CN105690357A - Remote-control maintenance power system with 10 degrees of freedom under nuclear radiation environment - Google Patents
Remote-control maintenance power system with 10 degrees of freedom under nuclear radiation environment Download PDFInfo
- Publication number
- CN105690357A CN105690357A CN201610233105.0A CN201610233105A CN105690357A CN 105690357 A CN105690357 A CN 105690357A CN 201610233105 A CN201610233105 A CN 201610233105A CN 105690357 A CN105690357 A CN 105690357A
- Authority
- CN
- China
- Prior art keywords
- driving
- arm
- retracting cylinder
- instrument
- nuclear radiation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to tool equipment under a nuclear radiation environment, in particular to a remote-control maintenance power system with 10 degrees of freedom under the nuclear radiation environment. The remote-control maintenance power system mainly comprises a travelling crane device, a telescopic cylinder device, a power arm device and a tool hand device, wherein the travelling crane device mainly consists of a travelling crane fixed mount, a travelling crane primary rack and a travelling crane auxiliary rack; the travelling crane fixed mount is formed by integrally welding and forming four supporting legs and a rectangular framework shaped horizontal bracket; each of the travelling crane primary rack and the travelling crane secondary rack is of a rectangular framework structure which is defined by two opposite long sides and two opposite short sides; the telescopic cylinder device mainly consists of a drive device, a telescopic cylinder, a rotary table and a fixed seat; the power arm device is connected to the tail end of the telescopic cylinder device, and abuts against the outside of the tail-end cylinder opening of the telescopic cylinder device; and the tool hand device is of a tool hand grip connected to the tail end of a small arm and a regulating device for the tool hand grip. The integrated structure adopted by the remote-control maintenance power system has the effects of being strong in heavy-load capacity, great in operation space, flexible in movement, easy forreplacinga tail tool and the like, so that the operation precision in-place degree is improved.
Description
Technical field
The present invention relates to the tooling device under a kind of nuclear radiation environment, espespecially a kind of for being easy to parts dismounting inside radioprotective scene, installing, change and have under a kind of nuclear radiation environment of waste material transmission the remote maintaining dynamical system of 10 degree of freedom。
Background technology
Along with the development of China's nuclear industry science and technology, the research and discovery of nuclear industry technology be have also been obtained considerable progress by scientist, and security performance and unfailing performance for operation also greatly improve。In nuclear industry early stage, owing in maintenance, maintenance and accident process, human users is improper, or the too high human casualty accident caused of nuclear matter radioactive dosage constantly occurs in nuclear environment, therefore, Remote operating technology is the indispensable key element of nuclear industry, Remote operating technology, for the frock of internal unit being safeguarded inside radioprotective scene and changing, is greatly reduced irradiation injury and the operation fatigue of operator。
Under nuclear radiation environment, Remote maintenance technology is the operating system of a kind of flexible operation, equipment in nuclear radiation environment is a lot, various pipelines are intricate, passage is narrow, work space is little, but various service kit can be operated by remote control technology, and requisite tooling device is dynamic power machine hands in Remote maintenance system, and for meeting in nuclear radiation environment the anti-irradiation requirement to tooling device, the structural design of dynamic power machine hands, performance effect are also had higher requirements, for meeting its activity requirement flexibly, its structural design is also complex。Operating technology now is applied under nuclear radiation environment to tooling device or even tiny parts to carry out lifting transhipment or change when safeguarding, owing to the restriction of environment makes work difficulty big, operator fatigue degree is also big, if the process for details is careless slightly or careful not, then the achievement in nuclear radiation environment can be produced a very large impact, therefore it is that requirement is higher for the working condition in nuclear radiation environment, not only needs careful operating procedure and planning, it is also desirable to good Fixture Design。
Summary of the invention
For solving the problems referred to above, it is contemplated that the tooling device disclosed under a kind of nuclear radiation environment, espespecially a kind of for being easy to parts dismounting inside radioprotective scene, installing, change and have under a kind of nuclear radiation environment of waste material transmission the remote maintaining dynamical system of 10 degree of freedom。
For achieving the above object, the technical solution used in the present invention is: have the remote maintaining dynamical system of 10 degree of freedom under a kind of nuclear radiation environment, it is characterized in that, described remote maintaining dynamical system is provided with the movable connection structure of 10 degree of freedom, mainly includes crane device, retracting cylinder device, power arm device and instrument arm device；
