CN104084948B - A kind of lid robot of Kaifeng automatically - Google Patents
A kind of lid robot of Kaifeng automatically Download PDFInfo
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- CN104084948B CN104084948B CN201410296165.8A CN201410296165A CN104084948B CN 104084948 B CN104084948 B CN 104084948B CN 201410296165 A CN201410296165 A CN 201410296165A CN 104084948 B CN104084948 B CN 104084948B
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Abstract
The automatic Kaifeng lid robot that the invention discloses have employed modularized design structure, and it comprises elevating mechanism, rotating mechanism, bucket center positioning mechanism, parallel moving mechanism, deposits lid mechanism, cap taking mechanism, support and tighten axis mechanism.It is by the cooperating between rational vibrational power flow and Shang Ge mechanism thereof, achieves the function covered the automatic Kaifeng of multiple target bucket bung and access, can make up the problem that existing equipment brings in flexibility, security, accuracy and stability.
Description
Technical field
The present invention relates to and belong to technical field of mechanical automation, specifically a kind of lid robot of Kaifeng automatically.
Background technology
Nowadays, industrial automation technology is more and more universal, and automation equipment can be enhanced productivity significantly, and the requirement of all trades and professions to automation is also more and more urgent.Therefore, the Kaifeng lid automation of nuclear waste barrel requires it is also the basic demand that present nuclear power station processes nuke rubbish.Present stage nuke rubbish Kaifeng lid process on there is very large safety and efficiency, and can bring injury because nuke rubbish has strong radioactivity to people, therefore, the Kaifeng lid arrangement design of trash receptacle design automation just becomes more and more important.
But, with regard to current existing equipment, still there is following shortcoming in the Kaifeng lid arrangement of nuclear waste barrel: though existing current opening closure application and can realize automation for nuclear waste barrel, but there is larger problem in its flexibility and security, stability and control accuracy aspect, also there is many problems in the degree of tightness of bolt simultaneously, have a strong impact on the efficiency in nuke rubbish encapsulation process, brought potential potential safety hazard simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of automatic Kaifeng lid robot for solving the problems of the technologies described above.
A kind of lid robot of Kaifeng automatically, it opens closure application for realizing automatically to target bucket, it is characterized in that: this lid robot that automatically breaks a seal comprises elevating mechanism, rotating mechanism, bucket center positioning mechanism, parallel moving mechanism, deposits lid mechanism, cap taking mechanism, support, tightens axis mechanism, wherein, elevating mechanism is used for carrying out integral elevating and self-locking to rotating mechanism, rotating mechanism is used for being rotated, bucket center positioning mechanism is used for positioning the bucket heart of target bucket, parallel moving mechanism is for driving elevating mechanism, rotating mechanism, bucket center positioning mechanism, cap taking mechanism and tighten axis mechanism complete translational motion on XY direction, definition X-direction is the axial direction of translation leading screw in parallel moving mechanism, Y-direction is the radial direction of translation leading screw in parallel moving mechanism, deposit lid mechanism depositing and gripping for bung, cap taking mechanism has been used for getting lid function, support is used for being fixed parallel moving mechanism and installing, tighten the operation of axis mechanism for being screwed into the bolt on target bucket bung or back-outing.
Further, described elevating mechanism is assemblied on parallel moving mechanism, and it comprises AC servo motor, fixed flat planar, lifting board, electromagnet, ball-screw nut, slide block, guide rail and ball-screw; AC servo motor is secured by bolts on fixed flat planar; and be connected with ball-screw; ball-screw nut and slide block are fixed on lifting board; on guide rail, elevating movement is carried out by AC servo machinery driving ball-screw and then drive lifting board; elevating mechanism all installs alignment sensor and limit sensors at the two ends of guide rail, to realize initial alignment and the position limitation protection function of this elevating mechanism.
Further, described rotating mechanism comprises electric rotating machine assembly, multiple reinforcement gusset and Rotating Plates; One end of multiple reinforcement gusset is connected with electric rotating machine assembly, and the other end is fixed by bolt and Rotating Plates, makes this rotating mechanism operationally, is rotated by electric rotating machine Component driver Rotating Plates.
