CN106531272A - Transferring operational platform for containers used in nuclear industry - Google Patents
Transferring operational platform for containers used in nuclear industry Download PDFInfo
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- CN106531272A CN106531272A CN201611130499.3A CN201611130499A CN106531272A CN 106531272 A CN106531272 A CN 106531272A CN 201611130499 A CN201611130499 A CN 201611130499A CN 106531272 A CN106531272 A CN 106531272A
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- axis
- container
- handgrip
- translation
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F5/00—Transportable or portable shielded containers
- G21F5/06—Details of, or accessories to, the containers
- G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a transferring operational platform for containers used in the nuclear industry. The operational platform comprises a transferring robot, an open-close gripper and a container. The open-close gripper is arranged on the transferring robot and is matched with the container. The container comprises a container body and a container cover. The container cover comprises a cover body and a chucking mechanism. The chucking mechanism includes a rotary shaft, an elevating nut, a jaw, a retainer lever, a limit lever and a force applying plate. The open-close gripper includes a gripper body, a translational mechanism, a rotary mechanism and a gripper mechanism. A rotary operation member cooperates with an operation end of the rotary shaft; the gripper member cooperates with the container body and the container cover, and a positioning member is matched with the force applying plate. The automatic and reliable transferring operational platform is capable of satisfying the actual demands of nuclear industry, and possessing a certain degree of adjustability in the operating state. Furthermore, by using the transferring operational platform, accidents can be avoided in case of emergency and the danger can be precluded through manual adjustment.
Description
Technical field
The present invention relates to a kind of automatization's transporter, particularly a kind of nuclear industry Container transfering operating platform.
Background technology
The working environment of nuclear industry can be accompanied with substantial amounts of pollutant, and all can make to external world by environment or human body for the pollutant
Should try one's best and carry out in totally enclosed place into huge infringement, therefore the working environment of nuclear industry, having is required to work equipment
Have height automatization and reliability to help staff to avoid the threat that pollutant bring, the work of nuclear industry in addition sets
It is standby to also need to adjustable, to adapt to the job demand under different requirement.
Existing automatic open-close handgrip, such as Chinese patent bulletin CN205294778U discloses a kind of automatization's folding REGPARA
Platform, which passes through handgrip, scroll chuck and container and coordinates the purpose for reaching container opening and closing, but the technology to apply in nuclear industry field
There is problems with：1st, reach elastic between lid and container by rotation container during being opened and closed, material can be caused to follow appearance
Device is together moved；2nd, lid is connected by spiral cover mode and container can not provides enough bonding strengths, it is impossible to support container
Required environment under high pressure during internal work；3rd, the connection between lid and container does not have adjustable type, it is impossible to fast and flexible ground
The closure adjusted according to working condition between lid and container is elastic；4th, the safety requirements being unsatisfactory under emergency case, such as handgrip exist
Container can be caused to drop in transport process without auto-lock function during power-off, so as to cause serious security incident.
X-axis and Z axis bidirectional-movement robot are also relatively conventional in machine industry, and such as Chinese patent is announced
CN204603115U discloses a kind of metal plate punching automatic loading/unloading machine people, by existing X-axis straight line units and Z axis straight line
Unit realizes the motion on horizontally and vertically direction, but the technology applies also problematic in nuclear industry field：1st, it is discontented with
Safety requirements under sufficient emergency case, such as robot can cause container to drop in transport process without auto-lock function when power is off,
So as to cause serious security incident；2nd, cannot be eliminated danger by extraneous manual operation in power-off or motor damage；3rd, it is difficult
With keep in repair because motor and be engaged as deceleration machine equipment is arranged at device interior, robot is had to enter into during maintenance
Working region scope, there is inconvenience in this in nuclear industry.
The content of the invention
The technical problem to be solved is to provide a kind of nuclear industry Container transfering operating platform, the Container transfering
Operating platform automatization and reliability can meet the actual demand in nuclear industry work, and lower with certain in working order
Adjustable, and can avoid surprisingly and manually can adjust eliminating danger under emergency case.
