CN114800555A

CN114800555A - Translation docking mechanism in narrow space, material collecting device and working method of translation docking mechanism

Info

Publication number: CN114800555A
Application number: CN202210445499.1A
Authority: CN
Inventors: 郝苒杏; 靳晴; 李元奎; 赵刚
Original assignee: Research Institute of Physical and Chemical Engineering of Nuclear Industry
Current assignee: Research Institute of Physical and Chemical Engineering of Nuclear Industry
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-07-29
Anticipated expiration: 2042-04-26
Also published as: CN114800555B

Abstract

The invention discloses a translation docking mechanism in a narrow space, a material collecting device and a working method of the translation docking mechanism, wherein the translation docking mechanism comprises a translation part and a lifting part, the lifting part translates along with the translation part, and the lifting part comprises a box body, a lifting plate and a connecting rod assembly; the lifting plate comprises a box body, a lifting plate and a connecting rod assembly, wherein the box body is provided with a lifting plate, the box body is provided with a box body, the box body is provided with a main shaft, the main shaft is fixedly provided with a balancing weight to drive the main shaft to rotate, the end part of the box body is positioned in an elongated groove of the box body, the main shaft is fixedly provided with a driving rod, two ends of the driving rod are respectively and rotatably connected with a driven rod, the other end of each driven rod is rotatably connected with a corresponding translation shaft, each translation shaft is also rotatably connected with one or two linkage rods, and the top of each linkage rod is rotatably connected to the bottom surface of the lifting plate.

Description

Translation docking mechanism in narrow space, material collecting device and working method of translation docking mechanism

Technical Field

The invention relates to the technical field of mechanical design, in particular to a translation docking mechanism with a manipulator operation function in a narrow space and a material collecting device.

Background

Under the unable direct operation's of manual work special environment, the material is collected to the small tank body through big main tank body, and the butt joint separation of the small tank body and the big tank body and getting of the small tank body are all accomplished by the manipulator operation, and often its operating space is very narrow and small, and this greatly increased collection device's the design degree of difficulty, have the material collection device of manipulator operation function concurrently to narrow and small space down at present and do not have better solution.

The invention provides a material collecting device with a manipulator operation function in a narrow space, which can meet the requirement of manipulator operation in the narrow space and realize the material collecting function.

Disclosure of Invention

The invention aims to provide a translation docking mechanism with a manipulator operation function in a narrow space, aiming at the problem of manipulator operation of a material collecting device in a narrow space in a special environment in the prior art.

Another object of the invention is to provide a material collecting device based on the translation docking mechanism.

Another object of the present invention is to provide a working method of the translational docking mechanism and the material collection device.

The technical scheme adopted for realizing the purpose of the invention is as follows:

a translation docking mechanism with a manipulator operation function in a narrow space comprises a translation part and a lifting part, wherein the lifting part translates along with the translation part, and comprises a box body, a lifting plate and a connecting rod assembly;

link assembly includes a main shaft and two translation axles, the main shaft rotates to be connected on the box, it is rotatory in order to drive the main shaft to be fixed with the balancing weight on the main shaft, the tip of translation axle is located the elongated groove of box, be fixed with the actuating lever on the main shaft, the both ends of actuating lever are rotated respectively and are connected with a driven lever, the other end and the corresponding translation axle of driven lever rotate to be connected, each the epaxial one or two gangbars that still rotate of translation are connected with, the top of gangbar is rotated and is connected on the bottom surface of lifter plate.

In the technical scheme, the middle part of each linkage rod is rotatably connected with a supporting rod, the other end of each supporting rod is rotatably connected to the front side plate and the rear side plate of the box body or is rotatably connected to the rotating shaft, and the two ends of the rotating shaft are respectively fixed to the front side plate and the rear side plate of the box body.

In the technical scheme, the two ends of the main shaft are respectively rotatably connected to the front side plate and the rear side plate of the box body, the balancing weight is located outside the box body, two elongated grooves are formed in the front side plate and the rear side plate of the box body, each elongated groove is formed in the front end and the rear end of the translation shaft, the two ends of the translation shaft are correspondingly located in the front elongated groove and the rear elongated groove, the middle of the linkage rod is rotatably connected to the supporting rod, and the other end of the supporting rod is rotatably connected to the front side plate and the rear side plate of the box body or the rotating shaft of the box body fixedly connected to the supporting rod.