Further, described bucket center positioning mechanism is fixed in the Rotating Plates on rotating mechanism, and it comprises embraces bucket gas pawl driving cylinder, armful bucket gas pawl, deep groove ball bearing, bolt hole alignment sensor and centralized positioning sensor; Embracing bucket gas pawl drives cylinder to be fixed on the middle part of Rotating Plates, embracing bucket gas pawl is fixed in Rotating Plates, and drive cylinders to connect by gas pawl adpting flange and an armful bucket gas pawl, deep groove ball bearing is bolted in embracing on bucket gas pawl, and bolt hole alignment sensor and centralized positioning sensor are fixed on embraces bucket gas pawl (32).
Wherein, described armful of bucket gas pawl comprises some pull bars, somely grabs bar and some pasting boards; Some one end of grabbing bar are rotatably connected on Rotating Plates towards on a side of bucket center positioning mechanism, some grab bar the other end and some pasting boards fix, the two ends of some pull bars respectively with embrace that a bucket gas pawl drives cylinder, some bars of grabbing are rotationally connected; Deep groove ball bearing, bolt hole alignment sensor and centralized positioning sensor are fixed on the pasting board of armful bucket gas pawl, and wherein deep groove ball bearing is arranged on the two ends of each pasting board.
Further, described parallel moving mechanism comprises translation leading screw, leading screw supporting seat, line slideway, leading screw box, Y-direction floating slider and AC driven motor; Line slideway is arranged on the both sides of leading screw supporting seat, AC driven motor is secured by bolts on leading screw supporting seat, and be connected with translation leading screw by shaft coupling, leading screw box is located on line slideway by the guide runner be fixed with bottom it, drive translation leading screw by AC driven motor and then drive leading screw box to carry out translation on line slideway, Y-direction floating slider is fixed on the top of leading screw box, and is connected with elevating mechanism with it.
Further, described in deposit lid mechanism and be located on support, it comprises bung storing board and bung storage rack support; Bung storing board is discoideus, and is secured by bolts in bung storage rack support away from a side of support.
Further, described cap taking mechanism comprises gets lid gas pawl and cylinder mechanical position limitation assembly, and cylinder mechanical position limitation assembly is installed on to be got on lid gas pawl, plays a part to limit and gets lid gas pawl elongation.
Further, described Bracket setting is mechanical framework, and it comprises stator, steel frame and installing plate; Stator is secured by bolts in the corner of steel frame, and installing plate is secured by bolts in the top of steel frame, for installing parallel moving mechanism.
Further, tighten described in axis mechanism comprise connect successively interior Hexagonal jacket, spacing collar, adjusting sleeve, reductor export adjusting sleeve, holder, torque sensor, shaft coupling, decelerator and servomotor; Described axis mechanism of tightening is fixed on rotating mechanism by holder), adjusting sleeve is universal joint adjusting sleeve, and the anglec of rotation of adjusting sleeve is limited by spacing collar, so that interior Hexagonal jacket adapts to the Bolt to position of different angles, in spacing collar, spring is installed, and realize this by the compression up and down of spring and tighten precompression required when axis mechanism screws bolt, be convenient to interior Hexagonal jacket and enter into bolt, and complete this by driven by servomotor and tighten axis mechanism tightening and function of back-outing bolt.
Due to the application of technique scheme, the present invention has following beneficial effect:
Automatic Kaifeng lid robot of the present invention, by the cooperating between rational vibrational power flow and Shang Ge mechanism thereof, achieve the function that the automatic Kaifeng of multiple target bucket bung is covered and accessed, the problem that existing equipment brings in flexibility, security, accuracy and stability can be made up, and to the present invention in the degree of tightness of bolt by shaft device adding Flexible Design and makes to reduce to minimum to the damage of bolt, the consequence brought to avoid bolt failure when breaking a seal lid tightening.