The present invention solves the technical scheme that adopted of above-mentioned technical problem：
A kind of nuclear industry Container transfering operating platform, its structure include transport robot, folding handgrip and container, described
Folding handgrip is arranged in transport robot and is coordinated with container；
The container includes vessel and container cover, the vessel and container cover by gluing, sealing, the appearance
Device lid includes lid and clamping body, and the clamping body includes rotary shaft, lifting nut, claw, gag lever post and force application board, institute
Stating rotary shaft one end and container cover being flexibly connected for the operating side other end, lifting nut is threaded with the rotary shaft, it is described
Be rotatably connected to claw on the outside of lifting nut, the claw both sides are spacing by gag lever post, the gag lever post be fixed on lid and
Between force application board；The vessel is provided with the outer rim being engaged with claw；
The folding handgrip includes handgrip body, translation mechanism, rotating mechanism and handgrip mechanism, the translation mechanism and rotation
Rotation mechanism is arranged on handgrip body, and the translation mechanism includes driven in translation part and translation driving member, the driven in translation part
Drive translation driving member；The rotating mechanism includes rotary drive and rotary operating member, and the rotary drive drives rotation
Operating parts；The handgrip mechanism includes the handgrip part that keeper is engaged with least one pair of, and the handgrip part connects translation mechanism；
The translation driving member drives the handgrip part relative motion being engaged；
The rotary operating member is engaged with the operating side of rotary shaft, and the handgrip part is matched with vessel and container cover
Close, the keeper is engaged with force application board.
Folding handgrip set is fixed and spinfunction, controls handgrip part distance so as to firmly grasp vessel shell by translation mechanism
Body, rotates the operating side in container cover by rotary operating member, and rotary shaft is rotated, as claw both sides are limited by gag lever post
Position so that lifting nut rises or falls motion on the rotary shaft, the connection end of drive claw away from or be close to lid, from
And make claw promptly or release the outer rim of vessel, container cover and vessel is realized closed or is opened, by keeper
Guarantee container cover is engaged with force application board not rotate when operating side is operated by handgrip, so as to realize vessel and container
Cover；Container is realized by the cooperation of transport robot and folding handgrip
Transhipment.
Further, the clamping body also includes the regulating part being engaged with claw, and the regulating part is connected to spacing
On bar.Regulating part is set and is arranged on the cooperation position with certain point in the middle part of claw, so as to control claw when lifting nut reaches where
Coordinate with outer rim or depart from, also control the fit angle of claw and outer rim.
Preferably, the regulating part is provided with elastic part, opening and the through hole with opening in communication, the elastic part control
Openings of sizes processed, the gag lever post of the claw both sides are respectively the first gag lever post and the second gag lever post, and the regulating part is by logical
Borehole jack is located in the first gag lever post, and described regulating part one end is spacing by the second gag lever post.Made by the structure setting regulating part
Can be adjusted flexibly on gag lever post and fixed position, and can guarantee that claw and regulating part all the time in the position that can coordinate.
Further, the operating side is polygon；The rotary operating member includes housing, housing side offer into
Mouthful, housing is provided with side plate, is connected with rotation indicating arm and rotation kelly by elastomeric element on the side plate, and the rotation is indicated
Bar is arranged on side plate center, and the rotation kelly is covered with side plate its complementary space substantially, and kelly is rotated per root with remaining rotation kelly
Between at least two kinds length of distance, be arranged close to and between rotation kelly and rotation indicating arm between each rotation kelly, the rotation
The diameter with diameter greater than rotation kelly of indicating arm.As long as the rotary operating member operating side is polygon and straight more than indicating arm
Footpath simultaneously is capable of achieving to coordinate less than inlet diameter, after the operating side of different size or angle enters housing, rotation indicating arm and
The rotation kelly of core is compressed, so as to rotation kelly in the outer part can be realized being rotated with operating side edge mate
Axle rotates.
Preferably, the container cover center offers circular recess, described rotary shaft one end is provided with and circular recess phase
The circular protrusions of cooperation, the circular recess and circular protrusions are smoothly connected.Rotary shaft needs to be limited in container cover and not
Rotation is affected, is to ensure that rotary operating member can drive rotary shaft by less power, by the circular recess and circle of light sliding fit
Shape bulge-structure is the simplest effective.