Wherein, crane device is mainly made up of driving fixed mount, driving body frame and driving subframe, described driving fixed mount is made up of four spikes and a rectangle frame integrally molded shaping of rack-like horizontal stand, fixing support level support is sentenced in the corner that four spikes are vertically set on horizontal stand bottom surface, and two relatively short sides of horizontal stand are set to " convex " shape transporting rail；Driving body frame and driving subframe all for by biphase to long limit and two relative short edges around the rectangular frame structure formed, driving body frame two long limit side is separately installed with the guide rod identical with long edge lengths direction to form symmetrically arranged paired guide rod, every guide rod two ends are connected to roller after two minor faces outside two minor faces, the rolling surface of roller offers the groove being slidably matched with transporting rail, driving body frame is connected with transporting rail coupling by roller thus being slidably mounted on two transporting rails of driving fixed mount, and bridge two transporting rails by guide rod limit long with it, form driving body frame and make the overall mounting structure along transporting rail sliding translation in the X direction by four rolling；Drive a vehicle the subframe two long limits with body frame of driving a vehicle for moving guide rail thus being slidably mounted on driving body frame, to form the overall mounting structure along moving guide rail sliding translation in the Y direction of driving subframe；
Retracting cylinder device is mainly by driving device, retracting cylinder, turntable and fixing seat composition, the internal cavity for installing driving device of fixing seat, turntable is arranged on fixing seat inner bottom part, fixing seat bottom portion is provided with the base plate axially connecting turntable and retracting cylinder, bottom edge is arranged on driving subframe and is supported by subframe of driving a vehicle and driven retracting cylinder device to move, the coherent socket of sleeve that retracting cylinder is saved liftable adjustment by 4-5 forms, the both sides of each outer wall symmetry saving sleeve are provided with vertical card article, its inwall is provided with guiding draw-in groove on the position corresponding with outer wall, card article and guiding draw-in groove gap fit, the sleeve being arranged below is movably nested in the guiding draw-in groove of adjacent upper square socket by card article, formed and slided and relative sliding in vertical direction along guiding draw-in groove by card article between each joint sleeve；Driving device includes lifting drive motor and rotary drive motor, and rotary drive motor controls turntable and drives retracting cylinder to rotate adjustment；
Power arm device is engaged on retracting cylinder device end, and it is against outside end nozzle, it is mainly included in the large arm that dynamic power machine is sequentially connected with on hand and size is successively decreased step by step, middle arm and forearm, three arms are mutually linked by worm and worm gear and form by upper wall body and lower wall, upper wall body is cylindric, inside is axially installed with linear servo-actuator and decelerator, lower wall is block, internally installed have worm-and-wheel gear, wherein, linear servo-actuator is arranged on the front end of wall body, decelerator one end is connected under linear servo-actuator, the other end is connected with the worm screw of lower wall by universal driving shaft, large arm, the worm gear of middle arm and forearm passes through arm during adapter is connected respectively with worm engaging after coordinating, forearm and instrument arm device, arm in formation, forearm and instrument arm device are rotating around large arm, the mounting structure of middle arm and little arm swing；
Instrument arm device is that the instrument hands being connected to forearm end is grabbed and regulation device, mainly include instrument hands to grab, urceolus, inner core, screw mandrel slider-actuated structure, instrument hands grabs rotary drive structure and instrument hands grabs connecting rod clamping structure, wherein instrument hands is grabbed and is connected to above inner core, instrument hands grabs connecting rod clamping structure, instrument hands is grabbed rotary drive structure and is sequentially arranged in inner core, with control instrument hands grab clamping with rotate, urceolus top offers the hole installing inner core, inner core runs through urceolus perforate and telescopic is arranged in urceolus, screw mandrel slider-actuated structure is arranged in urceolus and is fixedly connected on inner core lateral surface, to control inner core telescopic slide in urceolus。
Described driving fixed mount is large stereo structure, and four spike height respectively 4-8 rice, the relatively short side of horizontal stand is 18-20 rice, and relative short edge is 4.5-6.5 rice。
Described driving subframe size is less than driving body frame, its two minor faces side is separately installed with the guide rod identical with bond length direction to form symmetrically arranged paired guide rod, every guide rod two ends are connected to roller behind two long limits outside two long limits, driving subframe is connected thus being slidably mounted on two moving guide rails of driving body frame with moving guide rail coupling by roller, and bridges two moving guide rails by guide rod and its minor face。
Described driving body frame and a wherein guide rod of driving subframe are provided with driving drive motor, respectively X-direction 3KW is with the threephase asynchronous machine of electromagnetic brake, the Y-direction 2.5KW threephase asynchronous machine with electromagnetic brake, and two driving drive motors are electrically connected with decelerator。