Accompanying drawing explanation
Fig. 1 is the structural representation of automatic Kaifeng lid robot of the present invention;
Fig. 2 is the structural representation of elevating mechanism in the present invention;
Fig. 3 is the structural representation of rotating mechanism in the present invention;
Fig. 4 is the structural representation of bucket center positioning mechanism in the present invention;
Fig. 5 is the structural representation of parallel moving mechanism in the present invention;
Fig. 6 is rotating mechanism in the present invention, bucket center positioning mechanism, deposit lid mechanism, cap taking mechanism and tighten the combination installation diagram of axis mechanism;
Fig. 7 is the structural representation of medium-height trestle of the present invention, is provided with and deposits lid mechanism in its medium-height trestle;
Fig. 8 is the structural representation tightening axis mechanism in the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, the automatic Kaifeng lid robot 10 that the embodiment of the present invention provides, it opens closure application for realizing automatically to target bucket, is appreciated that the target bucket in the present embodiment is nuclear waste barrel.Automatic Kaifeng lid robot 10 in the present embodiment have employed modularized design structure, and it comprises elevating mechanism 1, rotating mechanism 2, bucket center positioning mechanism 3, parallel moving mechanism 4, deposits lid mechanism 5, cap taking mechanism 6, support 7 and tighten axis mechanism 8 particularly.
Refer to Fig. 2, elevating mechanism 1 in the present embodiment is for carrying out overall lifting and self-locking action to rotating mechanism 2, be appreciated that this elevating mechanism 1 also and can be tightened axis mechanism 8 and carries out lift action the bucket center positioning mechanism 3 be fixed on rotating mechanism 2, cap taking mechanism 6 simultaneously.Described elevating mechanism 1 is assemblied on parallel moving mechanism 4, and it comprises AC servo motor 11, fixed flat planar 12, lifting board 13, electromagnet 14, ball-screw nut 15, slide block 16, guide rail 17 and ball-screw 18.
What be appreciated that elevating mechanism 1 in the present embodiment has two for the AC servo motor 11 driving lifting board 13 to carry out elevating movement, and it is fixed on the both sides of fixed flat planar 12 symmetrically by bolt, and is connected with ball-screw 18.Ball-screw 18 is set with ball-screw nut 15, and ball-screw nut 15 is fixed on lifting board 13, when such AC servo motor 11 works, ball-screw 18 is driven to carry out rotating and then drive ball-screw nut 15 to carry out oscilaltion campaign on ball-screw 18, that is, lifting board 13 is driven to carry out elevating movement.In the present embodiment, in order to improve the intensity of lifting board 13, it is also provided with on lifting board 13 strengthens gusset 19.Wherein the both sides of lifting board 13 fix with slide block 16 respectively, and this slide block 16 is embedded at the guide rail 17 being positioned at these elevating mechanism 1 both sides, make lifting board 13 carry out oscilaltion campaign along guide rail 17 under the driving of AC servo motor 11.In the present embodiment, described elevating mechanism 1 all installs alignment sensor (not shown) and limit sensors (not shown) at the two ends of guide rail 17, for realizing initial alignment and the position limitation protection function of this elevating mechanism 1.The adjustable height of elevating mechanism 1 in the present embodiment, specifically can be arranged by the length of guide rail 17, it has good flexibility.Electromagnet 14 is the bottoms being fixed on this elevating mechanism 1, this elevating mechanism 1 is when carrying out elevating movement like this, when operationally there is alarm and be dangerous in this elevating mechanism 1, the lifting distance of such as this elevating mechanism 1 is beyond its safe distance, it can be energized to electromagnet 14, and have there is the auto-lock function that ferromagnetism realizes this elevating mechanism 1, to get back to safe condition by electromagnet 14 energising.
Refer to Fig. 3, the rotating mechanism 2 in the present embodiment is the rotary motions for carrying out in the horizontal plane, so that the bucket center positioning mechanism be fixed thereon 3 pairs of target buckets realize the effect of centralized positioning.Described rotating mechanism 2 comprises electric rotating machine assembly 21, multiple reinforcement gusset 22 and Rotating Plates 23.Wherein one end of multiple reinforcement gusset 22 is connected with electric rotating machine assembly 21, the other end is fixed by bolt and Rotating Plates 23, make this rotating mechanism 2 operationally, drive Rotating Plates 23 to be rotated in the horizontal plane by electric rotating machine assembly 21.Multiple reinforcement gussets 22 in this rotating mechanism 2 can be symmetrical arranged, and each reinforcement gusset 22 with adjacent two to strengthen angle between gusset 22 equal, in the present embodiment, include 4 in this rotating mechanism 2 preferred and strengthen gusset 22, each like this reinforcement gusset 22 and adjacent two angles strengthened between gusset 22 are 90 °.Be appreciated that the electric rotating machine assembly 21 in this rotating mechanism 2 is fixing with on the lifting board 13 in elevating mechanism 1, to carry out oscilaltion effect in company with elevating mechanism 1.
