bucket center positioning mechanism 3 in the present embodiment is fixed in the Rotating Plates 23 on rotating mechanism 2, position for the bucket heart to target bucket, so that cap taking mechanism 6 is got lid to target bucket, tighten axis mechanism 8 bolt on target bucket bung is unscrewed to the effect of tightening.Described bucket center positioning mechanism 3 comprises that embracing bucket gas pawl drives cylinder 31, embraces bucket gas pawl 32, deep groove ball bearing 33, bolt hole alignment sensor 34 and centralized positioning sensor 35.
Described armful of bucket gas pawl drives cylinder 31 to be fixed on the middle part of Rotating Plates 23 in rotating mechanism 2, specifically can be arranged on the center position of Rotating Plates 23, embracing bucket gas pawl 32 is to be fixed in Rotating Plates 23, and drive a cylinder 31 to be connected by gas pawl adpting flange 36 with an armful bucket gas pawl, deep groove ball bearing 33 is bolted in embracing on bucket gas pawl 32, and bolt hole alignment sensor 34 is fixed on and embraces bucket gas pawl 32 with centralized positioning sensor 35.Particularly, described armful of bucket gas pawl 32 comprises some pull bars 321, some bar 322 and some pasting boards 323 of grabbing; Wherein some one end of grabbing bar 322 are rotatably connected on Rotating Plates 23 on a side of bucket center positioning mechanism 3, the some other end and some pasting boards 323 of grabbing bar 322 are fixed, and the two ends of some pull bars 321 drive a cylinder 31, some bars 322 of grabbing to be rotationally connected with an armful bucket gas pawl respectively; And deep groove ball bearing 33, bolt hole alignment sensor 34 and centralized positioning sensor 35 are fixed on the pasting board 323 of embracing bucket gas pawl 32, wherein deep groove ball bearing 33 is arranged on the two ends of each pasting board 323.
Be appreciated that when barrel center positioning mechanism 3 is used, embracing under the driving of bucket gas pawl driving cylinder 31, its armful of bucket gas pawl 32 held the edge of target bucket ladle body tightly.Be appreciated that this armful of bucket gas pawl 32 is along being fixed in the radial direction of target bucket to the active force of target bucket, this is due to the concrete structure composition of this armful of bucket gas pawl 32.Whether then detect this barrel of center positioning mechanism by bolt hole alignment sensor 34 and centralized positioning sensor 35 positions the bucket heart of target bucket.If the bucket heart of target bucket is not positioned, its rotating mechanism 2 will drive barrel center positioning mechanism 3 to carry out the rotation of certain angle like this, owing to being deep groove ball bearing 33 for the parts that contact with target bucket ladle body in this barrel of center positioning mechanism 3, rotating mechanism 2 is in the time driving bucket center positioning mechanism 3 to be rotated like this, between its deep groove ball bearing 33 and target bucket, can form relative motion, until this barrel of center positioning mechanism 3 carried out a barrel heart location to target bucket.When bucket center positioning mechanism 3 has realized target bucket behind bucket heart location, its electromagnet 14 being positioned on elevating mechanism 1 will be switched on, realize lock function to target bucket, in case this cover robot target bucket is carried out in subsequent operation, barrel heart generation relativity shift of target bucket in Kaifeng automatically.
Please refer to Fig. 5, described parallel moving mechanism 4 fixing with support 7 on, be used for driving elevating mechanism 1, rotating mechanism 2, bucket center positioning mechanism 3, cap taking mechanism 6 and tighten axis mechanism 8 and complete translational motion in XY direction, definition directions X is the axial direction of translation leading screw 41 in parallel moving mechanism 4, and Y-direction is the radial direction of translation leading screw 41 in parallel moving mechanism 4.Described parallel moving mechanism 4 comprises translation leading screw 41, leading screw supporting seat 42, line slideway 43, leading screw box 44, Y-direction floating slider 45 and AC driven motor 46.
