CN106903684A - Truss manipulator based on planet circular system - Google Patents
Truss manipulator based on planet circular system Download PDFInfo
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- CN106903684A CN106903684A CN201710284120.2A CN201710284120A CN106903684A CN 106903684 A CN106903684 A CN 106903684A CN 201710284120 A CN201710284120 A CN 201710284120A CN 106903684 A CN106903684 A CN 106903684A
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- motor
- upper strata
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Truss manipulator the present invention relates to be based on planet circular system, it is characterized in that the manipulator includes planet circular system structure, pusher dog structure, upper strata, clamping structure, lower floor and outer framework, the upper and lower can move up and down along the short transverse of outer framework, planet circular system structure and pusher dog structure are separately fixed on upper strata according to upper-lower position, and clamping structure is installed in lower floor；The upper strata includes pulling structure, upper strata top board, upper strata frame, I-shaped board motor, upper strata base plate and I-shaped plate；Upper strata top board is fixedly connected with upper strata base plate by upper strata frame, and upper strata top board and upper strata base plate can be moved up and down along the short transverse of outer framework；A guide rail is connected on four corners of the I-shaped plate, four guide rail parallels are set, and the two ends of four guide rails are each attached on the frame of upper strata, it is ball-screw to have a guide rail in four guide rails.The manipulator can realize once many nut positioning, grip high precision, and good stability, operating efficiency is significantly improved.
Description
Technical field
The present invention relates to nuclear power station robotics, specially a kind of truss manipulator based on planet circular system.
Background technology
Nowadays nuclear power plant reactor is all to produce huge heat energy using the chain reaction of nuclear fission of the materials such as metallic uranium,
During fission, certain radioactive pollutant can be produced.In nuclear power station loop, cvcs RCV filter cores
Need periodic replacement.
A kind of hydraulic-driven operation arm of 7 free degree that RoboProbe Technologies companies of the U.S. develop
PREDATOR, maintenance and repair and nuclear matter treatment work for nuclear plant equipment, effectively reduces the accident rate of work, can
Task is completed with the movement similar to the mankind and speed.The TITAN systems of Schilling Robotics companies of U.S. production
Row mechanical arm has stronger capability of resistance to radiation, and wherein TITAN T-Gamma are controlled by the main hand of micro in six joints
System, shows mode of operation on screen, with it is easily operated the characteristics of, applied by nuclear electricity factory and USDOE at present
At aspects such as the maintenance including nuclear power station, the cleaning of daily core and nuclear waste transmutations.
The country is changed using manpower mostly now, changes filter core operation intensity greatly, and danger coefficient is high, it is impossible to avoid strong spoke
Penetrate danger.Once generation accident, can cause the extreme loss of personnel and economy.Because nuclear power plant operation environment is complicated, nuclear radiation
And the threat of nuclear leakage, develop the good manipulator of a job stabilization and be particularly important.
Existing related catching robot, the carrying roller crawl as disclosed in the Chinese patent of Application No. 201511002154.5
Manipulator, two paw profile is respectively the semicircle of same diameter, its cylindrical object that can only capture same specification, right
The mechanical finger for also needing to change different size in the object of different-diameter can just fulfil assignment task；Such as Application No.
The disclosed dual action mechanical hand that filter core is changed for nuclear power station of 201610330802.8 Chinese patent, its end effector one
Hold for tightening nut, the other end is used to change filter core, can only realize to the positioning of single nut and elastic, and Stability Analysis of Structures
Property is not good enough.
The content of the invention
In view of the shortcomings of the prior art, the technical problem to be solved in the present invention is to provide a kind of truss based on planet circular system
Manipulator.The manipulator can realize once many nut positioning, high precision be gripped, using linear movement, good stability, operating efficiency
Significantly improve.