Refer to Fig. 4, bucket center positioning mechanism 3 in the present embodiment is fixed in the Rotating Plates 23 on rotating mechanism 2, for what position the bucket heart of target bucket, so that lid got by cap taking mechanism 6 pairs of target buckets, the effect of tightening unscrewed by the bolt tightened on axis mechanism 8 pairs of target bucket bungs.Described bucket center positioning mechanism 3 comprises embraces bucket gas pawl driving cylinder 31, armful bucket gas pawl 32, deep groove ball bearing 33, bolt hole alignment sensor 34 and centralized positioning sensor 35.
Described armful of bucket gas pawl drives cylinder 31 to be fixed on the middle part of Rotating Plates 23 in rotating mechanism 2, specifically can be arranged on the center position of Rotating Plates 23, embracing bucket gas pawl 32 is be fixed in Rotating Plates 23, and drive cylinder 31 to be connected by gas pawl adpting flange 36 with an armful bucket gas pawl, deep groove ball bearing 33 is bolted in embracing on bucket gas pawl 32, and bolt hole alignment sensor 34 and centralized positioning sensor 35 are fixed on embraces bucket gas pawl 32.Particularly, described armful of bucket gas pawl 32 comprises some pull bars 321, somely grabs bar 322 and some pasting boards 323; Wherein some one end of grabbing bar 322 are rotatably connected on Rotating Plates 23 towards on a side of bucket center positioning mechanism 3, some grab bar 322 the other end and some pasting boards 323 fix, the two ends of some pull bars 321 respectively with embrace that a bucket gas pawl drives cylinder 31, some bars 322 of grabbing are rotationally connected; And deep groove ball bearing 33, bolt hole alignment sensor 34 and centralized positioning sensor 35 are fixed on the pasting board 323 of armful bucket gas pawl 32, wherein deep groove ball bearing 33 is arranged on the two ends of each pasting board 323.
When being appreciated that barrel center positioning mechanism 3 uses, under the driving of embracing bucket gas pawl driving cylinder 31, its armful of bucket gas pawl 32 holds the edge of target bucket ladle body tightly.The active force being appreciated that this armful of bucket gas pawl 32 pairs of target buckets is being fixed in the radial direction along target bucket, and this is because the concrete structure of this armful of bucket gas pawl 32 forms.Then undertaken detecting this barrel of center positioning mechanism by bolt hole alignment sensor 34 and centralized positioning sensor 35 whether to position the bucket heart of target bucket.If do not positioned the bucket heart of target bucket, its rotating mechanism 2 will drive barrel center positioning mechanism 3 to carry out the rotation of certain angle like this, owing to being deep groove ball bearing 33 for the parts that carry out contacting with target bucket ladle body in this barrel of center positioning mechanism 3, such rotating mechanism 2 is when driving bucket center positioning mechanism 3 to rotate, relative motion can be formed, until this barrel of center positioning mechanism 3 pairs of target buckets carry out a barrel heart location between its deep groove ball bearing 33 and target bucket.After bucket center positioning mechanism 3 pairs of target buckets achieve barrel heart location, its electromagnet 14 be positioned on elevating mechanism 1 will be energized, realize the lock function to target bucket, in case this breaks a seal automatically, lid robot is carrying out in subsequent operation to target bucket, the bucket heart generation relativity shift of target bucket.