In the above technical solution, the translation portion includes a translation guide rail and a slider slidably connected to the translation guide rail, and the bottom of the box body is fixed to the slider and moves along the translation guide rail along with the slider.

In the above technical scheme, the counterweight block comprises a cylindrical counterweight part, and a connecting rod and a force application rod which are integrated with the counterweight part, wherein the end part of the connecting rod is fixed on the main shaft, and the manipulator pulls the counterweight block through the force application rod.

In another aspect of the present invention, the translational docking method of the translational docking mechanism includes the following steps:

the manipulator pulls the balancing weight anticlockwise, the main shaft moves anticlockwise, the driven rods on the two sides are driven to follow the movement through the driving rod and drive the linkage rod to move, the linkage rod pushes or pulls the translation shaft to move along the long groove track of the box body, the lifting plate can descend in parallel under the action of the supporting rod, and when the balancing weight is pulled in the opposite direction, the lifting plate can stably ascend under the action of the gravity of the balancing weight;

under the pushing action of the manipulator, the lifting part translates under the action of the translation part.

On the other hand, the material collecting device with the manipulator operation function in the narrow space comprises a receiving tank, a collecting tank and the translation butting mechanism, wherein the bottom of the receiving tank is provided with a butting port, and the collecting tank can be butted on the butting port or separated from the butting port under the action of the translation butting mechanism.

In the technical scheme, the tray for placing the collecting material tank is fixed on the lifting plate.

In the technical scheme, the tray for placing the collecting material tank is positioned on one side of the box body and is positioned right above the translation guide rail.

In the technical scheme, a clamping opening is formed in one side of the top opening of the receiving tank, the receiving tank is fixed on the chassis through the supporting column, and the translation part is assembled on the chassis.

In the technical scheme, the butt joint is conical, the receiving tank is of a funnel type structure, and the collecting tank is barrel-shaped.

In another aspect of the present invention, the material collecting method of the material collecting apparatus includes the following steps: the material is unrestrained in accepting the jar, can collect the material to collecting the feed tank in through funnel formula structure, utilize the manipulator to stir the balancing weight anticlockwise, can separate collection material jar and butt joint mouth through link assembly, recycle the manipulator and promote the tray and can wholly will collect the feed tank translation and move out and accept jar below, conveniently collect the feed tank and take out, on the contrary, can push new collection feed tank and with accepting the jar butt joint, utilize manipulator operation centre gripping mouth, shift collection device to the technology position that needs to accept the material, can carry out the next material and collect.

Compared with the prior art, the invention has the beneficial effects that:

1. the translation docking mechanism can realize translation and lifting in a narrow space, can realize stable ascending and descending under the action of the balancing weight, has high movement stability and can realize accurate docking.

2. The material collecting device is simple and convenient to operate by the manipulator, occupies a small space, and is suitable for a material collecting system in a narrow space.

Drawings

FIG. 1 is an outline view of a translation docking mechanism;

FIG. 2 is a schematic structural view of the translation docking mechanism without a box body;

FIG. 3 is a structural view of a translation docking mechanism;

FIG. 4 is a schematic structural view of a weight;

FIG. 5 is an outline view of a material collection device;

fig. 6 is a schematic diagram of the structure of the material collecting device.

In the figure: 1-a chassis; 2-a support column; 3-butt joint interface; 4-carrying tank; 5-a clamping opening; 6-collecting the material tank; 7-a translation docking mechanism; 8-a box body; 9-a translation guide rail; 10-a tray; 11-a counterweight block; 12-a connecting-rod assembly; 13-a slide block; 14-a main shaft; 15-driven rod; 16-a support bar; 17-a linkage bar; 18-a main shaft; 19-a translation axis; 20-a long groove; 21-a drive rod; 22-a lifter plate; 23-rotating shaft.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in fig. 1 to 3, a translational docking mechanism with a manipulator operation function in a narrow space includes a translational portion and a lifting portion, the lifting portion is translated along with the translational portion, and the lifting portion includes a box 8, a lifting plate 22 and a connecting rod assembly 12;

link assembly 12 includes a main shaft 18 and two translation axles 19, main shaft 18 rotates to be connected on the box 8, it is rotatory in order to drive main shaft 18 to be fixed with balancing weight 11 on main shaft 18, translation axle 19's tip is located in the microscler groove 20 of box 8, be fixed with actuating lever 21 on the main shaft 18, the both ends of actuating lever 21 are rotated respectively and are connected with a driven lever 15, the other end and the corresponding translation axle 19 of driven lever 15 rotate to be connected, each still rotate on the translation axle 19 and be connected with one or two gangbar 17, the top of gangbar 17 is rotated and is connected on the bottom surface of lifter plate 22.