The present invention solves the technical scheme that the technical problem uses：A kind of truss machinery based on planet circular system is provided
Hand, it is characterised in that the manipulator includes planet circular system structure, pusher dog structure, upper strata, clamping structure, lower floor and outer framework, institute
Stating the upper and lower can move up and down along the short transverse of outer framework, and planet circular system structure and pusher dog structure are according to upper-lower position
It is separately fixed on upper strata, clamping structure is installed in lower floor；
The upper strata includes pulling structure, upper strata top board, upper strata frame, I-shaped board motor, upper strata base plate and I-shaped plate；On
Layer top board is fixedly connected with upper strata base plate by upper strata frame, and upper strata top board and upper strata base plate can be along the short transverses of outer framework
Move up and down；A guide rail is connected on four corners of the I-shaped plate, four guide rail parallels are set, and four guide rails
Two ends be each attached on the frame of upper strata, have a guide rail in four guide rails for ball-screw, one end of the ball-screw
I-shaped board motor is connected by shaft coupling, the I-shaped board motor is fixed on upper strata base plate by motor base and motor bent plate
On；I-shaped board motor drives the ball screw turns；It is described to pull the lower surface that structure is fixed on upper strata base plate；
It is described to pull structure including drag hook and pull motor, the lower surface of base plate on upper strata, along the direction of motion of I-shaped plate
On, be arranged in parallel two guide rails, wherein a guide rail is ball-screw, ball-screw passes through shaft coupling and pulls motor connection,
The ball for pulling the lower surface that motor is fixed on upper strata base plate by motor bent plate, the drag hook and upper strata base plate lower surface
The nut seat connection of leading screw；
The planet circular system structure includes nutting motor, backboard, internal messing gear wheel, driving gear, drive shaft, gear
Piece, planetary gear, connecting shaft, big bearing, small bearing and omnipotent disassembly and assembly structure；The nutting motor passes through motor bent plate, motor
Pedestal is fixed on the top of I-shaped plate, and the output shaft of nutting motor is connected by shaft coupling with one end of drive shaft, drive shaft
The other end pass through backboard, and backboard is fixedly connected with driving gear by big bearing；The internal messing gear wheel with
Driving gear is coaxially mounted to the front portion of backboard, has been evenly arranged in the space between internal messing gear wheel and driving gear
A number of planetary gear, a number of planetary gear is meshed with internal messing gear wheel and driving gear, each planet
The front end face of gear is equipped with omnipotent disassembly and assembly structure mounting hole, and omnipotent disassembly and assembly structure is installed in omnipotent disassembly and assembly structure mounting hole,
Each planetary gear is connected by corresponding connecting shaft, small bearing with backboard；Simultaneously the front end face on of each planetary gear
Catch is installed；
The pusher dog structure includes pusher dog, pull bar, sleeve, pusher dog folding motor, gear, tooth bar and stretch rod, the set
Cylinder is fixed on the bottom of I-shaped plate, and pusher dog folding motor is fixed on I-shaped plate by motor base and motor bent plate；It is described
Stretch rod front end passes through sleeve, is connected with a number of pusher dog, and stretch rod rear portion is provided with tooth bar, the pusher dog folding motor
Output shaft connects gear, and gear is meshed with the tooth bar on stretch rod；The outside of the sleeve by bearing pin it is uniform be connected with
The pull bar that planetary gear quantity matches, the other end of each pull bar connects the middle part of corresponding pusher dog by bearing pin, pusher dog quantity with
Pull bar quantity is consistent；
The lower floor includes clamping motor and lower plywood；Four corners of lower plywood are connected with outer framework, lower plywood
Can be moved up and down along the short transverse of outer framework；In the direction of motion of the upper surface of lower plywood along I-shaped plate, parallel arrangement has
Two ball-screws, the two ball-screws are connected with one and clamp motor by shaft coupling, clamp motor and lead to
Cross motor bent plate and be fixed on lower plywood；Two clamping structures, a ball wire are installed on two ball-screws in lower floor
Thick stick drives a clamping structure action, and clamping structure is moved forward and backward under the driving of corresponding ball-screw.
Compared with prior art, the beneficial effects of the invention are as follows：
1) planet circular system structure of the invention is a kind of new and effective tightening nut structure, there is four in planet circular system
Planetary gear, is machined with hex hole on each planetary gear, installation universal disassembly and assembly structure in hex hole, many for what position was fixed
Nut structure, is capable of achieving once many positioning, greatly shortens the time of tightening nut, and the engagement of gear can receive each nut
Power is close to unanimously.Its omnipotent disassembly and assembly structure installed, the requirement much lower matched to instrument and nut size, adaptability is more
By force.
2) four pusher dogs are housed, by the linear movement of stretch rod, while control four is dialled in pusher dog structure of the invention
The folding of pawl, can realize once dialling multiple nuts with this, and tooth bar is housed on stretch rod, by pusher dog folding motor gear
Driving stretch rod is engaged with tooth bar, pusher dog operating accuracy is high；Respectively there is a wedge in upper and lower two pusher dogs, in filter enclosing cover
Moving process in block filter enclosing cover with this structure, operating efficiency is significantly improved.
3) using the clamping structure by clamping the motion of motor control clip, various sizes of filter core, and clamping can be clamped
Stabilization, during this robot work, is moved in turn using two structure identical clamping structures, can effectively reduce the structure of truss
Size.
4) present invention is overall uses truss structure, and clear in structure, having stable behavior, each layer function is clear and definite, with multiple joint manipulator
Construction machine palmistry ratio, resistance to overturning is good.Coordinated with the ball-screw on diagonal and nut seat realize girders layer (upper strata and
Lower floor) motion, kinematic accuracy is high, and malformation is small.