Please refer to Fig. 5, described parallel moving mechanism 4 is fixing with on support 7, on XY direction, translational motion is completed for driving elevating mechanism 1, rotating mechanism 2, bucket center positioning mechanism 3, cap taking mechanism 6 and tightening axis mechanism 8, definition X-direction is the axial direction of translation leading screw 41 in parallel moving mechanism 4, and Y-direction is the radial direction of translation leading screw 41 in parallel moving mechanism 4.Described parallel moving mechanism 4 comprises translation leading screw 41, leading screw supporting seat 42, line slideway 43, leading screw box 44, Y-direction floating slider 45 and AC driven motor 46.
Easily known by upper, parallel moving mechanism 4 in the present embodiment includes two line slideways 43, it is separately positioned on the both sides of leading screw supporting seat 42, AC driven motor 46 is secured by bolts on leading screw supporting seat 42, and be connected with translation leading screw 41 by shaft coupling 47, rotate to drive translation screw mandrel 41.Leading screw box 44 is located on line slideway 43 by the guide runner (not shown) be fixed with bottom it, make this leading screw box 44 under the driving of AC driven motor 46, leading screw box 44 is driven to carry out translation on line slideway 43 by translation leading screw 41, Y-direction floating slider 45 is the tops being fixed on leading screw box 44, and is connected with elevating mechanism 1 with it.For reducing sliding friction when leading screw box 44 carries out translation on line slideway 43, the present embodiment preferably adopts high-precision guide runner.
Be appreciated that, described parallel moving mechanism 4 in use, the driving of AC driven motor 46, leading screw box 44 is driven to carry out translation on line slideway 43, can the elevating mechanism 1 be located on this parallel moving mechanism 4 leading screw box 44 in the X direction carry out translational motion, so that these bucket center positioning mechanism 3 pairs of target buckets automatically in the lid robot 10 of Kaifeng carry out a barrel heart location.
Please refer to Fig. 6, for rotating mechanism in the present embodiment 2, bucket center positioning mechanism 3, deposit lid mechanism 5, cap taking mechanism 6 and tighten the combination installation diagram of axis mechanism 8, wherein tighten the both sides that axis mechanism 8 is arranged on Rotating Plates 23 in this rotating mechanism 2, process is unscrewed for tightening the bolt on target bucket bung, cap taking mechanism 6 is arranged in barrel center positioning mechanism 3, particularly, described cap taking mechanism 6 comprises gets lid gas pawl 61 and cylinder mechanical position limitation assembly 62, cylinder mechanical position limitation assembly 62 is installed on to be got on lid gas pawl 61, play a part to limit and get lid gas pawl 61 elongation.In the present embodiment, get lid gas pawl 61 to be made up of 3 three axle cylinders, after rotating mechanism 2 has rotated and bucket center positioning mechanism 3 on it realizes centralized positioning, elevating mechanism 1 will decline, after dropping to assigned address, elevating mechanism 1 will carry out locking by the electromagnet 14 of energising, then gets lid gas pawl 61 and opens, capture the flange edge in target bucket bung, complete bung grasping movement.Wherein elevating mechanism 1 is dropped to assigned address and can be realized by the feedback of bung position-sensing switch signal.Wherein getting on lid gas pawl 61 has magnetic induction switch to feed back current kinetic situation, gets lid gas pawl 61 and moves to dead point, by the back shaft stressed crawl completing bung during crawl.
Please refer to Fig. 7, described support 7 is for being fixed parallel moving mechanism 4 and installing, and it comprises stator 71, steel frame 72 and installing plate 73.Described support 7 is set to mechanical framework, wherein steel frame 72 forming by 80x80 steel, stator 71 is mounted in the corner of steel frame 72, for improving the intensity of steel frame 72, and installing plate 73 is bolted the top with steel frame 72, for installing parallel moving mechanism 4.Described lid mechanism 5 of depositing is provided on support 7, and for storing the bung that disassembles from target bucket, it comprises bung storing board 51 and bung storage rack support 52; Bung storing board 51 in discoideus, and is secured by bolts in bung storage rack support 52 away from a side of support 7.Bung storage rack support 52 can be arranged to " cross " structure, and its end is bolted with on support 7.Be appreciated that the present embodiment is by above-mentioned setting of depositing lid mechanism 5, it can get lid operation to multiple target bucket.