Described retracting cylinder device is provided with and extends to the driving chain bottom retracting cylinder from fixing seat, driving chain top is electrically connected with lifting drive motor, snapped connection by hanging hook assembly with power arm device bottom driving chain, controlling driving chain lifting to drive power arm device lift adjustment by lifting drive motor, the servo-actuated actuating arm apparatus of retracting cylinder lifts the stress produced and stretches。
Each longitudinal length saving sleeve of described retracting cylinder device is 1.2-1.5 rice。
The adapter of described power arm device mainly includes bearing, connecting pin dish, connecting pin porose disc and ring flange, wherein ring flange be fixedly connected on outside large arm and outside middle arm between, large arm, the internal ring place of the junction of middle arm and ring flange connects, bearing, connecting pin dish, connecting pin porose disc axially assembles and is arranged on the internal ring place of ring flange, bearing simultaneously, connecting pin dish, connecting pin porose disc axle center place is provided with hexagon socket head cap screw, it is intracardiac that hexagon socket head cap screw one end is set in large arm worm-wheel shaft, the other end is connected on middle arm outer wall, so that large arm worm gear, adapter and middle arm link up mutually。
Described screw mandrel slider-actuated structure includes axially mounted screw mandrel slide block, power transmission shaft, decelerator and slider-actuated motor, and screw mandrel slide block is connected on inner core, drives inner core telescopic slide in urceolus when slider-actuated motor drives screw mandrel slide block rectilinear motion。
Described instrument hands is grabbed connecting rod clamping structure and is provided with a push rod, is grabbed by push rod and instrument hands and is connected and controls instrument hands and grab and fold。
Beneficial effects of the present invention is embodied in: it is strong that the overall structure that the present invention adopts has heavily loaded ability, space is big, motion is flexibly, it is easily changed the effects such as end-of-arm tooling, the crane device adopted and retracting cylinder device achieve the lifting of dynamical system, the convenient purpose controlled of transhipment, the power arm device adopted and instrument arm device realize dynamical system and safeguard simple, tiny parts are also easy to dismounting, the purpose changed, overall structure solves under nuclear radiation environment complexity, the problem of the Remote operating difficulties of micro-workpiece, reach high efficiency complex parts and safeguard effect easily, not only significantly shorten maintenance, replacing construction, and improve efficiency and the reliability of tool changing, also improve and operate the degree that precisely puts in place。
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention。
Fig. 2 is the three-dimensional structure diagram of the motion parts of the present invention。
Fig. 3 is the stereochemical structure exploded view of the motion parts of the present invention。
Fig. 4 is the structure chart of a power arm device wherein arm of the present invention。
Fig. 5 is the STRUCTURE DECOMPOSITION figure of a power arm device wherein arm of the present invention。
Fig. 6 is the structure chart of the instrument arm device of the present invention。
Fig. 7 is the STRUCTURE DECOMPOSITION figure of the instrument arm device of the present invention。
Fig. 8 is the circuit controling drawing of drive part of the present invention。
Accompanying drawing mark illustrates: 1-crane device, 2-retracting cylinder device, 3-power arm device, 4-instrument arm device, 11-drives a vehicle body frame, 12-drives a vehicle subframe, 13-props up spike, 14-horizontal stand, 15-transporting rail, 16-moving guide rail, 17-guide rod, 18-roller, 19-drives a vehicle drive motor, 21-retracting cylinder, 22-turntable, 23-fixes seat, 24-base plate, 25-lifts drive motor, 26-rotary drive motor, 27-driving chain, 28-hanging hook assembly, 31-large arm, arm in 32-, 33-forearm, the upper wall body of 34-, 35-lower wall, 36-linear servo-actuator, 37-worm and worm gear, 38-adapter, 381-bearing, 382-connecting pin dish, 383-connecting pin porose disc, 384-ring flange, 385-hexagon socket head cap screw, 41-instrument hands is grabbed, 42-urceolus, 43-inner core, 44-screw mandrel slider-actuated structure, 45-instrument hands grabs rotary drive structure, 46-instrument hands grabs connecting rod clamping structure。
Detailed description of the invention
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:
Having the remote maintaining dynamical system of 10 degree of freedom under a kind of nuclear radiation environment, described remote maintaining dynamical system is provided with the movable connection structure of 10 degree of freedom, mainly includes crane device 1, retracting cylinder device 2, power arm device 3 and instrument arm device 4；System is equipped with plane visual system and stereo visual system obtains on-the-spot visual information；It is equipped with collision prevention sensor to avoid Robot actions process collides with barrier；It is equipped with special maintenance tool more changing device and improves efficiency and the reliability of tool changing；