Brief description of the drawings
Fig. 1 is a kind of overall main structure diagram of truss manipulator embodiment of the present invention based on planet circular system；
Fig. 2 is the right side structural representation on truss manipulator upper strata 3 of the present invention based on planet circular system；
Fig. 3 is that truss manipulator upper strata of the present invention based on planet circular system pulls structural representation；
Fig. 4 is a kind of isometric knot of the planet circular system structure of truss manipulator embodiment of the present invention based on planet circular system
Structure schematic diagram；
Fig. 5 is the part-structure schematic diagram of truss manipulator planet circular system structure of the present invention based on planet circular system；
Fig. 6 is a kind of stereochemical structure of the omnipotent disassembly and assembly structure of truss manipulator embodiment of the present invention based on planet circular system
Schematic diagram；
Fig. 7 is that a kind of left view structure of the pusher dog structure 2 of truss manipulator embodiment of the present invention based on planet circular system is shown
It is intended to；
Fig. 8 is a kind of dimensional structure diagram of the lower floor 5 of truss manipulator embodiment of the present invention based on planet circular system；
Fig. 9 is that a kind of stereochemical structure of the clamping structure 4 of truss manipulator embodiment of the present invention based on planet circular system is shown
It is intended to；
Figure 10 is the main structure diagram of the outer framework of truss manipulator of the present invention based on planet circular system；
Figure 11 is A-A cross section structure diagrams in Figure 10；
In figure, 1- planet circular systems structure, 2- pusher dogs structure, 3- upper stratas, 4- clamping structures, 5- lower floors, 6- outer frameworks, 101-
Nutting motor, 102- hexagons base plate, 103- backboards, 104- internal messings gear wheel, 105- driving gears, 106- drive
Axle, 107- catch, 108- planetary gears, 109- connecting shafts, the big bearings of 110-, the small bearings of 111-, 112- inner cylinders, 113- cylinders,
114- springs, 201- pusher dogs, 202- pull bars, 203- sleeves, 204- pusher dog foldings motor, 205- stretch rods, 206- gears, 207-
Tooth bar, 301- upper stratas top board, 302- upper stratas frame, 303- I-shapeds board motor, 304- drag hooks, 305- I-shapeds plate, 306- upper stratas bottom
Plate, 307- pull motor, 401- and clamp motor, 402- axles, 403- first clamps, 404- second clamps, 405- holders, 501- folders
Dress motor, 502- lower plywoods, 601- right plates, 602- front side boards, 603- lower shoes, 604- frame motors.
Specific embodiment
The present invention is described in detail with reference to example and its accompanying drawing.Embodiment is premised on technical scheme of the present invention
The specific implementation for carrying out, gives detailed implementation method and process.But claims hereof protection domain is not limited to institute
State the description scope of embodiment.
The present invention based on planet circular system truss manipulator (referring to Fig. 1) include planet circular system structure 1, pusher dog structure 2, on
Layer 3, clamping structure 4, lower floor 5 and outer framework 6, the upper strata 3 and lower floor 5 can move up and down along the short transverse of outer framework,
Planet circular system structure 1 and pusher dog structure 2 are separately fixed on upper strata 3 according to upper-lower position, and clamping structure 4 is installed in lower floor 5；
The upper strata 3 (referring to Fig. 2) include pull structure, upper strata top board 301, upper strata frame 302, I-shaped board motor 303,
Upper strata base plate 306 and I-shaped plate 305；Upper strata top board 301 is fixedly connected with upper strata base plate 306 by upper strata frame 302, and upper strata
Top board 301 and upper strata base plate 306 can be moved up and down along the short transverse of outer framework；Divide on four corners of the I-shaped plate 305
A guide rail is not connected with, and four guide rail parallels are set, and the two ends of four guide rails are each attached on upper strata frame 302, described
There is a guide rail in four guide rails for ball-screw, one end of the ball-screw connects I-shaped board motor 303, institute by shaft coupling
State I-shaped board motor 303 and upper strata base plate 306 is fixed on by motor base and motor bent plate；I-shaped board motor 303 drives the rolling
Ballscrew is rotated, and then drives I-shaped plate 305 movable along four guide rails；The structure that pulls is fixed on upper strata base plate 306
Lower surface；
It is described to pull structure (referring to Fig. 3) including drag hook 304 and pull motor 307, the lower surface of base plate 306 on upper strata,
In the direction of motion along I-shaped plate 305, parallel arrangement two guide rails of parallel arrangement a, wherein guide rail is ball-screw, ball
Leading screw is connected by by shaft coupling with motor 307 is pulled, and the motor 307 that pulls is fixed on upper strata base plate by motor bent plate
306 lower surface, the drag hook 304 is connected with the nut seat of the ball-screw of the lower surface of upper strata base plate 306, when pulling motor