The manipulator stirs balancing weight 11 through anticlockwise, 14 anticlockwise motions of main shaft, drive the driven lever 15 follow motion of both sides through actuating lever 21 to drive gangbar 17 and remove, gangbar 17 promotes or stimulates translation axle 19 along the microscler groove 20 orbit motion of box 8, when the balancing weight 11 is stirred to the opposite direction, under balancing weight 11 action of gravity, can realize the stable rising of lifter plate 22, so realize rising, decline and the translation action in narrow and small space through the manipulator.

Preferably, two ends of the main shaft 18 are respectively rotatably connected to the front side plate and the rear side plate of the box body 8, the counterweight 11 is located outside the box body 8, the front side plate and the rear side plate of the box body 8 are respectively provided with two elongated grooves 20, and two ends of each translation shaft 19 are correspondingly located in the front elongated groove 20 and the rear elongated groove 20.

Preferably, the middle part of each linkage rod 17 is rotatably connected with a support rod 16, the other end of each support rod 16 is rotatably connected to the front side plate and the rear side plate of the box body 8 or rotatably connected to the rotating shaft 23, and the two ends of the rotating shaft 23 are respectively fixed to the front side plate and the rear side plate of the box body 8.

Preferably, the translation part comprises a translation guide rail 9 and a slide block 13 slidably connected to the translation guide rail 9, and the bottom of the box 8 is fixed on the slide block 13 and moves along the translation guide rail 9 with the slide block 13.

Preferably, as shown in fig. 4, the counterweight 11 includes a cylindrical counterweight part 11-1, and a connecting rod 11-2 and a force application rod 11-3 which are integrally formed with the counterweight part 11-1, wherein the end of the connecting rod 11-2 is fixed on the spindle 18, and a manipulator pulls the counterweight 11 through the force application rod 11-3, so that the counterweight 11 with such a structure is more convenient to operate in a narrow space.

Example 2

As shown in fig. 5-6, a material collecting device with a manipulator operation function in a narrow space comprises a receiving tank 4, a collecting tank 6 and a translation docking mechanism in embodiment 1, wherein a docking port 3 is arranged at the bottom of the receiving tank 4, and the collecting tank 6 can be docked at the docking port 3 or separated from the docking port 3 under the action of the translation docking mechanism.

The tray 10 used for placing the collecting material tank 6 is fixed on the lifting plate 22, the collecting material tank 6 is lifted under the action of the connecting rod assembly 12, and the collecting material tank 6 is translated under the action of the translation part. When the lifting plate 22 descends, the collection material tank 6 is separated from the butt joint port 3 of the receiving tank, and similarly, when the lifting plate 22 ascends stably, the collection material tank 6 can ascend, and the collection material tank 6 is stably butted with the butt joint port 3 of the receiving tank.

The charging bucket 6 is shifted into from the outside and placed on the tray 10 through the operation of the manipulator, the tray 10 is pushed along the translation guide rail 9 to enable the charging bucket 6 to be located below the butt joint port 3, and the balancing weight 11 is shifted clockwise to enable the collecting charging bucket 6 to be in butt joint with the butt joint port 3.

Accept jar 4 diameter and can reach 600mm, collect the material jar 6 diameter and can be less than 100mm, under the fixed condition of assurance overall dimension, collect the tapering suitable for guaranteeing to accept jar 4 material, collect the placing space of material jar 6 very limited, hardly utilize manipulator direct operation. The moving-in and moving-out of the collecting material tank 6 and the butt joint separation of the butt joint port 3 are realized through the translation butt joint mechanism 7, and the operation requirement of a manipulator is met.

Preferably, the tray 10 is located on one side of the box 8 and directly above the translation guide rail 9, and an operation space is reserved for the manipulator to operate the counterweight 11.

Preferably, a clamping opening 5 is formed in one side of the top opening of the receiving tank 4, the receiving tank 4 is fixed on the chassis 1 through a supporting column 2, and the translation part is assembled on the chassis 1. After the collecting material tank 6 and the receiving tank 4 are butted, the whole body can be transferred to a process position through the manipulator clamping and clamping port 5 for material collection.

Preferably, the butt joint port 3 is conical, so that the butt joint smoothness can be improved, the receiving tank 4 is of a funnel type structure, and the collecting tank 6 is of a barrel shape.