Wherein, crane device 1 is main to be made up of driving fixed mount, driving body frame 11 and driving subframe 12, described driving fixed mount is made up of four spikes 13 and the integrally molded shaping of a rectangle frame rack-like horizontal stand 14, fixing support level support 14 is sentenced in the corner that four spikes 13 are vertically set on horizontal stand 14 bottom surface, and two relatively short sides of horizontal stand 14 are set to " convex " shape transporting rail 15；Driving body frame 11 and driving subframe 12 all for by biphase to long limit and two relative short edges around the rectangular frame structure formed, driving 11 liang of long limit sides of body frame are separately installed with the guide rod 17 identical with long edge lengths direction to form symmetrically arranged paired guide rod 17, every guide rod 17 two ends are connected to roller 18 after two minor faces outside two minor faces, the rolling surface of roller 18 offers the groove being slidably matched with transporting rail 15, driving body frame 11 is connected with transporting rail 15 coupling by roller 18 thus being slidably mounted on two transporting rails 15 of driving fixed mount, and bridge two transporting rails 15 by guide rod 17 limit long with it, form driving body frame 11 and make the overall mounting structure along transporting rail 15 sliding translation in the X direction by four rolling 18；Drive a vehicle the subframe 12 two long limits with body frame 11 of driving a vehicle for moving guide rail 16 thus being slidably mounted on driving body frame 11, to form driving subframe 12 entirety mounting structure along moving guide rail 16 sliding translation in the Y direction, described driving subframe 12 size is less than driving body frame 11, its two minor faces side is separately installed with the guide rod 17 identical with bond length direction to form symmetrically arranged paired guide rod 17, every guide rod 17 two ends are connected to roller 18 behind two long limits outside two long limits, driving subframe 12 is connected with moving guide rail 16 coupling by roller 18 thus being slidably mounted on two moving guide rails 16 of driving body frame 11, and bridge two moving guide rails 16 by guide rod 17 and its minor face；Described driving fixed mount is large stereo structure, and four spike 13 highly respectively 4-8 rice, the relatively short side of horizontal stand 14 is 18-20 rice, and relative short edge is 4.5-6.5 rice；Described driving body frame 11 and a wherein guide rod 17 of driving subframe 12 are provided with driving drive motor 19, respectively X-direction 3KW is with the threephase asynchronous machine of electromagnetic brake, the Y-direction 2.5KW threephase asynchronous machine with electromagnetic brake, and two driving drive motors 19 are electrically connected with decelerator；
Retracting cylinder device 2 is mainly made up of driving device, retracting cylinder 21, turntable 22 and fixing seat 23, the internal cavity for installing driving device of fixing seat 23, turntable 22 is arranged on fixing seat 23 inner bottom part, it is provided with, bottom fixing seat 23, the base plate 24 axially connecting turntable 22 and retracting cylinder 21, base plate 24 edge is arranged on driving subframe 12 and is supported by subframe 12 of driving a vehicle and driven retracting cylinder device 2 to move, the coherent socket of sleeve that retracting cylinder 21 is saved liftable adjustment by 4-5 forms, and each longitudinal length saving sleeve of described retracting cylinder device 2 is 1.2-1.5 rice；The both sides of each outer wall symmetry saving sleeve are provided with vertical card article, its inwall is provided with guiding draw-in groove on the position corresponding with outer wall, card article and guiding draw-in groove gap fit, the sleeve being arranged below is movably nested in the guiding draw-in groove of adjacent upper square socket by card article, is formed and is slided and relative sliding in vertical direction along guiding draw-in groove by card article between each joint sleeve；Driving device includes lifting drive motor 25 and rotary drive motor 26, and rotary drive motor 26 controls turntable 22 and drives retracting cylinder 21 to rotate adjustment；Described retracting cylinder device 2 is provided with and extends to the driving chain 27 bottom retracting cylinder 21 from fixing seat 23, driving chain 27 top is electrically connected with lifting drive motor 25, snapped connection by hanging hook assembly 28 with power arm device 3 bottom driving chain 27, controlling driving chain 27 by lifting drive motor 25 to lift to drive power arm device 3 lift adjustment, the servo-actuated actuating arm apparatus 3 of retracting cylinder 21 lifts the stress produced and stretches；
Power arm device 3 is engaged on retracting cylinder device 2 end, and it is against outside end nozzle, it is mainly included in the large arm 31 that dynamic power machine is sequentially connected with on hand and size is successively decreased step by step, middle arm 32 and forearm 33, three arms are mutually linked by worm and worm gear 37 and are formed by upper wall body 34 and lower wall 35, upper wall body 34 is cylindric, inside is axially installed with linear servo-actuator 36 and decelerator, lower wall 35 is block, internally installed have worm-and-wheel gear, wherein, linear servo-actuator 36 is arranged on the front end of wall body 34, decelerator one end is connected under linear servo-actuator 36, the other end is connected with the worm screw of lower wall 35 by universal driving shaft, large arm 31, the worm gear of middle arm 32 and forearm 33 passes through arm 32 during adapter 38 is connected respectively with worm engaging after coordinating, forearm 33 and instrument arm device 4, arm 32 in formation, forearm 33 and instrument arm device 4 are rotating around large arm 31, the mounting structure