During the ball screw turns that 307 drives are connected with drag hook 304, drag hook 304 is moved forward and backward, and is driven and drag hook when motor 307 is pulled
When the ball-screw of 304 connections is rotated backward, moved after drag hook 304, when rotating forward, drag hook 304 moves forward；
The planet circular system structure 1 (referring to Fig. 4-5) includes nutting motor 101, backboard 103, internal messing gear wheel
104th, driving gear 105, drive shaft 106, catch 107, planetary gear 108, connecting shaft 109, big bearing 110, small bearing 111 and ten thousand
Can be removably mounted structure；The nutting motor 101 is fixed on the top of I-shaped plate 305, nutting by motor bent plate, motor base
The output shaft of motor is connected by shaft coupling with one end of drive shaft 106, and the other end of drive shaft passes through backboard 103, and leads to
With driving gear 105 be fixedly connected backboard 103 by excessive bearing 110；The internal messing gear wheel 104 and driving gear 105
The front portion of backboard 103 is coaxially mounted to, is evenly arranged in the space between internal messing gear wheel 104 and driving gear 105
Have an a number of planetary gear 108, a number of planetary gear 108 with internal messing gear wheel 104 and the phase of driving gear 105
Engagement, the front end face of each planetary gear 108 is equipped with omnipotent disassembly and assembly structure mounting hole, and omnipotent disassembly and assembly structure is installed on omnipotent tearing open
In assembling structure mounting hole, each planetary gear 108 is connected by corresponding connecting shaft 109, small bearing 111 with backboard 103；Together
When catch 107 is respectively mounted on the front end face of each planetary gear 108；
The omnipotent disassembly and assembly structure mounting hole is hexagon, and the omnipotent disassembly and assembly structure (referring to Fig. 6) includes inner cylinder
112nd, cylinder 113, spring 114 and hexagon base plate 102；Hexagon base plate 102 is fixed on the omnipotent disassembly and assembly structure of planetary gear 108
In mounting hole, inner cylinder 112 is installed at the front end face center of hexagon base plate 102；Centered on inner cylinder 112, in hexagon
A number of spring 114 is installed, the other end of each spring 114 is all connected with a cylinder 113 on the front end face of base plate 102；
The cylinder 113 is hollow-core construction with the contact portion of spring 114, and discontiguous part is solid construction, and spring is inserted into post
In the hollow-core construction of body, and spring is more than the height of inner cylinder 112 with the height sum of cylinder 113, and difference in height is a spiral shell
Female height；After omnipotent disassembly and assembly structure is contacted with nut, with being moved forward and backward for I-shaped plate 305, it is connected with cylinder 113
Spring 114 will compress and recover, in tightening nut, the cylinder 113 with nut contact portion can be pressed into, with planetary gear
Rotation, cylinder is rotated with planet wheels, with this tightening nut.112 pairs of surrounding cylinders 113 of cylinder play constraint, make post around
Body is in vertical state.
When nut is unscrewed by planet circular system structure 1, I-shaped board motor 303 drives the ball being connected with I-shaped plate 305
Leading screw is rotated, so that I-shaped plate 305 travels forward, the planet circular system structure 1 being connected with I-shaped plate 305 travels forward, and makes ten thousand
Can be removably mounted structure rough alignment nut, after cylinder 113 is contacted with nut, the cylinder 113 that is now contacted with nut and with
The connected spring 114 of cylinder can compress, and planet circular system structure 1 moves forward to specified location, and I-shaped board motor 303 stops
Work, now nutting motor 101 starts, and driving gear 105 is rotated clockwise, and planetary gear 108 is rotated counterclockwise, and is inside nibbled
Close gear wheel 104 to rotate clockwise, corresponding nut is rotated counterclockwise, and is dismantled, when nut and inner cylinder
During 112 contact, nutting motor 101 is stopped, and I-shaped board motor 303 starts, and I-shaped plate 305 is moved backward, planet circular system
Structure 1 is moved backward, is completed nut and is unscrewed.
When nut is tightened by planet circular system structure 1, I-shaped board motor 303 drives the ball being connected with I-shaped plate 305
Leading screw is rotated, so that I-shaped plate 305 travels forward, the planet circular system structure 1 being connected with I-shaped plate 305 travels forward, and makes omnipotent
Disassembly and assembly structure rough alignment nut, the cylinder 113 for now being contacted with nut and the spring 114 being connected with cylinder 113 can be pressed
Contracting, after nut is contacted with inner cylinder 112, I-shaped board motor 303 is stopped, and nutting motor 101 starts, driving gear
105 are rotated counterclockwise, and planetary gear 108 is rotated clockwise, and internal messing gear wheel 104 is rotated counterclockwise, and is corresponded
Nut rotate clockwise, after nut screwing clamping, nutting motor 101 is stopped, and I-shaped board motor 303 starts, I-shaped
Plate 305 is moved backward, and then planet circular system structure 1 is moved backward, completes nut screwing clamping.