Please refer to Fig. 8, described axis mechanism 8 of tightening is for unscrewing to the bolt on target bucket bung the effect of tightening, it comprise connect successively interior Hexagonal jacket 81, spacing collar 82, adjusting sleeve 83, reductor export adjusting sleeve 84, holder 85, torque sensor 86, shaft coupling 87, decelerator 88 and servomotor 89.Describedly to tighten in axis mechanism 8 is fixed in rotating mechanism 2 Rotating Plates 23 by holder 85.
The present embodiment can adapt to the Bolt to position of obstructed angle to make to act on target bucket bung Hexagonal jacket 81 in bolt, the axis mechanism 8 of tightening of the present embodiment is adopt flexible joint design for acting on the front end of bolt, particularly, its adjusting sleeve 83 is set to universal joint regulating sleeve, and carries out spacing by spacing collar 82 to the anglec of rotation of adjusting sleeve 83.This tightens axis mechanism 8 in use like this, has been convenient to interior Hexagonal jacket 81 and has entered on the bolt of target bucket bung, to complete the screw action to bolt on target bucket bung.Torque sensor 86 screws angle, bolt is screwed from target bucket bung for monitoring interior Hexagonal jacket 81 what screw bolt on target bucket bung.Simultaneously the present embodiment is tightened axis mechanism 8 screwing bolt in process the damage that bolt produces to be alleviated this, ensure the security of operation, it adds elastic construction in the structure of tightening design, particularly, in described spacing collar 82, spring is installed, and realizes this by the compression up and down of spring and tighten precompression required when axis mechanism 8 screws bolt.This tightens axis mechanism in use like this, first interior Hexagonal jacket 81 is entered into bolt, has then driven this to tighten tightening and function of back-outing of axis mechanism 8 pairs of bolts by servomotor 89.
Automatic Kaifeng lid robot 10 of the present invention can carry out work according to TES system control command, for the below of carrying the roller transmission line (not shown) of core charging basket target bucket to be transported to Kaifeng lid robot 10 automatically, and by this automatically Kaifeng lid robot 10 lid or closure application are got to target bucket.When getting lid to target bucket, Kaifeng lid robot 10 is according to self poisoning required precision automatically, locates target bucket.Then, tighten axis mechanism 8 and the bolt centering on target bucket bung, and bolt is dismantled.After Bolt dismantling completes, by elevating mechanism 1, bung is promoted (hoisting depth is greater than 300mm) together with bolt, the ladle body of target bucket is separated with bung.Get the target bucket after lid and can transport follow-up station in company with roller transmission line.The bung taken off from target bucket is temporarily stored in be deposited on lid mechanism 5, to get lid and capping to multiple target bucket continuously.Deposit on lid mechanism 5 and can deposit multiple bung.When carrying out capping to target bucket, Kaifeng lid robot 10 is again according to self poisoning required precision automatically, locates the bung of target bucket.Then cap taking mechanism 6 adjusts bung angle, make to be arranged in the bolt and target bucket bung upper screwed hole centering of tightening axis mechanism 8, after completing, bung is assembled on target bucket ladle body, and tight a bolt by the moment of torsion of setting, finally this lid robot 10 that automatically breaks a seal disengages with target bucket, completes closure application.
As from the foregoing, after target bucket is transported to appointment station by roller-way, automatic Kaifeng lid robot 10 of the present invention starts working, first by parallel moving mechanism 4 along the X direction by elevating mechanism 1, rotating mechanism 2, bucket center positioning mechanism 3 and tighten the top that axis mechanism 8 brings to target bucket, by the centralized positioning sensor 35 in bucket center positioning mechanism 3, centralized positioning is carried out to target bucket, realize the central axis of rotating mechanism 2 and target bucket.Then elevating mechanism 1 drops to certain altitude, rotating mechanism 2 drives bucket center positioning mechanism 3 to rotate in a circumferential direction along ladle body, bolt hole alignment sensor 34 in bucket center positioning mechanism 3 positions with the bolt on target bucket or bolt hole, then unclamps or screwing bolts by tightening axis mechanism 8.Then elevating mechanism 1 completes elevating movement, props up bung by cap taking mechanism 6, bung is lifted away from ladle body or is enclosed on ladle body by bung, and it is temporarily stored in deposits on lid mechanism 5.