Easily known by upper, parallel moving mechanism 4 in the present embodiment includes two line slideways 43, it is separately positioned on the both sides of leading screw supporting seat 42, AC driven motor 46 is secured by bolts on leading screw supporting seat 42, and be connected with translation leading screw 41 by shaft coupling 47, to drive translation screw mandrel 41 to be rotated.The guide runner (not shown) that leading screw box 44 is fixed with by its bottom is located on line slideway 43, make this leading screw box 44 under the driving of AC driven motor 46, drive leading screw box 44 on line slideway 43, to carry out translation by translation leading screw 41, Y-direction floating slider 45 is tops of being fixed on leading screw box 44, and is connected with elevating mechanism 1 with it.Sliding friction while carrying out translation for reducing leading screw box 44 on line slideway 43, the present embodiment preferably adopts high-precision guide runner.
Be appreciated that, described parallel moving mechanism 4 in use, the driving of AC driven motor 46, drive leading screw box 44 on line slideway 43, to carry out translation, can on directions X, carry out translational motion being located at elevating mechanism 1 on these parallel moving mechanism 4 leading screw boxes 44, so that this automatically cover bucket center positioning mechanism 3 in robot 10 and target bucket is carried out to barrel heart locate in Kaifeng.
Please refer to Fig. 6, for rotating mechanism in the present embodiment 2, bucket center positioning mechanism 3, deposit lid mechanism 5, cap taking mechanism 6 and tighten the combination installation diagram of axis mechanism 8, wherein tighten axis mechanism 8 and be arranged on the both sides of Rotating Plates 23 in this rotating mechanism 2, for the bolt on target bucket bung is tightened and is unscrewed processing, cap taking mechanism 6 is arranged in barrel center positioning mechanism 3, particularly, described cap taking mechanism 6 comprises getting and covers gas pawl 61 and cylinder mechanical position limitation assembly 62, cylinder mechanical position limitation assembly 62 is installed on to get and covers on gas pawl 61, play a part to limit to get to cover gas pawl 61 elongations.In the present embodiment, get and cover gas pawl 61 and formed by 3 three axle cylinders, rotate and bucket center positioning mechanism 3 on it realizes after centralized positioning at rotating mechanism 2, elevating mechanism 1 will decline, drop to after assigned address, elevating mechanism 1 will carry out locking by the electromagnet 14 of energising, then gets and covers gas pawl 61 and open, capture the flange edge in target bucket bung, complete bung grasping movement.Wherein elevating mechanism 1 drops to assigned address and can realize by the feedback of bung position-sensing switch signal.Wherein getting to cover on gas pawl 61 has magnetic induction switch to feed back current motion conditions, gets to cover gas pawl 61 and move to dead point, by the stressed crawl that completes bung of back shaft when crawl.
Please refer to Fig. 7, described support 7 is for parallel moving mechanism 4 is fixed and is installed, and it comprises stator 71, steel frame 72 and installing plate 73.Described support 7 is set to mechanical framework structure, wherein steel frame 72 is by the forming of 80x80 steel, and stator 71 is mounted in the corner of steel frame 72, for improving the intensity of steel frame 72, and installing plate 73 is to be bolted and the top of steel frame 72, for parallel moving mechanism 4 is installed.The described lid mechanism 5 of depositing is to be located on support 7, and for storing the bung that disassembles from target bucket, it comprises bung storing board 51 and bung storage rack support 52; Bung storing board 51 is discoideus, and is secured by bolts on the side of bung storage rack support 52 away from support 7.Bung storage rack support 52 can be arranged to " cross " structure, its end be bolted with support 7 on.Be appreciated that the present embodiment is by above-mentioned setting of depositing lid mechanism 5, it can get lid operation to multiple target buckets.
Please refer to Fig. 8, the described axis mechanism 8 of tightening is for the bolt on target bucket bung is unscrewed to the effect of tightening, and it comprises the interior Hexagonal jacket 81, spacing collar 82, adjusting sleeve 83, reductor output adjusting sleeve 84, holder 85, torque sensor 86, shaft coupling 87, decelerator 88 and the servomotor 89 that connect successively.The described axis mechanism 8 of tightening is fixed in the Rotating Plates 23 in rotating mechanism 2 by holder 85.