The pusher dog structure 2 (referring to Fig. 7) includes pusher dog 201, pull bar 202, sleeve 203, pusher dog folding motor 204, tooth
Wheel 206, tooth bar 207 and stretch rod 205, the sleeve 203 are fixed on the bottom of I-shaped plate 305, and pusher dog folding motor 204 leads to
Cross motor base and motor bent plate is fixed on I-shaped plate 305；The front end of the stretch rod 208 passes through sleeve 203, and a number of
Pusher dog 201 connect, the rear portion of stretch rod 208 is provided with tooth bar 207, the output shaft connection gear of the pusher dog folding motor 204
206, gear 206 is meshed with the tooth bar 207 on stretch rod 208；The outside of the sleeve 203 by bearing pin it is uniform be connected with
The pull bar 202 that planetary gear quantity matches, the other end of each pull bar 202 connects the middle part of corresponding pusher dog 201 by bearing pin, dials
The quantity of pawl 201 is consistent with pull bar quantity；
Pusher dog folding motor 204 starts, and the tooth bar 207 engaged with gear 206 is moved forward, and stretch rod 208 moves forward, pull bar
202 rotate, and pusher dog 201 opens, such that it is able to the nut of respective numbers is pushed aside simultaneously；When pusher dog folding motor 204 reversely turns
When dynamic, the tooth bar 207 engaged with gear 206 is moved rearwards by, and is moved after stretch rod 208, and pull bar 202 is rotated, and pusher dog 201 shrinks, can
Reversed simultaneously with by the nut of respective numbers.
The lower floor 5 (referring to Fig. 8) includes clamping motor 501 and lower plywood 502；Four corners of lower plywood 502
It is connected with outer framework 6, lower plywood 502 can be moved up and down along the short transverse of outer framework；In the upper surface of lower plywood 502 along I-shaped
In the direction of motion of plate 305, parallel arrangement has two ball-screws, and the two ball-screws are connected with one by shaft coupling
Motor 501 is clamped, motor 501 is clamped and lower plywood 502 is fixed on by motor bent plate；
Two clamping structures 4 are installed, a ball-screw drives one and clamps on two ball-screws in lower floor 5
Structure 4 is acted, and clamping structure 4 is moved forward and backward under the driving of corresponding ball-screw；Each clamping structure 4 (referring to Fig. 9) includes
Clamp motor 401, axle 402, first clamp 403, second clamp 404 and holder 405；The two ends of the holder 405 pass through lower floor 5
On two ball-screws, and be connected with the nut seat of one of ball-screw；It is left and right symmetrically arranged at the middle part of holder 405
Have first clamp 403 and second clamp 404, the second clamp 404 is connected by bearing pin with holder 405, first clamp 403 with
Axle 402 is connected, and the gear for clamping the output end of motor 401 is meshed with the gear on axle 402；The motor 401 that clamps passes through
Motor base is fixed on holder 405；Clamp motor 401 to act, drive first clamp 403 to clamp and loosen；First clamp 403
Can step up to treat gripper components just with the opening and closing of second clamp 404.
Further characteristic of the invention is that Parallel Symmetric is disposed with respectively on the side of left and right two of the outer framework 6
Two ball-screw guide rails (referring to Figure 11), four corners of upper strata top board 301, upper strata base plate 306 and lower plywood 502 with outward
Four ball-screw guide rails connection on framework 6；And two ball-screw guide rails in the diagonal positions of upper strata top board 301
Whole upper strata 3 is driven to move up and down simultaneously, the ball-screw guide rail in two other diagonal positions drives whole lower floor 5 simultaneously
Move up and down.Moved down on the whole using the two ball-screw guide rails control upper strata 3 in diagonal positions or lower floor 5
Dynamic, it is good to significantly improve structural stability, and structure is unlikely to deform.Outer framework is truss, truss Rotating fields refer to upper strata 3, under
The structure that layer 5 is constituted.
The outer framework 6 (referring to Figure 10) include left plate, right plate 601, back side panel, front side board 602, upper plate, under
Base plate 603 and frame motor 604；Left plate, right plate 601, back side panel, front side board 602, upper plate, lower shoe 603 are assembled into
Outer frame structure, be arranged in parallel two ball-screw guide rails respectively on left plate and right plate 601 in short transverse, often
Individual ball-screw guide rail connects a frame motor 604 by shaft coupling, under frame motor 604 is fixed on by motor base
On base plate；Frame motor 604 can drive ball screw turns, so that upper strata 3, lower floor 5 move up and down.