that middle arm 32 and forearm 33 swing；The adapter 38 of described power arm device 3 mainly includes bearing 381, connecting pin dish 382, connecting pin porose disc 383 and ring flange 384, wherein ring flange 384 be fixedly connected on outside large arm 31 and outside middle arm 32 between, large arm 31, the junction of middle arm 32 and the internal ring place of ring flange 384 connect, bearing 381, connecting pin dish 382, connecting pin porose disc 383 axially assembles and is arranged on the internal ring place of ring flange 384, bearing 381 simultaneously, connecting pin dish 382, connecting pin porose disc 383 axle center place is provided with hexagon socket head cap screw 385, it is intracardiac that hexagon socket head cap screw 385 one end is set in large arm 31 worm-wheel shaft, the other end is connected on middle arm 32 outer wall, so that large arm 31 worm gear, adapter 38 and middle arm 32 link up mutually；The power arm device 3 of dynamic power machine hands is connected by linking up with the driving chain 27 within retracting cylinder 21 by large arm 31, during dismounting, periproct sleeve is blocked with fixture, then control large arm 31 slowly to decline, when dropping to hook and exposing beyond retracting cylinder 21, control power arm device 3 somewhat to move forward, can break off relations, whole power arm device 3 is pulled down；Its large arm 31, middle arm 32, forearm 33 internal structure are similar, and size reduces step by step, and rotating speed is 0-0.7r/min, from large arm 31 to the length of instrument arm device 4 be 1.295m+120mm, wherein selection of Motor is: large arm 31 motor 1.5Kw, middle arm 32 motor 0.75Kw, forearm 33 motor 0.5Kw；
Instrument arm device 4 is that the instrument hands being connected to forearm 33 end grabs 41 and regulation device, mainly include instrument hands and grab 41, urceolus 42, inner core 43, screw mandrel slider-actuated structure 44, instrument hands grabs rotary drive structure 45 and instrument hands grabs connecting rod clamping structure 46, wherein instrument hands is grabbed 41 and is connected to above inner core 43, instrument hands grabs connecting rod clamping structure 46, instrument hands is grabbed rotary drive structure 45 and is sequentially arranged in inner core 43, grab 41 clampings and rotation controlling instrument hands, grab clamping drive motor by instrument hands and grab rotary drive motor 26 to drive work with instrument hands, urceolus 42 top offers the hole installing inner core 43, inner core 43 runs through urceolus 42 perforate and telescopic is arranged in urceolus 42, screw mandrel slider-actuated structure 44 is arranged in urceolus 42 and is fixedly connected on inner core 43 lateral surface, to control inner core 43 telescopic slide in urceolus 42, telescopic drive motor is grabbed to drive work by instrument hands；Described screw mandrel slider-actuated structure 44 includes axially mounted screw mandrel slide block, power transmission shaft, decelerator and slider-actuated motor, screw mandrel slide block is connected on inner core 43, drives inner core 43 telescopic slide in urceolus 42 when slider-actuated motor drives screw mandrel slide block rectilinear motion；Described instrument hands is grabbed connecting rod clamping structure 46 and is provided with a push rod, grabs 41 by push rod and instrument hands and is connected and controls instrument hands and grab 41 and fold。
There are under a kind of nuclear radiation environment 10 degree of freedom attachment structure method of works of the remote maintaining dynamical system of 10 degree of freedom:
1) driving body frame 11 moves in X direction on driving fixed mount: is rotated by drive a vehicle drive motor 19 drive leader 17 and roller 18 and realizes, driving subframe 12 following vehicle body frame 11 moves simultaneously, and interconnective retracting cylinder device 2, power arm device 3, instrument arm device 4 are mobile with strong point driving subframe 12；
2) driving subframe 12 is expert on car owner's frame 11 and is moved along Y-direction: being rotated by drive a vehicle drive motor 19 drive leader 17 and roller 18 and realize, interconnective retracting cylinder device 2, power arm device 3, instrument arm device 4 follow movement；
3) retracting cylinder 21 rotates: retracting cylinder 21 is rotated by turntable 22, turntable 22 is provided with intersection bearing, the head of retracting cylinder 21 saves sleeve and is fixed on turntable 22 and intersects on bearing, it is fixed as one with internal gear, and the threephase asynchronous machine and rotary drive motor 26 by 3KW rotates through worm type of reduction gearing deceleration rear drive retracting cylinder 21, rotating speed is 0-2r/min；
4) driving chain 27 lifts: driving chain 27 is by the threephase asynchronous machine of 5KW, after decelerator slows down, the power arm device 3 driving the dynamic power machine hands being connected with periproct sleeve lifts, rising or falling speed is 0-2.5m/min, the maximum load of lifting carrying is 2T, owing to power arm device 3 is against outside retracting cylinder 21 end nozzle, therefore produce stress when power arm device 3 lifts, drive retracting cylinder 21 extend or bounce back；
5) in, arm 32 rotates around large arm 31: during the turbine and worm mechanism engaged transmission of large arm 31, and worm gear wheel is moved by adapter 38 band disorder of internal organs arm 32；
6) forearm 33 rotates around middle arm 32: during the turbine and worm mechanism engaged transmission of middle arm 32, and worm gear wheel drives forearm 33 to move by adapter 38；
