CN103042499A - Accurate-positioning large-torque rapid locking device under nuclear environment - Google Patents
Accurate-positioning large-torque rapid locking device under nuclear environment Download PDFInfo
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- CN103042499A CN103042499A CN2013100248534A CN201310024853A CN103042499A CN 103042499 A CN103042499 A CN 103042499A CN 2013100248534 A CN2013100248534 A CN 2013100248534A CN 201310024853 A CN201310024853 A CN 201310024853A CN 103042499 A CN103042499 A CN 103042499A
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- positioning structure
- firm banking
- robot
- sliding panel
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Abstract
The invention provides an accurate-positioning large-torque rapid locking device under nuclear environment. The accurate-positioning large-torque rapid locking device under the nuclear environment can perform accurate horizontal-plane, vertical-plane and central axis positioning on butting of a robot bottom plate and a blocking plate. Simultaneously, the locking device can perform secondary positioning on the robot bottom plate. The locking device comprises a positioning device and a pressing device. The accurate-positioning large-torque rapid locking device under the nuclear environment achieves rapid stable accurate positioning and large-torque rapid locking of a robot and prevents workers from being in radiation for long time.
Description
Technical field
The present invention relates to a kind of quick-locking device, especially for the accurate location high-torque quick-locking device under the nuclear environment
Background technology
Steam generator is the important heat-exchange apparatus that connects nuclear power station one loop and secondary circuit, also is nuclear power station one of maximum equipment that breaks down in service.And primary side of steam generator has intense radiation in maintenance, the characteristics that working strength is larger.The urgent automation equipment such as robot that needs replaces handwork to a great extent.But the operation of robot and installation all are limited to the structure of steam generator, its load capacity, and precision, the index requests such as reliability are very high.It also is the technical bottleneck of active service maintenance always.Primary side closure plate robot stays working time in the container for minimizing personnel in steam generator examining and repairing.
Shown in Figure 1 is a kind of primary side closure plate robot, it is mounted in the automation equipment that can tighten voluntarily screw and loose unloading screw on the closure plate, and installation process is carried out the monitoring of moment of torsion and data, to reach the sealing of blocking up to steam generator, greatly reduce personnel's time on the line.The mounting interface of robot and closure plate needs a kind of accurate location high-torque quick-locking device.
Personnel are to adopt artificial mode of installing in that closure plate is installed at present, and every staff's working time can not surpass one minute half.Tightening a lot of staff of screw and the whole process need of loose unloading screw participates in.It is loaded down with trivial details to work, and danger coefficient is very big.Between the requirement of the harshness of working environment and operating time, the realistic meaning of the structure of closure plate robot and great.
The reaction force that when opposing is tightened, produces and the mounting robot of fast and stable, a kind of accurate location high-torque quick-locking device is one of interface key technology of closure plate and robot Fast Installation, its realistic meaning also is quite great.
Summary of the invention
For above-mentioned technical problem of the prior art, the object of the present invention is to provide a kind of fast accurately location and the greatly device of torque locking, realize accurate location and the large torsion quick locking of the fast and stable of robot, avoid the staff to be among the radiation for a long time.
The present invention realizes by the following technical solutions.
A kind of locking device is used for robot being located and being installed to workpiece, and described locking device comprises positioner and hold down gag, wherein,
Described positioner comprises:
Be positioned at the base plate of described robot bottom, be provided with the first coaxial positioning structure on the described base plate; With
Be positioned at the second coaxial positioning structure on the described workpiece, it can match with described the first coaxial positioning structure;
Described hold down gag comprises:
Firm banking, it is fixedly set near the described workpiece;
At least one sliding panel, its can be on described firm banking relative sliding; With
Driving mechanism, it can drive described sliding panel and slide with respect to described firm banking;
When described base plate is located by described the first coaxial positioning structure and described the second coaxial positioning structure, its position is between described firm banking and the described sliding panel, so that described driving mechanism drives described sliding panel when sliding with respect to described firm banking, described base plate is compacted.
Preferably, described the first coaxial positioning structure is half kidney-shaped groove, and described the second coaxial positioning structure is the half kidney-shaped boss that along continuous straight runs extends, its can with described half kidney-shaped groove fit.
Preferably, described driving mechanism comprises trapezoidal screw and handle; Described trapezoidal screw one end passes the bottom outlet on the described firm banking, and between form matched in clearance; The other end of described trapezoidal screw is connected with described handle.
Preferably, an end of the described bottom outlet that passes described firm banking of described trapezoidal screw is stuck on the described fixed base plate with jump ring by axle.
Preferably, the other end of described trapezoidal screw is connected by bearing pin with described handle.
Preferably, described handle can the Rotate 180 degree, when described trapezoidal screw forwards certain position to handle is rotated to another side and can continue to screw.
Preferably, has the slide rail that is formed by oat tail groove structure between described sliding panel and the described firm banking.