Further characteristic of the invention is that the height of the outer framework front side board is highly consistent with filter core mobile platform.
Further characteristic of the invention is that the quantity of the planetary gear is 2-6.It is preferred that the quantity of planetary gear is four.
Further characteristic of the invention is to be located on two pusher dogs of upper and lower position to be respectively provided with a wedge, in mistake
Filter enclosing cover is blocked with this structure in the moving process of filter enclosing cover, operating efficiency is further improved.
The overall work process of truss manipulator of the present invention based on planet circular system is as follows：
Extracting filter core process out is：Frame motor 604 drives the ball screw turns of control upper strata 3 movement, and upper strata 3 moves down,
When the center of driving gear 105 and filter core enclosing cover center superposition, then the stopping of frame motor 604 action completes nut and unscrews；Frame
Frame motor 604 drives the ball screw turns of control upper strata 3 movement, is moved on upper strata 3, when the center of pusher dog stretch rod 205 and filter core
During enclosing cover center superposition, frame motor 604 is stopped, and now I-shaped board motor 303 drives the ball being connected with I-shaped plate 305
Leading screw is rotated, and I-shaped plate 305 travels forward, and to correct position, then the stop motion of I-shaped board motor 303 shells nut, upper strata 3
Upper shifting, is pushed aside filter core lid with the wedge structure on pusher dog 201, and I-shaped board motor 303 drives the ball being connected with I-shaped plate 305
Leading screw is rotated, and I-shaped plate 305 is moved backward.Frame motor 604 drive control upper strata 3 movement ball screw turns, upper strata 3 after
It is continuous to move up, then pull motor 307 and drive the ball screw turns being connected with drag hook 304, drag hook 304 to travel forward, this
When drag hook 304 should be located at filter core annulus lower section, frame motor 604 drive control upper strata 3 movement ball screw turns, upper strata
3 continue up, and when the front end circle ring center of drag hook 304 is concordant with filter core annulus, frame motor 604 is stopped, and pulls
Motor 307 drives the ball screw turns being connected with drag hook 304, filter core to be drawn out.When drag hook 304 moves to limit, pull
Motor 307 is stopped, and is moved in lower floor 5, when second clamp 404 is contacted with filter core, is moved in the stopping of lower floor 5.Clamp motor 401
Action, drives first clamp 403 to be clamped, and drag hook 304 moves forward, and after drag hook 304 is contacted with filter core collar extension, stops reach,
Upper strata 3 moves down, while being moved after drag hook, then moves on to specified location on upper strata 3.Motor 501 is clamped to drive and clamping structure 4
The ball screw turns of connection, clamping structure 4 drives filter core movement, and when clamping structure 4 arrives end points, lower floor 5 moves down into specified
Position, clamps motor 401 and acts, and first clamp 403 unclamps, and then another clamping structure does same movement, and filter core is continued to take out
Go out.So far, filter core extraction is completed.
Load filter core process：Upper strata 3 moves down, and when lower section of the handle positioned at filter core annulus, then stopping action pulling electricity
Machine 307 drives the ball screw turns being connected with drag hook 304, drag hook 304 to move backward, is now moved on upper strata 3, when drag hook 304
When front end circle ring center is concordant with filter core annulus, moved in stopping, pulling motor 307 and drive the ball-screw being connected with drag hook 304
Rotate, filter core is drawn into；When drag hook 304 moves to limit, clamp motor 401 and act, drive first clamp 403 to be pressed from both sides
Tightly, moved after drag hook 304, after drag hook 304 is contacted with filter core annulus, moved after stopping, upper strata 3 moves down, while drag hook 304 moves forward,
Then specified location is moved on on upper strata 3.Filter core center is moved on in lower floor 5 concordant with filter core hole center, clamp the band of motor 501
The dynamic ball screw turns being connected with clamping structure 4, clamping structure 4 drives filter core movement, when clamping structure 4 arrives end points, folder
Dress motor 401 is acted, and first clamp 403 unclamps, and another clamping structure does identical process, after this clamping structure 4 is to limit, folder
Dress motor 401 is acted, and first clamp 403 unclamps, and upper strata 3 moves down, and the alignment filter core of drag hook 304 is pushed it into, and upper strata 3 moves down, and uses
The wedge structure of pusher dog 201 closes enclosing cover, is then moved on upper strata 3, when the center of pusher dog stretch rod 208 and filter core enclosing cover center pair
Stop motion when neat, frame motor 604 is stopped, and now I-shaped board motor 303 drives the ball wire being connected with I-shaped plate 305
Thick stick is rotated, and I-shaped plate 305 travels forward, and the stop motion of I-shaped board motor 303 reverses nut, and frame motor 604 drives control
The ball screw turns of the movement of upper strata 3, upper strata 3 moves down, when the center of driving gear 105 is concordant with filter core center, frame motor
604 stoppings are acted, and then complete nut screwing clamping, and then upper strata 3, lower floor 5 return to home position.