Preferably, the keeper is positioning pin, keeper is arranged on handgrip part, between each keeper and keeper
Distinct plane is arranged on between rotary operating member.Keeper is arranged on handgrip part without the need for individually controlling again, it is only necessary in handgrip
When part firmly grasps vessel, keeper fixes container cover, but position may as therefore keeper can be moved in the horizontal direction
Clash with another keeper or rotary operating member, therefore need to be arranged on distinct plane makes handgrip part position when firmly grasping container cover
Part is intersected with another keeper or rotary operating member position, to reduce keeper volume so as to the volume needed for reducing distinct plane
To reduce handgrip cumulative volume, preferably cylindrical positioning pin is used as keeper.
Further, the transport robot includes X-axis mechanism and Z-axis mechanism, and the X-axis mechanism includes X-axis frame, X
Shaft driver, X-axis driving member and the first mounting seat, the X and X-axis driving member are arranged in X-axis frame, and described
One mounting seat is connected on X-axis driving member, and the X-axis driving member at least partly extends X-axis frame in X-axis tumbler, the X
At least part of shape of axle tumbler is in polygon；The Z-axis mechanism includes that Z axis frame, Z axis actuator, worm gear, worm screw, Z axis are passed
Moving part and the second mounting seat, the Z axis frame are arranged in the first mounting seat, and the Z axis actuator, worm gear, worm screw and Z axis are passed
Moving part is arranged in Z axis frame, and the Z axis actuator passes through worm gear and worm screw connects Z-axis transmission part, and second mounting seat connects
It is connected on Z-axis transmission part, the worm screw at least partly extends Z axis frame in Z axis tumbler, the Z axis tumbler at least portion
Shape is divided to be in polygon；The folding handgrip is arranged in the second mounting seat.By X-axis driving member and the X for extending X-axis frame
Axle tumbler and worm and gear and the Z axis tumbler of Z axis frame is stretched out, allow in power-off or motor damage by X-axis turn
Moving part and Z axis tumbler are operated manually and eliminate danger, and have robot as reducing gear on worm gear and worm structure
There is auto-lock function, when Z axis actuator is run out of steam suddenly, Z-axis transmission part connects worm gear and worm screw due to one end, and second installs
Seat can be fixed on Z-axis transmission part, will not be caused danger due to the tenesmus of container sole mass.
Preferably, the Z-axis transmission part includes Z axis trapezoidal screw, second mounting seat by Z axis feed screw nut with
Z axis trapezoidal screw connects.Trapezoidal screw also has auto-lock function with feed screw nut, can be further ensured that in emergency circumstances the second peace
Dress seat is fixed.
Preferably, the translation driving member includes translating trapezoidal screw peace silk shifting rod nut, the handgrip part connection
Translation feed screw nut, described translation trapezoidal screw one end is provided with translation tumbler.It is used as by trapezoidal screw and feed screw nut
Only when trapezoidal screw is rotated, feed screw nut can just rotate translation driving member, and feed screw nut can not drive trapezoidal screw to turn
It is dynamic, thus under emergency case (such as driven in translation part is run out of steam suddenly) handgrip part because translating the self-locking structure of driving member,
Handgrip part will not be made to disengage so as to initiation potential because of the gravity of container, be made by the setting such as translation such as hex(agonal)screw tumbler trapezoidal
Screw mandrel can the manual operation when driven in translation part runs out of steam.
Preferably, also including putting hole, hold-down mechanism, push-pull structure and mounting table, the container and putting hole, compressing
Mechanism, push-pull structure are engaged, and alignment pin is provided with the putting hole, and the alignment pin is provided with spherical end surface, the container
It is provided with the location hole being engaged with alignment pin；The mounting table is engaged with container cover.Because nuclear industry is operated with Container transfering
Also need to carry out the operation such as pressurize on platform, it is therefore desirable to which putting hole and hold-down mechanism fix container, and pass through locating pin structure
Container positioning is completed, so as to push-pull structure effectively can be coordinated with container；And folding handgrip needs folding and carries in operation
Container cover, therefore mounting table need to be set facilitate folding handgrip that container cover is placed when container cover is separated with vessel with Bedpan
Lid is positioned and is captured again.