Preferably, be provided with secondary positioning structure on the described sliding panel, can in described compaction process, carry out the secondary location to described robot.
Preferably, it is characterized in that described secondary positioning structure is round boss.
A kind of use according to the described locking device of one of above technical scheme with robot location be installed in method on the workpiece comprises:
Use the first coaxial positioning structure and the second coaxial positioning structure of described locking device that the base plate of described robot is located, its position is between described firm banking and the described sliding panel;
The sliding panel that uses described driving mechanism to drive in the described locking device slides with respect to firm banking, thereby described base plate is compressed.
Compared with prior art, the present invention has realized the technique effect of following benefit:
1) first, with the positioning compression device of this combination because in the fast installation process of nuclear industrial robot.Avoided the irradiated time of staff.
2) use multiple localization method to realize the accurate location of robot, and use the locking mode of bench vice structure to go to realize that large torsion compresses.
3) compact conformation is used simply efficiently in leading screw locking.
Description of drawings
Fig. 1 is closure plate of the present invention robot installation diagram
Fig. 2 accurately locates schematic diagram fast
Fig. 3 is that secondary is accurately located schematic diagram fast
Fig. 4 is fast-holding process schematic diagram
The implication of each mark representative is as follows in the accompanying drawing
1 robot base
2 closure plates
3 fixed base plates
4 pulling handles
5 axles
6 trapezoidal screws
7 sliding panels
8 axle jump rings
The specific embodiment
The present invention will be described below in conjunction with accompanying drawing.
Locking device of the present invention can be realized the location that accurate horizontal plane, vertical plane and central shaft are done in robot base plate and closure plate docking.Simultaneously, also the robot base plate is carried out the secondary location on the locking device.Locking device of the present invention comprises positioner and hold down gag.
Fast accurate positioning device detailed design:
Shown in Figure 2 is according to quick accurate positioning device of the present invention, and the accurate locate mode of robot base plate and closure plate is made half kidney-shaped groove at the robot base plate, makes half kidney-shaped boss at closure plate.Semi arch guarantees that robot is installed on the coaxial line.And grooved also guarantees the play that robot is horizontal fully.Form the accurate location of the fundamental of robot base plate.To be exactly robot base plate 1 push away downwards along the semi arch head of closure plate 2 method of Fast Installation.Need not to look for the position location, just can accurately locate fast.The secondary location that the robot base plate compresses as shown in Figure 3, when the robot base plate, such as above-mentioned mode accurately behind the location, simultaneously, after passing in the middle of the quick-locking device, namely between sliding panel and firm banking.After round boss on the sliding panel presses down, carry out the secondary location with semi arch on the robot base.Sliding panel compresses the robot plate and guarantees that robot is at axial play.Thereby realized the fast accurate locate mode of robot.
Fast large torsion hold down gag detailed design:
Fast large torsion hold down gag as shown in Figure 4, by firm banking, sliding panel, trapezoidal screw and handle form.Sliding panel and firm banking are the slide rails that forms by oat tail groove structure, and its sliding panel can carry out slip up and down along firm banking.Trapezoidal screw one end passes the firm banking bottom outlet, and between form matched in clearance.Trapezoidal screw can rotate.Simultaneously, trapezoidal screw is stuck in the another side of fixed base plate with jump ring with axle.Can prevent like this axial float of trapezoidal screw.Reached fixedly trapezoidal screw.Trapezoidal screw passes sliding panel, ready-made screw connection structure, and sliding panel moves up and down along slide rail when rotating trapezoidal screw.The structure lead angle of trapezoidal screw is smaller, can be with the amplification of the power thousandfold of spanner.The self-locking performance of trapezoidal screw can guarantee the shock loading that robot in operation is simultaneously.The other end of trapezoidal screw is processed into homalocephalus, and handle one end fluting connects by pin.Handle can the Rotate 180 degree, and handle rotates to another side and can continue to screw when trapezoidal screw forwards certain position to.Thereby realize the continuous rotation of trapezoidal screw.Realize the requirement of fast-holding.Two fast-holding structures can realize that the large torsion of robot compresses requirement.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, the common variation that those skilled in the art carries out in the technical solution of the present invention scope and replacing all should be included in protection scope of the present invention.
Claims (10)
1. a locking device is used for robot being located and being installed to workpiece, and described locking device comprises positioner and hold down gag, wherein,
Described positioner comprises:
Be positioned at the base plate of described robot bottom, be provided with the first coaxial positioning structure on the described base plate; With
Be positioned at the second coaxial positioning structure on the described workpiece, it can match with described the first coaxial positioning structure;
Described hold down gag comprises:
Firm banking, it is fixedly set near the described workpiece;
At least one sliding panel, its can be on described firm banking relative sliding; With
Driving mechanism, it can drive described sliding panel and slide with respect to described firm banking;
When described base plate is located by described the first coaxial positioning structure and described the second coaxial positioning structure, its position is between described firm banking and the described sliding panel, so that described driving mechanism drives described sliding panel when sliding with respect to described firm banking, described base plate is compacted.