7) instrument arm device 4 rotates around forearm 33: during the turbine and worm mechanism engaged transmission of forearm 33, and worm gear wheel is moved by adapter 38 band power driven tools arm device 4；
8) instrument hands grabs 41 clampings: instrument hands is grabbed 41 connecting rod clamping structures and driven push rod band power driven tools hands to grab 41 and make instrument hands grab 41 clampings or open by push rod drive motor, and push rod drive motor selects 0.2KW DC servo motor；
9) instrument hands grabs 41 rotations: instrument hands is grabbed rotary drive structure 45 and grabbed 41360 ° of rotations through deceleration rear drive instrument hands, and 0.5KW DC servo motor selected by motor；
10) instrument hands grab 41 stretch: screw mandrel slider-actuated structure 44 by screw mandrel slider-actuated instrument hands grab 41 under the drive of inner core 43 in urceolus 42 with 0 ~ 120mm range format stretch, motor selection 0.5KW DC servo motor。
The above, it it is only presently preferred embodiments of the present invention, not the technical scope of the present invention is imposed any restrictions, the technical staff of the industry, under the inspiration of the technical program, some deformation and amendment, every any amendment, equivalent variations and modification above embodiments made according to the technical spirit of the present invention can be made, all still fall within the scope of technical solution of the present invention。
Claims (9)
1. there is under a nuclear radiation environment remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described remote maintaining dynamical system is provided with the movable connection structure of 10 degree of freedom, mainly includes crane device, retracting cylinder device, power arm device and instrument arm device；
Wherein, crane device is mainly made up of driving fixed mount, driving body frame and driving subframe, described driving fixed mount is made up of four spikes and a rectangle frame integrally molded shaping of rack-like horizontal stand, fixing support level support is sentenced in the corner that four spikes are vertically set on horizontal stand bottom surface, and two relatively short sides of horizontal stand are set to " convex " shape transporting rail；Driving body frame and driving subframe all for by biphase to long limit and two relative short edges around the rectangular frame structure formed, driving body frame two long limit side is separately installed with the guide rod identical with long edge lengths direction to form symmetrically arranged paired guide rod, every guide rod two ends are connected to roller after two minor faces outside two minor faces, the rolling surface of roller offers the groove being slidably matched with transporting rail, driving body frame is connected with transporting rail coupling by roller thus being slidably mounted on two transporting rails of driving fixed mount, and bridge two transporting rails by guide rod limit long with it, form driving body frame and make the overall mounting structure along transporting rail sliding translation in the X direction by four rolling；Drive a vehicle the subframe two long limits with body frame of driving a vehicle for moving guide rail thus being slidably mounted on driving body frame, to form the overall mounting structure along moving guide rail sliding translation in the Y direction of driving subframe；
Retracting cylinder device is mainly by driving device, retracting cylinder, turntable and fixing seat composition, the internal cavity for installing driving device of fixing seat, turntable is arranged on fixing seat inner bottom part, fixing seat bottom portion is provided with the base plate axially connecting turntable and retracting cylinder, bottom edge is arranged on driving subframe and is supported by subframe of driving a vehicle and driven retracting cylinder device to move, the coherent socket of sleeve that retracting cylinder is saved liftable adjustment by 4-5 forms, the both sides of each outer wall symmetry saving sleeve are provided with vertical card article, its inwall is provided with guiding draw-in groove on the position corresponding with outer wall, card article and guiding draw-in groove gap fit, the sleeve being arranged below is movably nested in the guiding draw-in groove of adjacent upper square socket by card article, formed and slided and relative sliding in vertical direction along guiding draw-in groove by card article between each joint sleeve；Driving device includes lifting drive motor and rotary drive motor, and rotary drive motor controls turntable and drives retracting cylinder to rotate adjustment；
Power arm device is engaged on retracting cylinder device end, and it is against outside end nozzle, it is mainly included in the large arm that dynamic power machine is sequentially connected with on hand and size is successively decreased step by step, middle arm and forearm, three arms are mutually linked by worm and worm gear and form by upper wall body and lower wall, upper wall body is cylindric, inside is axially installed with linear servo-actuator and decelerator, lower wall is block, internally installed have worm-and-wheel gear, wherein, linear servo-actuator is arranged on the front end of wall body, decelerator one end is connected under linear servo-actuator, the other end is connected with the worm screw of lower wall by universal driving shaft, large arm, the worm gear of middle arm and forearm passes through arm during adapter is connected respectively with worm engaging after coordinating, forearm and instrument arm device, arm in formation, forearm and instrument arm device are rotating around large arm, the mounting structure of middle arm and little arm swing；