The present embodiment can adapt to the Bolt to position of obstructed angle in order to make to act on the interior Hexagonal jacket 81 of bolt on target bucket bung, the axis mechanism 8 of tightening of the present embodiment is to adopt flexible joint design for acting on the front end of bolt, particularly, its adjusting sleeve 83 is set to universal joint regulating sleeve, and carries out spacing by spacing collar 82 to the anglec of rotation of adjusting sleeve 83.This tightens axis mechanism 8 in use like this, has been convenient to interior Hexagonal jacket 81 and has entered on the bolt of target bucket bung, to complete the screw action to bolt on target bucket bung.Torque sensor 86 is for monitoring interior Hexagonal jacket 81 screwing the angle that screws of bolt on target bucket bung, to bolt is screwed from target bucket bung.The present embodiment tightens in order to alleviate this damage that axis mechanism 8 produces bolt in bolt is screwed to process simultaneously, ensure the security of operation, it has added elastic construction in the structure of tightening design, particularly, in described spacing collar 82, spring is installed, and needed precompression when realizing this and tighten axis mechanism 8 and screw bolt by the upper lower compression of spring.This tightens axis mechanism in use like this, first interior Hexagonal jacket 81 is entered into bolt, has then driven this to tighten axis mechanism 8 tightening and the function of back-outing bolt by servomotor 89.
Robot 10 is covered in automatic Kaifeng of the present invention can carry out work according to TES system control command, for delivery of the roller transmission line (not shown) of core charging basket, target bucket is transported to the below of automatic Kaifeng lid robot 10, and automatically cover robot 10 target bucket is got and covered or capping operates in Kaifeng by this.When target bucket being got while covering, robot 10 is covered according to self poisoning required precision in Kaifeng automatically, and target bucket is located.Then, tighten the bolt centering on axis mechanism 8 and target bucket bung, and bolt is dismantled.After Bolt dismantling completes, by elevating mechanism 1, bung is promoted together with bolt (hoisting depth is greater than 300mm), the ladle body of target bucket is separated with bung.The target bucket of getting after lid can transport follow-up station in company with roller transmission line.The bung taking off from target bucket is temporarily stored in to be deposited on lid mechanism 5, to continuously multiple target buckets are got to lid and capping.Deposit on lid mechanism 5 and can deposit multiple bungs.In the time that target bucket is carried out to capping, robot 10 is covered again according to self poisoning required precision in Kaifeng automatically, to the bung location of target bucket.Then cap taking mechanism 6 is adjusted bung angle, make to be arranged in bolt and the target bucket bung upper screwed hole centering of tightening axis mechanism 8, after completing, bung is assembled on target bucket ladle body, and tight a bolt by the moment of torsion of setting, finally this automatically cover robot 10 and disengages with target bucket in Kaifeng, completes capping and operates.
As from the foregoing, target bucket is transported to and is specified automatic Kaifeng of the present invention lid robot 10 after station to start working by roller-way, first by parallel moving mechanism 4 along directions X by elevating mechanism 1, rotating mechanism 2, bucket center positioning mechanism 3 and the top of tightening axis mechanism 8 and bring to target bucket, by the centralized positioning sensor 35 in bucket center positioning mechanism 3, target bucket is carried out to centralized positioning, the central shaft of realizing rotating mechanism 2 and target bucket is coaxial.Then elevating mechanism 1 drops to certain altitude, rotating mechanism 2 drives bucket center positioning mechanism 3 to rotate in a circumferential direction along ladle body, bolt hole alignment sensor 34 through bucket in center positioning mechanism 3 positions with bolt or bolt hole on target bucket, then unclamps or screws bolt by tightening axis mechanism 8.Then elevating mechanism 1 completes elevating movement, props up bung by cap taking mechanism 6, bung is lifted away to ladle body or bung is enclosed on ladle body, and it is temporarily stored in and is deposited on lid mechanism 5.