2. locking device according to claim 1 is characterized in that, described the first coaxial positioning structure is half kidney-shaped groove, and described the second coaxial positioning structure is the half kidney-shaped boss that along continuous straight runs extends, its can with described half kidney-shaped groove fit.
3. locking device according to claim 1 is characterized in that, described driving mechanism comprises trapezoidal screw and handle; Described trapezoidal screw one end passes the bottom outlet on the described firm banking, and between form matched in clearance; The other end of described trapezoidal screw is connected with described handle.
4. locking device according to claim 3 is characterized in that, an end of the described bottom outlet that passes described firm banking of described trapezoidal screw is stuck on the described fixed base plate with jump ring by axle.
5. locking device according to claim 3 is characterized in that, the other end of described trapezoidal screw is connected by bearing pin with described handle.
6. locking device according to claim 5 is characterized in that, described handle can the Rotate 180 degree, when described trapezoidal screw forwards certain position to handle is rotated to another side and can continue to screw.
7. locking device according to claim 1 is characterized in that, has the slide rail that is formed by oat tail groove structure between described sliding panel and the described firm banking.
8. locking device according to claim 1 is characterized in that, is provided with secondary positioning structure on the described sliding panel, can carry out the secondary location to described robot in described compaction process.
9. locking device according to claim 8 is characterized in that, described secondary positioning structure is round boss.
A use one of according to claim 1-9 described locking device comprise with the robot location be installed in method on the workpiece:
Use the first coaxial positioning structure and the second coaxial positioning structure of described locking device that the base plate of described robot is located, its position is between described firm banking and the described sliding panel;
The sliding panel that uses described driving mechanism to drive in the described locking device slides with respect to firm banking, thereby described base plate is compressed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100248534A CN103042499A (en) | 2013-01-23 | 2013-01-23 | Accurate-positioning large-torque rapid locking device under nuclear environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013100248534A CN103042499A (en) | 2013-01-23 | 2013-01-23 | Accurate-positioning large-torque rapid locking device under nuclear environment |
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| CN103042499A true CN103042499A (en) | 2013-04-17 |
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| CN2013100248534A Pending CN103042499A (en) | 2013-01-23 | 2013-01-23 | Accurate-positioning large-torque rapid locking device under nuclear environment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308731A (en) * | 2019-07-25 | 2019-10-08 | 陕西科技大学 | High-precision mobile robot secondary positioner |
| CN110421333A (en) * | 2019-08-12 | 2019-11-08 | 中核检修有限公司深圳分公司 | Side stopboard changer device people and a side stopboard installation method |
| CN112692786A (en) * | 2020-12-30 | 2021-04-23 | 核动力运行研究所 | Primary side high water level plugging plate bolt dismounting device of nuclear power station steam generator |
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| JPH03202282A (en) * | 1989-12-28 | 1991-09-04 | Itsuo Nakajima | Music pipe manufacturing jig |
| CN2170178Y (en) * | 1993-06-24 | 1994-06-29 | 赵志锋 | Vise for multifunctional universal rotating machine |
| CN202219467U (en) * | 2011-08-26 | 2012-05-16 | 天津力神电池股份有限公司 | Clamping fixture used for installing plastic shell of lithium battery |
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| GB1037156A (en) * | 1964-04-06 | 1966-07-27 | Tendai Silas Machakaire | Engine valve spring manipulating tool |
| JPH03202282A (en) * | 1989-12-28 | 1991-09-04 | Itsuo Nakajima | Music pipe manufacturing jig |
| CN2170178Y (en) * | 1993-06-24 | 1994-06-29 | 赵志锋 | Vise for multifunctional universal rotating machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308731A (en) * | 2019-07-25 | 2019-10-08 | 陕西科技大学 | High-precision mobile robot secondary positioner |
| CN110308731B (en) * | 2019-07-25 | 2020-10-09 | 陕西科技大学 | High-precision secondary positioning device for mobile robot |
| RU2756190C1 (en) * | 2019-07-25 | 2021-09-28 | Шэньсиский Университет Науки И Техники | Apparatus for secondary positioning of a high-precision mobile robot |
| CN110421333A (en) * | 2019-08-12 | 2019-11-08 | 中核检修有限公司深圳分公司 | Side stopboard changer device people and a side stopboard installation method |
| CN110421333B (en) * | 2019-08-12 | 2024-04-19 | 中核检修有限公司深圳分公司 | Primary side blocking plate dismounting robot and primary side blocking plate mounting method |
| CN112692786A (en) * | 2020-12-30 | 2021-04-23 | 核动力运行研究所 | Primary side high water level plugging plate bolt dismounting device of nuclear power station steam generator |
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Application publication date: 20130417 |