The present invention compared with the existing technology has advantages below and effect：Folding handgrip set is fixed and spinfunction,
Handgrip part distance is controlled so as to firmly grasp container casing by translation mechanism, the operation in container cover is rotated by rotary operating member
End, rotary shaft rotates, due to claw both sides it is spacing by gag lever post so that lifting nut do on the rotary shaft rise or under
Drop motion, drive the connection end of claw away from or be close to lid so that claw promptly or releases the outer rim of vessel, make appearance
Device lid and vessel are realized closed or are opened, be engaged by keeper and force application board and ensure container cover in operating side by handgrip
Do not rotate during operation, so as to realize that vessel and container cover realize full-automatic open-close in the case where not rotating；
The transhipment of container is realized by the cooperation of transport robot and folding handgrip；The closure pine between lid and container is made by regulating part
Can tightly be adjusted flexibly；As long as being arranged by rotary operating member concrete structure makes operating side for polygon and the diameter more than indicating arm
And be capable of achieving to coordinate less than inlet diameter；Grasp rotary operating member by the circular recess and circular protrusions structure of light sliding fit
Rotate axle when more effectively；Arranged by keeper concrete structure and simplify the operation requirement of handgrip and reduce cumulative volume；
Container is fixed by putting hole and hold-down mechanism, and container positioning is completed by locating pin structure, so as to push-pull structure can be effective
Coordinate with container, and mounting table facilitates folding handgrip that container cover is placed when container cover is separated with vessel so that container cover is fixed
Position and capture again.The setting of above structure can meet the actual demand of automatization and reliability in nuclear industry work, and in work
Make that there is under state certain adjustable.
Can be operated manually by X-axis tumbler, Z axis tumbler or translation tumbler in power-off or motor damage
Eliminate danger, make container robot that there is auto-lock function as reducing gear on worm gear and worm structure, equally translate trapezoidal silk
Bar peace silk shifting rod nut makes handgrip part have auto-lock function, and when motor is run out of steam suddenly, Z-axis transmission part is connected due to one end
Worm gear and worm screw are connect, the second mounting seat can be fixed on Z-axis transmission part, danger will not occur due to the tenesmus of container sole mass
Danger, handgrip part are also cannot come off so as to initiation potential；Installed with first with feed screw nut and Z axis frame by Z axis trapezoidal screw
The fixed connected mode of seat, further increases platform reliability in case of emergency；By X-axis driving member and reductor
Structure or position adjustment make the convenient maintenance under the conditions of nuclear industry of motor and speed reducer.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Structural representations of the Fig. 2 for container open mode.
Structural representations of the Fig. 3 for container closure state.
Explosive views of the Fig. 4 for container cover.
Fig. 5 is the structural representation of folding handgrip and container.
Fig. 6 is that folding handgrip is transported or reclosable container schematic diagram.
Fig. 7 is folding handgrip transfer container lid schematic diagram.
Fig. 8 is translation driving member profile.
Fig. 9 is rotary operating member profile.
Structural representations of the Figure 10 for transport robot.
Sectional views of the Figure 11 for worm and gear.
Sectional views of the Figure 12 for Z-axis transmission part.
Label declaration：
1 vessel of container, 11 lid 12
13 lifting nut of rotary shaft, 14 claw 15
First 161 second gag lever post of gag lever post, 162 regulating part 17
172 through holes 173 of opening of elastic part 171
18 folding handgrip of force application board, 2 handgrip body 21
The translation translation trapezoidal screw 2221 of driving member 222 of translation motor 221
Translation translation 223 electric rotating machine 231 of tumbler of feed screw nut 2222
232 housing of rotary operating member, 2321 entrance 2322
The rotation rotation kelly 2325 of indicating arm 2324 of side plate 2323
2326 handgrip part of spring 241 positions pin 242
243 support lugn of claw, 244 transport robot 3
311 X-axis motor of X-axis frame, 312 X-axis driving member 313
3,131 first mounting seat of X-axis tumbler, 314 Z axis frame 321
322 worm gear of Z axis motor, 323 worm screw 324
3241 Z-axis transmission part of Z axis tumbler, 325 Z axis trapezoidal screw 3251
3,252 second mounting seat of Z axis feed screw nut, 326 putting hole 4
41 hold-down mechanism of alignment pin, 5 push-pull structure 6
Mounting table 7
Specific embodiment
With reference to embodiment, the present invention is described in further detail, following examples be explanation of the invention and
The invention is not limited in following examples.