Example 3

The collecting method of the material collecting device according to embodiment 2, comprising the steps of:

the material spills in accepting jar 4, can collect the material to collecting in the material jar 6 through funnel formula structure, utilizes the manipulator to stir the balancing weight anticlockwise, can separate collecting material jar 6 and interface 3 through link assembly, recycles manipulator promotion tray 10 and can wholly will collect 6 translations of material jar and go out accepting jar 4 below, conveniently collects material jar 6 and take out. On the contrary, a new collecting tank 6 can be pushed into and butted with the receiving tank 4, the manipulator is used for operating the clamping opening 5, the collecting device is transferred to the process position needing to receive the materials, and the next material collection can be carried out.

Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A translation docking mechanism with a manipulator operation function in a narrow space is characterized by comprising a translation part and a lifting part, wherein the lifting part translates along with the translation part and comprises a box body, a lifting plate and a connecting rod assembly;

2. The translation docking mechanism according to claim 1, wherein a support rod is rotatably connected to a middle portion of each linkage rod, the other end of each support rod is rotatably connected to a front side plate and a rear side plate of the box body or rotatably connected to a rotating shaft, and two ends of the rotating shaft are respectively fixed to the front side plate and the rear side plate of the box body.

3. The translation docking mechanism according to claim 2, wherein two ends of the main shaft are rotatably connected to a front side plate and a rear side plate of the box body, the counterweight is located outside the box body, the front side plate and the rear side plate of the box body are both provided with two elongated grooves, two ends of each translation shaft are correspondingly located in the front elongated groove and the rear elongated groove, the middle part of the linkage rod is rotatably connected to the support rod, and the other end of the support rod is rotatably connected to the front side plate and the rear side plate of the box body or a rotating shaft fixedly connected to the box body.

4. The translation docking mechanism according to claim 1, wherein said translation portion comprises a translation rail and a slider slidably coupled to said translation rail, and wherein a bottom portion of said housing is fixed to said slider for movement therewith along said translation rail.

5. The translational docking mechanism as recited in claim 4, wherein the counterweight block comprises a cylindrical counterweight portion, and a connecting rod and a force application rod which are integrated with the counterweight portion, wherein the end of the connecting rod is fixed on the spindle, and the counterweight block is moved by a manipulator through the force application rod.

6. The translational docking method of the translational docking mechanism as recited in any one of claims 1 to 5, comprising the steps of:

the manipulator drives the driven rods on two sides to follow the movement through the driving rod by stirring the balancing weight anticlockwise, the main shaft moves anticlockwise and drives the linkage rod to move, the linkage rod pushes or pulls the translation shaft to move along a long groove track of the box body, the lifting plate can descend in parallel under the action of the supporting rod, and when the balancing weight is stirred in the opposite direction, the lifting plate can stably ascend under the action of the gravity of the balancing weight;

7. A material collecting device with a manipulator operation function in a narrow space is characterized by comprising a receiving tank, a collecting tank and the translation docking mechanism according to any one of claims 1 to 6, wherein the bottom of the receiving tank is provided with a docking port, and the collecting tank can be docked on the docking port or separated from the docking port under the action of the translation docking mechanism.

8. The material collecting device as recited in claim 7, wherein a tray for placing the collecting bucket is fixed to the elevating plate.

9. The material collecting device as recited in claim 7, wherein a tray for placing the collecting bucket is located on one side of the box body and directly above the translation guide rail.

10. The material collecting device as claimed in claim 7, wherein a holding port is provided on a side of the top opening of the receiving tank, the receiving tank is fixed to the base plate by a support column, and the translation portion is fitted to the base plate.

11. The material collection device according to claim 7, wherein the docking port is tapered, the receiving tank is of a funnel-type configuration, and the collection bucket is cylindrical.

12. The material collection method of the material collection apparatus as set forth in claim 7, comprising the steps of: the material is unrestrained in accepting the jar, can collect the material to collecting the feed tank in through funnel formula structure, utilize the manipulator to stir the balancing weight anticlockwise, can separate collection material jar and butt joint mouth through link assembly, recycle the manipulator and promote the tray and can wholly will collect the feed tank translation and move out and accept jar below, conveniently collect the feed tank and take out, on the contrary, can push new collection feed tank and with accepting the jar butt joint, utilize manipulator operation centre gripping mouth, shift collection device to the technology position that needs to accept the material, can carry out the next material and collect.