Instrument arm device is that the instrument hands being connected to forearm end is grabbed and regulation device, mainly include instrument hands to grab, urceolus, inner core, screw mandrel slider-actuated structure, instrument hands grabs rotary drive structure and instrument hands grabs connecting rod clamping structure, wherein instrument hands is grabbed and is connected to above inner core, instrument hands grabs connecting rod clamping structure, instrument hands is grabbed rotary drive structure and is sequentially arranged in inner core, with control instrument hands grab clamping with rotate, urceolus top offers the hole installing inner core, inner core runs through urceolus perforate and telescopic is arranged in urceolus, screw mandrel slider-actuated structure is arranged in urceolus and is fixedly connected on inner core lateral surface, to control inner core telescopic slide in urceolus。
2. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described driving fixed mount is large stereo structure, four spike height respectively 4-8 rice, the relatively short side of horizontal stand is 18-20 rice, and relative short edge is 4.5-6.5 rice。
3. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described driving subframe size is less than driving body frame, its two minor faces side is separately installed with the guide rod identical with bond length direction to form symmetrically arranged paired guide rod, every guide rod two ends are connected to roller behind two long limits outside two long limits, driving subframe is connected thus being slidably mounted on two moving guide rails of driving body frame with moving guide rail coupling by roller, and bridges two moving guide rails by guide rod and its minor face。
4. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described driving body frame and a wherein guide rod of driving subframe are provided with driving drive motor, respectively X-direction 3KW is with the threephase asynchronous machine of electromagnetic brake, the Y-direction 2.5KW threephase asynchronous machine with electromagnetic brake, and two driving drive motors are electrically connected with decelerator。
5. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described retracting cylinder device is provided with and extends to the driving chain bottom retracting cylinder from fixing seat, driving chain top is electrically connected with lifting drive motor, snapped connection by hanging hook assembly with power arm device bottom driving chain, controlling driving chain lifting to drive power arm device lift adjustment by lifting drive motor, the servo-actuated actuating arm apparatus of retracting cylinder lifts the stress produced and stretches。
6. there is the remote maintaining dynamical system of 10 degree of freedom according to claim 1 or 5, it is characterised in that each longitudinal length saving sleeve of described retracting cylinder device is 1.2-1.5 rice under a kind of nuclear radiation environment。
7. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, the adapter of described power arm device mainly includes bearing, connecting pin dish, connecting pin porose disc and ring flange, wherein ring flange be fixedly connected on outside large arm and outside middle arm between, large arm, the internal ring place of the junction of middle arm and ring flange connects, bearing, connecting pin dish, connecting pin porose disc axially assembles and is arranged on the internal ring place of ring flange, bearing simultaneously, connecting pin dish, connecting pin porose disc axle center place is provided with hexagon socket head cap screw, it is intracardiac that hexagon socket head cap screw one end is set in large arm worm-wheel shaft, the other end is connected on middle arm outer wall, so that large arm worm gear, adapter and middle arm link up mutually。
8. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described screw mandrel slider-actuated structure includes axially mounted screw mandrel slide block, power transmission shaft, decelerator and slider-actuated motor, screw mandrel slide block is connected on inner core, drives inner core telescopic slide in urceolus when slider-actuated motor drives screw mandrel slide block rectilinear motion。
9. there is under a kind of nuclear radiation environment according to claim 1 the remote maintaining dynamical system of 10 degree of freedom, it is characterized in that, described instrument hands is grabbed connecting rod clamping structure and is provided with a push rod, is grabbed by push rod and instrument hands and is connected and controls instrument hands and grab and fold。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610233105.0A CN105690357B (en) | 2016-04-15 | 2016-04-15 | There is the remote maintaining dynamical system of 10 frees degree under a kind of nuclear radiation environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610233105.0A CN105690357B (en) | 2016-04-15 | 2016-04-15 | There is the remote maintaining dynamical system of 10 frees degree under a kind of nuclear radiation environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105690357A true CN105690357A (en) | 2016-06-22 |
| CN105690357B CN105690357B (en) | 2017-11-17 |
Family
ID=56216190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610233105.0A Active CN105690357B (en) | 2016-04-15 | 2016-04-15 | There is the remote maintaining dynamical system of 10 frees degree under a kind of nuclear radiation environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105690357B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586443A (en) * | 2016-12-31 | 2017-04-26 | 长沙高汇环保科技有限公司 | Full-automatic multifunctional recovering and distributing device |