Embodiment 1：
As illustrated in fig. 1 and 2, the present embodiment includes transport robot 3, folding handgrip 2 and container 1, and folding handgrip 2 is arranged on
Coordinate in transport robot 3 and with container 1.The putting hole 4 that arranges on container 1 and platform, hold-down mechanism 5, push-pull structure 6 match
Close, on putting hole 4, be provided with alignment pin 41,41 end face of alignment pin is spherical, and container 1 is provided with and determining that alignment pin 41 is engaged
Position hole (not shown)；Be additionally provided with platform mounting table 7 is engaged with lid 12.
As shown in Fig. 2 container 1 includes vessel 11 and lid 12, both, can be in vessel 11 by gluing, sealing
Or sealing ring is set at the sealing of lid 12.Coordinate shown in Fig. 4, lid 12 is provided centrally with circular recess, the circular recess
Can coordinate with the circular protrusions ring of light below rotary shaft 13, so as to limit relative position of the rotary shaft 13 on lid 12 can
Make that rotary shaft 13 is normal to be rotated, 13 other end of rotary shaft is operating side, and operating side is in regular hexagon, to external operation equipment
Coordinate to apply revolving force in rotary shaft 13, the axle main body of rotary shaft 13 is provided with helicitic texture, and lifting nut 14 is set in spiral shell
In stricture of vagina structure, 14 surrounding of lifting nut is evenly distributed with three claws 15, and each 15 both sides of claw is respectively close to being provided with first
Gag lever post 161 and the second gag lever post 162, are cased with regulating part 17 on the first gag lever post 161, regulating part 17 is away from the second gag lever post
162 one end offers opening 172, the through hole 173 that 172 one end connection that is open is set on the first gag lever post 161, opening 172
17 part of regulating part of both sides is connected by elastic part 171, can control the width of opening 172 so as to control by elastic part 171
173 size of through hole processed, makes the activity or fixed on the first gag lever post 161 of regulating part 17, and regulating part 17 is near the second gag lever post 162
One end shape semicircular in shape is engaged with the second gag lever post 162 by 17 horizontal direction upper limit of regulating part.First gag lever post 161
Fixed by force application board 18 with 162 other end of the second gag lever post, force application board 18 is in regular hexagon, to revolve in operation equipment rotation
Lid 12 is fixed during rotating shaft 13.
The state being illustrated in figure 2 when container is opened, wherein reducing the height of lifting nut 14, makes claw 15 near lid
12, claw 15 is lifted by the regulating part 17 being arranged between the first gag lever post 161 and the second gag lever post 162, so as to discharge claw 15
With the cooperation between the outer rim 111 of vessel 11.The state being illustrated in figure 3 during container closure, raises the height of lifting nut 14
Degree, after claw 15 touches outer rim 111, lifting nut 14 continues to raise so as to lock vessel 11 and lid 12.
As shown in figure 5, folding handgrip 2 includes handgrip body 21, translation motor 221, translation on handgrip body 21, are provided with
Driving member 222, electric rotating machine 231, rotary operating member 232 and a pair of handgrip parts 241, wherein translation motor 221 drive translation to pass
Moving part 222, electric rotating machine 231 drive rotary operating member 232, handgrip part 241 to be connected on translation driving member 222, two handgrip parts
Positioning pin 242 is provided with 241, two positioning pins 242 and rotary operating member 232 are arranged on different planes no matter handgrip
How part 241 translates two positioning pins 242 and rotary operating member 232 all without coming in contact, and two handgrip parts, 241 bottom is provided with
Claw 243, claw 243 are in three sections of bending shapes, and 243 bottom surface of claw is extended with support lugn 244 to inner horizontal.
As shown in figure 8, translation driving member 222 includes translating trapezoidal screw 2221 and is arranged on translation trapezoidal screw 2221
Translation feed screw nut 2222, handgrip part 241 can direct or indirect connection translation feed screw nut 2222 on, work as translation motor
221 when driving translation trapezoidal screws 2221 to rotate, and two translation feed screw nuts 2222 do opposite or relative motion, and translate screw mandrel spiral shell
Female 2222 cannot on translation trapezoidal screw 2221 autorotation, as shown in Figure 5 one end of translation trapezoidal screw 2221 be provided with
Translation tumbler 223, translation tumbler 223 can biconditional operation end be regular hexagon.