The manipulator of the application is directed to nuclear power station and changes filter core operating condition design, while be also applied for other to need to change
The operating mode of such column structure；The application robot manipulator structure is more stablized, it is possible to achieve positioned while once to multiple nuts,
Pusher dog structure is have also been devised simultaneously, completes to dial nut process with this, clamping structure rotates to clamp by motor control clip
Object；Stability is overcome compared to manipulator (patent of Application No. as mentioned above 201511002154.5) before
It is bad, need to position successively for multiple nuts, process is cumbersome, and clamping object specification requires shortcoming higher.
For heretofore described front and rear, upper and lower, left and right is the position of relative filter.
It is emphasized that embodiment of the present invention is illustrative, rather than limited, therefore present invention bag
The embodiment for being not limited to described in specific embodiment is included, it is every by those skilled in the art's technology according to the present invention scheme
The other embodiment for drawing, also belongs to the scope of the present invention.
Claims (7)
1. a kind of truss manipulator based on planet circular system, it is characterised in that the manipulator includes planet circular system structure, pusher dog knot
Structure, upper strata, clamping structure, lower floor and outer framework, the upper and lower can move up and down along the short transverse of outer framework, OK
Star-wheel architecture and pusher dog structure are separately fixed on upper strata according to upper-lower position, and clamping structure is installed in lower floor；
The upper strata includes pulling structure, upper strata top board, upper strata frame, I-shaped board motor, upper strata base plate and I-shaped plate；Push up on upper strata
Plate is fixedly connected with upper strata base plate by upper strata frame, and upper strata top board and upper strata base plate can be upper and lower along the short transverse of outer framework
It is mobile；A guide rail is connected on four corners of the I-shaped plate, four guide rail parallels are set, and four the two of guide rail
End is each attached on the frame of upper strata, has a guide rail in four guide rails for ball-screw, and one end of the ball-screw passes through
Shaft coupling connects I-shaped board motor, and the I-shaped board motor is fixed on the base plate of upper strata by motor base and motor bent plate；Work
Letter stencil motor drives the ball screw turns；It is described to pull the lower surface that structure is fixed on upper strata base plate；
Described to pull structure including drag hook and pull motor, the lower surface of base plate on upper strata in the direction of motion along I-shaped plate, is put down
Row two guide rails of arrangement, wherein a guide rail is ball-screw, ball-screw passes through shaft coupling and pulls motor connection, the drawing
Power taking machine is fixed on the lower surface of upper strata base plate, the drag hook and the ball-screw of upper strata base plate lower surface by motor bent plate
Nut seat is connected；
The planet circular system structure include nutting motor, backboard, internal messing gear wheel, driving gear, drive shaft, catch,
Planetary gear, connecting shaft, big bearing, small bearing and omnipotent disassembly and assembly structure；The nutting motor passes through motor bent plate, motor base
Be fixed on the top of I-shaped plate, the output shaft of nutting motor is connected by shaft coupling with one end of drive shaft, drive shaft it is another
One end passes through backboard, and backboard is fixedly connected with driving gear by big bearing；The internal messing gear wheel and active
Gear is coaxially mounted to the front portion of backboard, has been evenly arranged in the space between internal messing gear wheel and driving gear some
The planetary gear of quantity, a number of planetary gear is meshed with internal messing gear wheel and driving gear, each planetary gear
Front end face be equipped with omnipotent disassembly and assembly structure mounting hole, omnipotent disassembly and assembly structure is installed in omnipotent disassembly and assembly structure mounting hole, each
Planetary gear is connected by corresponding connecting shaft, small bearing with backboard；It is respectively mounted on the front end face of each planetary gear simultaneously
Catch；
The pusher dog structure includes pusher dog, pull bar, sleeve, pusher dog folding motor, gear, tooth bar and stretch rod, and the sleeve is consolidated
Due on the bottom of I-shaped plate, pusher dog folding motor is fixed on I-shaped plate by motor base and motor bent plate；The stretching
Bar front end passes through sleeve, is connected with a number of pusher dog, and stretch rod rear portion is provided with tooth bar, the output of the pusher dog folding motor
Axle connects gear, and gear is meshed with the tooth bar on stretch rod；The outside of the sleeve is uniformly connected with and planet by bearing pin
The pull bar that wheel quantity matches, the other end of each pull bar connects the middle part of corresponding pusher dog, pusher dog quantity and pull bar by bearing pin
Quantity is consistent；
The lower floor includes clamping motor and lower plywood；Four corners of lower plywood are connected with outer framework, lower plywood energy edge
The short transverse of outer framework is moved up and down；In the direction of motion of the upper surface of lower plywood along I-shaped plate, parallel arrangement has two
Ball-screw, the two ball-screws are connected with one and clamp motor by shaft coupling, clamp motor by electricity
Machine bent plate is fixed on lower plywood；Two clamping structures are installed, a ball-screw drives on two ball-screws in lower floor
Dynamic clamping structure action, clamping structure is moved forward and backward under the driving of corresponding ball-screw.