Automatic Kaifeng of the present invention lid robot to flexibility, accuracy and the security of bung location, target bucket Kaifeng with and operating efficiency.In order to reduce sliding friction, adopt high-precision straight-line guide rail slide block.Meanwhile, in order to ensure the safety and stability of its work, adopt the drive motors with auto-lock function, in the time causing danger and report to the police, structure self-locking.And, in order to make the existing control of its control ratio more flexible, adopted the function simultaneously regulating in 2 frees degree of XY axle, this promoted greatly location from flexibility.Add elasticity setting to alleviate the damage to bolt to tightening in design, ensured the security of operation.It has overcome many deficiencies of existing apparatus, thereby has improved production work efficiency, has reduced cost of labor and the nuclear radiation injury to human body.Also improved reliability, flexibility and the security of whole nuclear industry work, further met the demand of nuclear industry simultaneously.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. one kind is automatically broken a seal and covers robot, it carries out Kaifeng lid operation automatically for realization to target bucket, it is characterized in that: this automatic Kaifeng is covered robot and comprised elevating mechanism (1), rotating mechanism (2), bucket center positioning mechanism (3), parallel moving mechanism (4), deposits lid mechanism (5), cap taking mechanism (6), support (7), tightens axis mechanism (8), wherein, elevating mechanism (1) is for carrying out integral elevating and self-locking to rotating mechanism (2), rotating mechanism (2) is for being rotated, bucket center positioning mechanism (3) positions for the bucket heart to target bucket, parallel moving mechanism (4) is for driving elevating mechanism (1), rotating mechanism (2), bucket center positioning mechanism (3), cap taking mechanism (6) and tighten axis mechanism (8) complete translational motion in XY direction, definition directions X is the axial direction of translation leading screw (41) in parallel moving mechanism (4), Y-direction is the radial direction of translation leading screw (41) in parallel moving mechanism (4), deposit lid mechanism (5) depositing and gripping for bung, cap taking mechanism (6) covers function for completing to get, support (7) is for being fixed and installing parallel moving mechanism (4), tighten the operation of axis mechanism (8) for the bolt on target bucket bung is screwed into or is back-outed.
2. robot is covered in automatic Kaifeng as claimed in claim 1, it is characterized in that: it is upper that described elevating mechanism (1) is assemblied in parallel moving mechanism (4), and it comprises AC servo motor (11), fixed flat planar (12), lifting board (13), electromagnet (14), ball-screw nut (15), slide block (16), guide rail (17) and ball-screw (18); AC servo motor (11) is secured by bolts on fixed flat planar (12); and be connected with ball-screw (18); ball-screw nut (15) is fixed on lifting board (13) with slide block (16); drive ball-screw (18) and then drive lifting board (13) to carry out elevating movement on guide rail (17) by AC servo motor (11); elevating mechanism (1) is installed respectively alignment sensor and limit sensors at the two ends of guide rail (17), to realize initial alignment and the position limitation protection function of this elevating mechanism (1).
3. robot is covered in automatic Kaifeng as claimed in claim 1, it is characterized in that: described rotating mechanism (2) comprises electric rotating machine assembly (21), multiple reinforcement gusset (22) and Rotating Plates (23); One end of multiple reinforcement gussets (22) is connected with electric rotating machine assembly (21), the other end fixes by bolt and Rotating Plates (23), make this rotating mechanism (2) in the time of work, drive Rotating Plates (23) to be rotated by electric rotating machine assembly (21).
4. robot is covered in the automatic Kaifeng as described in claim 1 or 3, it is characterized in that: it is upper that described bucket center positioning mechanism (3) is fixed on Rotating Plates (23) on rotating mechanism (2), and it comprises that embracing a bucket gas pawl drives a cylinder (31), embraces bucket gas pawl (32), a deep groove ball bearing (33), bolt hole alignment sensor (34) and centralized positioning sensor (35); Embracing bucket gas pawl drives cylinder (31) to be fixed on the middle part of Rotating Plates (23), embracing bucket gas pawl (32) is fixed in Rotating Plates (23), and drive a cylinder (31) to be connected by gas pawl adpting flange (36) with an armful bucket gas pawl, deep groove ball bearing (33) is bolted in embracing bucket gas pawl (32) upper, and bolt hole alignment sensor (34) is fixed on and embraces bucket gas pawl (32) with centralized positioning sensor (35).
5. robot is covered in automatic Kaifeng as claimed in claim 4, it is characterized in that: described armful of bucket gas pawl (32) comprises some pull bars (321), some bar (322) and some pasting boards (323) of grabbing; Some one end of grabbing bar (322) are rotatably connected on Rotating Plates (23) on a side of bucket center positioning mechanism (3), the some other end and some pasting boards (323) of grabbing bar (322) are fixed, and the two ends of some pull bars (321) drive a cylinder (31), some bars (322) of grabbing to be rotationally connected with an armful bucket gas pawl respectively; Deep groove ball bearing (33), bolt hole alignment sensor (34) are fixed on and embrace barrel pasting board (323) of gas pawl (32) above with centralized positioning sensor (35), and wherein deep groove ball bearing (33) is arranged on the two ends of each pasting board (323).