As shown in figure 9, rotary operating member 232 includes cylindrical housings 2321,2321 side of housing is provided with entrance 2322,
Side plate 2323 is provided with housing 2321, side plate 2323 is used to connect rotation indicating arm 2324 and rotation kelly 2325, and rotation refers to
Show that bar 2324 and rotation kelly 2325 change rotation indicating arm 2324 such that it is able to independent by 2326 connecting lateral plate 2323 of spring
Or rotation 2325 threshold value side plate 2323 of kelly, rotation indicating arm 2324 is arranged on 2323 center of side plate, side plate 2323 remaining
Position is all connected with rotating kelly 2325, rotates the diameter of the diameter less than rotation indicating arm 2324 of kelly 2325, so as to when difference
Into after housing 2321, rotation is indicated for the operating side (diameter need to be more than rotation indicating arm and less than diameter of the housing) of size or angle
The rotation kelly 2325 of bar 2324 and core is compressed, so as to rotation kelly 2325 in the outer part can be with operation end margin
Coordinate realization that axle 13 is rotated to rotate.
As shown in fig. 6, when transhipment or reclosable container 1, positioning pin 242 fixes force application board 18, so as to ensure rotation behaviour
12 remains stationary of container cover when workpiece 232 rotates rotary shaft 13, and claw 243 and support lugn 244 and 11 both sides of vessel
Handle coordinate so as to fixed vessel 11.As shown in fig. 7, when transfer container lid, claw 243 and support lugn 244 with
Force application board 18 coordinates.
As shown in Figure 10 to 12, transport robot 3 is made up of X-axis frame 311 and Z axis frame 321, X-axis frame 311 and Z
Axle frame 321 is arranged in a mutually vertical manner.X-axis motor 312 is provided with the outside of X-axis frame 311 wherein, the power output of X-axis motor 312 is led to
Crossing X-axis driving member 313 drives the first mounting seat 314 to translate, and wherein X-axis driving member 313 includes screw mandrel, nut and universal joint shaft
Device, can also arrange guide rail or bevel gear, and screw mandrel one end of X-axis driving member 313 is matched somebody with somebody with X-axis motor 312 by Hooks coupling universal coupling
Close, the other end extends X-axis frame 311 as X-axis tumbler 3131, and X-axis tumbler 3131 is rectangular shape.Z axis frame
321 are fixedly connected in the first mounting seat 314, and 321 upper outside of Z axis frame is provided with Z axis motor 322, Z axis motor 322
Output shaft is coordinated with reductor, and reductor is made up of worm gear 323 and worm screw 324, and Z axis motor 322 drives worm screw 324 to rotate, from
Worm gear 323 is exported to Z-axis transmission part 325, and Z-axis transmission part 325 includes Z axis trapezoidal screw 3251 and Z axis feed screw nut 3252, also
Guide rail can be set, and the second mounting seat 326 is moved on Z axis trapezoidal screw 3251 by Z axis feed screw nut 3252, worm screw 324
Extend reductor and a cuboid block is welded with as Z axis tumbler 3241 in one end.
Furthermore, it is necessary to explanation, the specific embodiment described in this specification, is named the shape of its parts and components
Title etc. can be with difference.The equivalent or simple change done by all constructions according to described in inventional idea of the present invention, feature and principle, wraps
Include in the protection domain of patent of the present invention.Those skilled in the art can be embodied as to described
Example is made various modifications or supplements or substituted using similar mode, structure without departing from the present invention or surmounts originally
Scope as defined in the claims, all should belong to protection scope of the present invention.