Automatic Kaifeng lid robot of the present invention is from the flexibility to bung location, target bucket Kaifeng, accuracy and security and its operating efficiency.In order to reduce sliding friction, adopt high-precision straight-line guide rail slide block.Meanwhile, in order to ensure the safety and stability of its work, have employed the drive motors with auto-lock function, when causing danger and report to the police, structure self-locking.And, more more flexible than existing control in order to make it control, have employed simultaneously in the function that XY axle 2 frees degree regulate, this facilitate greatly location from flexibility.Design adds elasticity to tightening the damage alleviated bolt is set, ensure that the security of operation.Which overcome many deficiencies of existing apparatus, thus improve production work efficiency, reduce cost of labor and nuclear radiation to the injury of human body.Also improve the reliability of whole nuclear industry work, flexibility and security simultaneously, meet the demand of nuclear industry further.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the lid robot that automatically breaks a seal, it opens closure application for realizing automatically to target bucket, it is characterized in that: this lid robot that automatically breaks a seal comprises elevating mechanism (1), rotating mechanism (2), bucket center positioning mechanism (3), parallel moving mechanism (4), deposits lid mechanism (5), cap taking mechanism (6), support (7), tightens axis mechanism (8), wherein, elevating mechanism (1) is for carrying out integral elevating and self-locking to rotating mechanism (2), rotating mechanism (2) is for being rotated, bucket center positioning mechanism (3) is for positioning the bucket heart of target bucket, it comprises embraces bucket gas pawl driving cylinder (31), embrace bucket gas pawl (32), deep groove ball bearing (33), bolt hole alignment sensor (34) and centralized positioning sensor (35), embracing bucket gas pawl (32) drives cylinder (31) to be connected by gas pawl adpting flange (36) with an armful bucket gas pawl, deep groove ball bearing (33) is bolted in embracing on bucket gas pawl (32), bolt hole alignment sensor (34) and centralized positioning sensor (35) are fixed on embraces bucket gas pawl (32), parallel moving mechanism (4) is for driving elevating mechanism (1), rotating mechanism (2), bucket center positioning mechanism (3), cap taking mechanism (6) and tighten axis mechanism (8) complete translational motion on XY direction, definition X-direction is the axial direction of translation leading screw (41) in parallel moving mechanism (4), Y-direction is the radial direction of translation leading screw (41) in parallel moving mechanism (4), deposit lid mechanism (5) depositing and gripping for bung, cap taking mechanism (6) gets lid function for completing, support (7) is for being fixed parallel moving mechanism (4) and installing, tighten the operation of axis mechanism (8) for being screwed into the bolt on target bucket bung or back-outing.
2. the lid robot of Kaifeng automatically as claimed in claim 1, it is characterized in that: described elevating mechanism (1) is assemblied on parallel moving mechanism (4), it comprises AC servo motor (11), fixed flat planar (12), lifting board (13), electromagnet (14), ball-screw nut (15), slide block (16), guide rail (17) and ball-screw (18), AC servo motor (11) is secured by bolts on fixed flat planar (12), and be connected with ball-screw (18), ball-screw nut (15) and slide block (16) are fixed on lifting board (13), drive ball-screw (18) by AC servo motor (11) and then drive lifting board (13) to carry out elevating movement on guide rail (17), elevating mechanism (1) all installs alignment sensor and limit sensors at the two ends of guide rail (17), to realize initial alignment and the position limitation protection function of this elevating mechanism (1).
3. the lid robot of Kaifeng automatically as claimed in claim 1, is characterized in that: described rotating mechanism (2) comprises electric rotating machine assembly (21), multiple reinforcement gusset (22) and Rotating Plates (23); One end of multiple reinforcement gusset (22) is connected with electric rotating machine assembly (21), the other end is fixed by bolt and Rotating Plates (23), make this rotating mechanism (2) operationally, drive Rotating Plates (23) to be rotated by electric rotating machine assembly (21).