2. the truss manipulator based on planet circular system according to claim 1, it is characterised in that the omnipotent disassembly and assembly structure
Mounting hole is hexagon, and the omnipotent disassembly and assembly structure includes inner cylinder, cylinder, spring and hexagon base plate；Hexagon base plate is consolidated
It is scheduled in the omnipotent disassembly and assembly structure mounting hole of planetary gear, inner cylinder is installed at the front end face center of hexagon base plate；With inner cylinder
Centered on, a number of spring is installed on the front end face of hexagon base plate, the other end of each spring is all connected with a post
Body；The cylinder is divided into hollow-core construction with spring contacts, and discontiguous part is solid construction, and spring is inserted into cylinder
In hollow-core construction, and spring is more than the height of inner cylinder with the height sum of cylinder, and difference in height is a height of nut.
3. the truss manipulator based on planet circular system according to claim 1, it is characterised in that each clamping structure includes
Clamp motor, axle, first clamp, second clamp and holder；The two ends of the holder pass through two ball-screws in lower floor, and
Nut seat with one of ball-screw is connected；First clamp and second clamp have been left and right symmetrically arranged in the middle part of holder,
The second clamp is connected by bearing pin with holder, and first clamp is connected with axle, is clamped on the gear and axle of the output end of motor
Gear be meshed；The motor that clamps is fixed on holder by motor base；First clamp and second clamp opening and closing are lucky
Can step up to treat gripper components.
4. according to claim 1 the truss manipulator based on planet circular system, it is characterised in that the left and right of the outer framework
On two sides, Parallel Symmetric is disposed with two ball-screw guide rails, four of upper strata top board, upper strata base plate and lower plywood respectively
Corner is connected with four ball-screw guide rails on outer framework；And two ball wires in the top board diagonal positions of upper strata
Thick stick guide rail drives whole upper strata to move up and down simultaneously, and the ball-screw guide rail in two other diagonal positions drives whole simultaneously
Lower floor moves up and down.
5. the truss manipulator based on planet circular system according to claim 4, it is characterised in that the outer framework includes a left side
Side plate, right plate, back side panel, front side board, upper plate, lower shoe and frame motor；Left plate, right plate, back side panel, front side
Plate, upper plate, lower shoe are assembled into outer frame structure, are arranged in parallel respectively in short transverse on left plate and right plate
Two ball-screw guide rails, each ball-screw guide rail connects a frame motor by shaft coupling, and frame motor is by electricity
Machine pedestal is fixed on lower shoe.
6. the truss manipulator based on planet circular system according to claim 1, it is characterised in that the quantity of the planetary gear
It is 2-6.
7. the truss manipulator based on planet circular system according to claim 1, it is characterised in that positioned at the two of upper and lower position
A wedge is respectively provided with individual pusher dog.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710284120.2A CN106903684B (en) | 2017-04-26 | 2017-04-26 | Truss manipulator based on planetary gear train |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710284120.2A CN106903684B (en) | 2017-04-26 | 2017-04-26 | Truss manipulator based on planetary gear train |
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| CN106903684A true CN106903684A (en) | 2017-06-30 |
| CN106903684B CN106903684B (en) | 2023-04-07 |
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| CN201710284120.2A Active CN106903684B (en) | 2017-04-26 | 2017-04-26 | Truss manipulator based on planetary gear train |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705293A (en) * | 2018-07-24 | 2018-10-26 | 西安航空学院 | A kind of wheel nut device for screwing up |
| CN112719868A (en) * | 2020-12-25 | 2021-04-30 | 南充市嘉恒建设工程质量检测有限公司 | Anti-permeability apparatus dismounting device |
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| SU1294606A1 (en) * | 1984-07-13 | 1987-03-07 | Владимирский политехнический институт | Manipulator hinge joint |
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| Publication number | Publication date |
|---|---|
| CN106903684B (en) | 2023-04-07 |
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