Claims (10)
1. a kind of nuclear industry Container transfering operating platform, it is characterised in that：Transport robot, folding handgrip and container, it is described
Folding handgrip is arranged in transport robot and is coordinated with container；
The container includes vessel and container cover, the vessel and container cover by gluing, sealing, the container cover
Including lid and clamping body, the clamping body includes rotary shaft, lifting nut, claw, gag lever post and force application board, the rotation
Rotating shaft one end is that the operating side other end is flexibly connected container cover, and lifting nut, the lifting are threaded with the rotary shaft
Claw is rotatably connected on the outside of nut, the claw both sides are spacing by gag lever post, and the gag lever post is fixed on lid and force
Between plate；The vessel is provided with the outer rim being engaged with claw；
The folding handgrip includes handgrip body, translation mechanism, rotating mechanism and handgrip mechanism, the translation mechanism and whirler
Structure is arranged on handgrip body, and the translation mechanism includes driven in translation part and translation driving member, and the driven in translation part drives
Translation driving member；The rotating mechanism includes rotary drive and rotary operating member, and the rotary drive drives rotation process
Part；The handgrip mechanism includes the handgrip part that keeper is engaged with least one pair of, and the handgrip part connects translation mechanism；It is described
Translation driving member drives the handgrip part relative motion being engaged；
The rotary operating member is engaged with the operating side of rotary shaft, and the handgrip part is engaged with vessel and container cover,
The keeper is engaged with force application board.
2. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The clamping body is also wrapped
The regulating part being engaged with claw is included, the regulating part is connected on gag lever post.
3. nuclear industry according to claim 2 Container transfering operating platform, it is characterised in that：The regulating part is provided with
Elastic part, opening and the through hole with opening in communication, the elastic part control openings of sizes, the gag lever post point of the claw both sides
Not Wei the first gag lever post and the second gag lever post, the regulating part is set in the first gag lever post by through hole, the regulating part one
End is spacing by the second gag lever post.
4. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The operating side is polygon
Shape；The rotary operating member includes housing, and housing side offers entrance, and housing is provided with side plate, by elasticity on the side plate
Part is connected with rotation indicating arm and rotation kelly, and the rotation indicating arm is arranged on side plate center, and the rotation kelly is basic
It is covered with side plate its complementary space, at least two kinds length of distance between kelly and remaining rotation kelly is rotated per root, kelly is respectively rotated
Between and rotation kelly and rotation indicating arm between be arranged close to, it is described rotation indicating arm with diameter greater than rotation kelly diameter.
5. nuclear industry according to claim 4 Container transfering operating platform, it is characterised in that：Open at the container cover center
Circular recess is provided with, described rotary shaft one end is provided with the circular protrusions being engaged with circular recess, the circular recess and circle
Projection is smoothly connected.
6. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The keeper is positioning
Pin, keeper are arranged on handgrip part, are arranged on distinct plane between each keeper and between keeper and rotary operating member.
7. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The transport robot bag
KuoXZhou mechanisms and Z-axis mechanism, the X-axis mechanism include X-axis frame, X, X-axis driving member and the first mounting seat, institute
State X and X-axis driving member is arranged in X-axis frame, first mounting seat is connected on X-axis driving member, the X-axis
Driving member at least partly extends X-axis frame in X-axis tumbler, and at least part of shape of the X-axis tumbler is in polygon；It is described
Z-axis mechanism includes Z axis frame, Z axis actuator, worm gear, worm screw, Z-axis transmission part and the second mounting seat, and the Z axis frame is arranged
In the first mounting seat, the Z axis actuator, worm gear, worm screw and Z-axis transmission part are arranged in Z axis frame, and the Z axis drive
Part passes through worm gear and worm screw connects Z-axis transmission part, and second mounting seat is connected on Z-axis transmission part, the worm screw at least portion
Point extend Z axis frame in Z axis tumbler, at least part of shape of the Z axis tumbler is in polygon；The folding handgrip is arranged
In the second mounting seat.
8. nuclear industry according to claim 7 Container transfering operating platform, it is characterised in that：The Z-axis transmission part bag
Z axis trapezoidal screw is included, second mounting seat is connected with Z axis trapezoidal screw by Z axis feed screw nut.
9. nuclear industry according to claim 7 Container transfering operating platform, it is characterised in that：The translation driving member bag
Include translation trapezoidal screw peace silk shifting rod nut, the handgrip part connection translation feed screw nut, described translation trapezoidal screw one end
It is provided with translation tumbler.
10. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：Also include putting hole, pressure
Tight mechanism, push-pull structure and mounting table, the container is engaged with putting hole, hold-down mechanism, push-pull structure, on the putting hole
Alignment pin is provided with, the alignment pin is provided with spherical end surface, and the container is provided with the location hole being engaged with alignment pin；It is described
Mounting table is engaged with container cover.
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