6. robot is covered in automatic Kaifeng as claimed in claim 1, it is characterized in that: described parallel moving mechanism (4) comprises translation leading screw (41), leading screw supporting seat (42), line slideway (43), leading screw box (44) Y-direction floating slider (45) and AC driven motor (46), line slideway (43) is arranged on the both sides of leading screw supporting seat (42), AC driven motor (46) is secured by bolts on leading screw supporting seat (42), and be connected with translation leading screw (41) by shaft coupling (47), the guide runner that leading screw box (44) is fixed with by its bottom is located on line slideway (43), drive translation leading screw (41) and then drive leading screw box (44) to carry out translation on line slideway (43) by AC driven motor (46), Y-direction floating slider (45) is fixed on the top of leading screw box (44), and be connected with elevating mechanism (1) with it.
7. automatic Kaifeng as claimed in claim 1 lid robot, is characterized in that: described in deposit lid mechanism (5) to be located at support (7) upper, it comprises bung storing board (51) and bung storage rack support (52); Bung storing board (51) is discoideus, and is secured by bolts on the side of bung storage rack support (52) away from support (7).
8. robot is covered in automatic Kaifeng as claimed in claim 1, it is characterized in that: described cap taking mechanism (6) comprises getting and covers gas pawl (61) and cylinder mechanical position limitation assembly (62), cylinder mechanical position limitation assembly (62) is installed on to get and covers gas pawl (61) above, plays a part to limit to get to cover gas pawl (61) elongation.
9. robot is covered in automatic Kaifeng as claimed in claim 1, it is characterized in that: described support (7) is set to mechanical framework structure, and it comprises stator (71), steel frame (72) and installing plate (73); Stator (71) is secured by bolts in the corner of steel frame (72), and installing plate (73) is secured by bolts in the top of steel frame (72), for parallel moving mechanism (4) is installed.
10. automatic Kaifeng as claimed in claim 1 lid robot, is characterized in that: described in tighten axis mechanism (8) and comprise the interior Hexagonal jacket (81), spacing collar (82), adjusting sleeve (83), reductor output adjusting sleeve (84), holder (85), torque sensor (86), shaft coupling (87), decelerator (88) and the servomotor (89) that connect successively, the described axis mechanism (8) of tightening is fixed on rotating mechanism (2) by holder (85), adjusting sleeve (83) is universal joint adjusting sleeve, and by the anglec of rotation of spacing collar (82) restriction adjusting sleeve (83), so that interior Hexagonal jacket (81) adapts to the Bolt to position of different angles, spacing collar is provided with spring in (82), and needed precompression when realizing this and tighten axis mechanism (8) and screw bolt by the upper lower compression of spring, be convenient to interior Hexagonal jacket (81) and enter into bolt, and drive this to tighten axis mechanism (8) tightening and the function of back-outing bolt by servomotor (89).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410296165.8A CN104084948B (en) | 2014-06-27 | 2014-06-27 | A kind of lid robot of Kaifeng automatically |
Applications Claiming Priority (1)
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| CN105773651A (en) * | 2016-05-26 | 2016-07-20 | 电子科技大学 | Multi-functional cover-taking manipulator equipment |
| CN106197502A (en) * | 2016-07-18 | 2016-12-07 | 江苏声望声学装备有限公司 | A kind of movable type for acoustic experimental apparatus binds, enclosuring structure |
| CN106531272A (en) * | 2016-12-09 | 2017-03-22 | 杭州智行远机器人技术有限公司 | Transferring operational platform for containers used in nuclear industry |