4. the lid robot of Kaifeng automatically as claimed in claim 1, is characterized in that: described armful of bucket gas pawl (32) comprises some pull bars (321), somely grabs bar (322) and some pasting boards (323); Some one end of grabbing bar (322) are rotatably connected on Rotating Plates (23) towards on a side of bucket center positioning mechanism (3), some grab bar (322) the other end and some pasting boards (323) fix, the two ends of some pull bars (321) respectively with embrace that a bucket gas pawl drives cylinder (31), some bars (322) of grabbing are rotationally connected; Deep groove ball bearing (33), bolt hole alignment sensor (34) and centralized positioning sensor (35) are fixed on the pasting board (323) of armful bucket gas pawl (32), and wherein deep groove ball bearing (33) is arranged on the two ends of each pasting board (323).
5. the lid robot of Kaifeng automatically as claimed in claim 1, it is characterized in that: described parallel moving mechanism (4) comprises translation leading screw (41), leading screw supporting seat (42), line slideway (43), leading screw box (44), Y-direction floating slider (45) and AC driven motor (46), line slideway (43) is arranged on the both sides of leading screw supporting seat (42), AC driven motor (46) is secured by bolts on leading screw supporting seat (42), and be connected with translation leading screw (41) by shaft coupling (47), leading screw box (44) is located on line slideway (43) by the guide runner be fixed with bottom it, drive translation leading screw (41) by AC driven motor (46) and then drive leading screw box (44) to carry out translation on line slideway (43), Y-direction floating slider (45) is fixed on the top of leading screw box (44), and be connected with elevating mechanism (1) with it.
6. the lid robot of Kaifeng automatically as claimed in claim 1, is characterized in that: described in deposit lid mechanism (5) and be located on support (7), it comprises bung storing board (51) and bung storage rack support (52); Bung storing board (51) in discoideus, and is secured by bolts on the side of bung storage rack support (52) away from support (7).
7. the lid robot of Kaifeng automatically as claimed in claim 1, it is characterized in that: described cap taking mechanism (6) comprises gets lid gas pawl (61) and cylinder mechanical position limitation assembly (62), cylinder mechanical position limitation assembly (62) is installed on to be got on lid gas pawl (61), plays restriction and gets lid gas pawl (61) elongation.
8. the lid robot of Kaifeng automatically as claimed in claim 1, it is characterized in that: described support (7) is set to mechanical framework, it comprises stator (71), steel frame (72) and installing plate (73); Stator (71) is secured by bolts in the corner of steel frame (72), and installing plate (73) is secured by bolts in the top of steel frame (72), for installing parallel moving mechanism (4).
9. the lid robot of Kaifeng automatically as claimed in claim 1, is characterized in that: described in tighten axis mechanism (8) and comprise the interior Hexagonal jacket (81), spacing collar (82), adjusting sleeve (83), the reductor that connect successively and export adjusting sleeve (84), holder (85), torque sensor (86), shaft coupling (87), decelerator (88) and servomotor (89), described axis mechanism (8) of tightening is fixed on rotating mechanism (2) by holder (85), adjusting sleeve (83) is universal joint adjusting sleeve, and the anglec of rotation of adjusting sleeve (83) is limited by spacing collar (82), so that interior Hexagonal jacket (81) adapts to the Bolt to position of different angles, spacing collar is provided with spring in (82), and realize this by the compression up and down of spring and tighten precompression required when axis mechanism (8) screws bolt, be convenient to interior Hexagonal jacket (81) and enter into bolt, and driven this to tighten axis mechanism (8) tightening and function of back-outing bolt by servomotor (89).
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| CN201410296165.8A CN104084948B (en) | 2014-06-27 | 2014-06-27 | A kind of lid robot of Kaifeng automatically |
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| CN201410296165.8A CN104084948B (en) | 2014-06-27 | 2014-06-27 | A kind of lid robot of Kaifeng automatically |
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| CN104084948B true CN104084948B (en) | 2016-03-09 |
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Effective date of registration: 20150505 Address after: 611731 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Applicant after: University of Electronic Science and Technology of China Applicant after: China Nuclear Power Engineering Co., Ltd. Address before: 611731 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Applicant before: University of Electronic Science and Technology of China |
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