| CN106986160A (en) * | 2016-01-20 | 2017-07-28 | 沈阳阿德旺斯自动化设备有限公司 | One kind reason bucket detent mechanism |
| CN107697866A (en) * | 2017-11-13 | 2018-02-16 | 成都南方电子仪表有限公司 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
| CN108527387A (en) * | 2018-04-18 | 2018-09-14 | 湖南镭目科技有限公司 | A kind of canned harmful influence handling machine people, processing method and processing system |
| CN109514592A (en) * | 2018-12-25 | 2019-03-26 | 北京镁伽机器人科技有限公司 | Pawl structure, switch cover external member and robot for switch cover |
| CN109941947A (en) * | 2019-05-06 | 2019-06-28 | 昆山联枭智能化工程有限公司 | A kind of auto-filling equipment |
| CN110227918A (en) * | 2019-06-10 | 2019-09-13 | 北京工业大学 | A kind of Spent Radioactive charging basket post treatment production line positioning device |
| CN110861101A (en) * | 2019-11-25 | 2020-03-06 | 广东博智林机器人有限公司 | Robot uncaps |
| CN112225148A (en) * | 2020-09-16 | 2021-01-15 | 山东大学日照智能制造研究院 | Get closing cap anchor clamps and nuclear industry waste material bucket processing apparatus |
| CN113321163A (en) * | 2021-06-30 | 2021-08-31 | 哈尔滨创博智能装备有限公司 | Cover taking and placing device |
| CN113401853A (en) * | 2021-06-23 | 2021-09-17 | 中国核动力研究设计院 | Cover opening and sealing device for drying salt barrel |
| CN114771997A (en) * | 2022-06-20 | 2022-07-22 | 常州市万佳智能装备有限公司 | Full-automatic lithium salt canning machine |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106986160A (en) * | 2016-01-20 | 2017-07-28 | 沈阳阿德旺斯自动化设备有限公司 | One kind reason bucket detent mechanism |
| CN105773651A (en) * | 2016-05-26 | 2016-07-20 | 电子科技大学 | Multi-functional cover-taking manipulator equipment |
| CN106197502A (en) * | 2016-07-18 | 2016-12-07 | 江苏声望声学装备有限公司 | A kind of movable type for acoustic experimental apparatus binds, enclosuring structure |
| CN106531272A (en) * | 2016-12-09 | 2017-03-22 | 杭州智行远机器人技术有限公司 | Transferring operational platform for containers used in nuclear industry |
| CN107697866A (en) * | 2017-11-13 | 2018-02-16 | 成都南方电子仪表有限公司 | A kind of Full-automatic picking of nuclear waste barrel, capping apparatus |
| CN108527387A (en) * | 2018-04-18 | 2018-09-14 | 湖南镭目科技有限公司 | A kind of canned harmful influence handling machine people, processing method and processing system |
| CN109514592B (en) * | 2018-12-25 | 2023-10-03 | 北京镁伽机器人科技有限公司 | Claw structure for opening and closing cover, opening and closing cover kit and robot |
| CN109514592A (en) * | 2018-12-25 | 2019-03-26 | 北京镁伽机器人科技有限公司 | Pawl structure, switch cover external member and robot for switch cover |
| CN109941947A (en) * | 2019-05-06 | 2019-06-28 | 昆山联枭智能化工程有限公司 | A kind of auto-filling equipment |
| CN109941947B (en) * | 2019-05-06 | 2023-10-13 | 昆山联枭智能化工程有限公司 | Automatic filling equipment |
| CN110227918A (en) * | 2019-06-10 | 2019-09-13 | 北京工业大学 | A kind of Spent Radioactive charging basket post treatment production line positioning device |
| CN110861101A (en) * | 2019-11-25 | 2020-03-06 | 广东博智林机器人有限公司 | Robot uncaps |
| CN112225148A (en) * | 2020-09-16 | 2021-01-15 | 山东大学日照智能制造研究院 | Get closing cap anchor clamps and nuclear industry waste material bucket processing apparatus |
| CN113401853A (en) * | 2021-06-23 | 2021-09-17 | 中国核动力研究设计院 | Cover opening and sealing device for drying salt barrel |
| CN113321163A (en) * | 2021-06-30 | 2021-08-31 | 哈尔滨创博智能装备有限公司 | Cover taking and placing device |
| CN114771997A (en) * | 2022-06-20 | 2022-07-22 | 常州市万佳智能装备有限公司 | Full-automatic lithium salt canning machine |
| CN116715053A (en) * | 2023-08-10 | 2023-09-08 | 保利长大工程有限公司 | Automatic epoxy resin feeding equipment |
| CN116715053B (en) * | 2023-08-10 | 2023-11-07 | 保利长大工程有限公司 | Automatic epoxy resin feeding equipment |
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