| CN107097065A (en) * | 2017-05-23 | 2017-08-29 | 东莞理工学院 | A kind of shielding slab assembly and disassembly methods applied to radiation environment remote maintaining |
| CN107299962A (en) * | 2017-07-03 | 2017-10-27 | 中国核电工程有限公司 | A kind of upset power for being easy to remotely dismount and conveying power input device |
| CN107414804A (en) * | 2017-09-22 | 2017-12-01 | 中国东方电气集团有限公司 | A kind of manipulator with space all standing work capacity |
| CN107662198A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of five degree-of-freedom manipulator suitable for small space |
| CN108501021A (en) * | 2018-05-09 | 2018-09-07 | 东莞理工学院 | A kind of plug-in unit grabbing device used in radiation environment |
| CN109237252A (en) * | 2017-07-11 | 2019-01-18 | 何亚妙 | A kind of support device for hardwood processing line mechanical arm |
| WO2019015164A1 (en) * | 2017-07-19 | 2019-01-24 | 安徽理工大学 | Multi-arm suspended rail type casting cleaning robot |
| CN111923013A (en) * | 2020-09-06 | 2020-11-13 | 上海建冶科技工程股份有限公司 | Ten-axis type large-stroke anti-corrosion intelligent robot |
| CN112340667A (en) * | 2020-11-26 | 2021-02-09 | 国网江苏省电力有限公司淮安供电分公司 | Electric power lift platform with auxiliary robot |
| CN112338895A (en) * | 2020-11-02 | 2021-02-09 | 魏秀菊 | Clamping type gripper jaw structure |
| CN112429031A (en) * | 2020-11-12 | 2021-03-02 | 泰安万川电器设备有限公司 | Method for hooking and unhooking mine car |
| CN114505846A (en) * | 2022-03-02 | 2022-05-17 | 中国科学院沈阳自动化研究所 | Multi-degree-of-freedom redundant mechanical arm capable of achieving positioning and posture adjustment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0320498A2 (en) * | 1985-07-25 | 1989-06-14 | Alfred Winter | Industrial robot |
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN203356576U (en) * | 2013-03-21 | 2013-12-25 | 顾宝国 | Trussed-type mechanical hand for precise casting and pouring |
| CN104174836A (en) * | 2014-05-26 | 2014-12-03 | 新昌县东科精密机械有限公司 | Truss type manipulator of casting system |
| CN105252549A (en) * | 2015-11-30 | 2016-01-20 | 东莞理工学院 | Suspension telescopic cylinder and mechanical arm fast installing and uninstalling system under nuclear radiation environment |
-
2016
- 2016-04-15 CN CN201610233105.0A patent/CN105690357B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0320498A2 (en) * | 1985-07-25 | 1989-06-14 | Alfred Winter | Industrial robot |
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN203356576U (en) * | 2013-03-21 | 2013-12-25 | 顾宝国 | Trussed-type mechanical hand for precise casting and pouring |
| CN104174836A (en) * | 2014-05-26 | 2014-12-03 | 新昌县东科精密机械有限公司 | Truss type manipulator of casting system |
| CN105252549A (en) * | 2015-11-30 | 2016-01-20 | 东莞理工学院 | Suspension telescopic cylinder and mechanical arm fast installing and uninstalling system under nuclear radiation environment |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106586443A (en) * | 2016-12-31 | 2017-04-26 | 长沙高汇环保科技有限公司 | Full-automatic multifunctional recovering and distributing device |
| CN107097065A (en) * | 2017-05-23 | 2017-08-29 | 东莞理工学院 | A kind of shielding slab assembly and disassembly methods applied to radiation environment remote maintaining |
| CN107299962A (en) * | 2017-07-03 | 2017-10-27 | 中国核电工程有限公司 | A kind of upset power for being easy to remotely dismount and conveying power input device |
| CN107299962B (en) * | 2017-07-03 | 2024-03-19 | 中国核电工程有限公司 | Overturning power and conveying power input device convenient for remote disassembly and assembly |
| CN109237252B (en) * | 2017-07-11 | 2020-07-21 | 嘉兴市康立德构件股份有限公司 | Supporting device for mechanical arm of hardwood processing line |
| CN109237252A (en) * | 2017-07-11 | 2019-01-18 | 何亚妙 | A kind of support device for hardwood processing line mechanical arm |
| US10722942B2 (en) | 2017-07-19 | 2020-07-28 | Anhui University of Science and Technology | Multi-arm hanging rail type casting cleaning robot |
| WO2019015164A1 (en) * | 2017-07-19 | 2019-01-24 | 安徽理工大学 | Multi-arm suspended rail type casting cleaning robot |
| CN107662198A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of five degree-of-freedom manipulator suitable for small space |
| CN107414804A (en) * | 2017-09-22 | 2017-12-01 | 中国东方电气集团有限公司 | A kind of manipulator with space all standing work capacity |
| CN108501021A (en) * | 2018-05-09 | 2018-09-07 | 东莞理工学院 | A kind of plug-in unit grabbing device used in radiation environment |
| CN108501021B (en) * | 2018-05-09 | 2024-05-14 | 东莞理工学院 | Plug-in component grabbing device used in radiation environment |
| CN111923013A (en) * | 2020-09-06 | 2020-11-13 | 上海建冶科技工程股份有限公司 | Ten-axis type large-stroke anti-corrosion intelligent robot |
| CN112338895A (en) * | 2020-11-02 | 2021-02-09 | 魏秀菊 | Clamping type gripper jaw structure |
| CN112429031A (en) * | 2020-11-12 | 2021-03-02 | 泰安万川电器设备有限公司 | Method for hooking and unhooking mine car |
| CN112340667A (en) * | 2020-11-26 | 2021-02-09 | 国网江苏省电力有限公司淮安供电分公司 | Electric power lift platform with auxiliary robot |
| CN114505846A (en) * | 2022-03-02 | 2022-05-17 | 中国科学院沈阳自动化研究所 | Multi-degree-of-freedom redundant mechanical arm capable of achieving positioning and posture adjustment |
| CN114505846B (en) * | 2022-03-02 | 2024-02-06 | 中国科学院沈阳自动化研究所 | Multi-degree-of-freedom redundant mechanical arm capable of achieving positioning and posture adjustment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105690357B (en) | 2017-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105690357A (en) | Remote-control maintenance power system with 10 degrees of freedom under nuclear radiation environment | |
| CN105328254B (en) | A kind of metal-planing machine | |
| CN104269097B (en) | A kind of redundant drive six-freedom motion simulation table | |
| CN101890608B (en) | Side open type carriage welding turnover work center | |
| CN207682642U (en) | Prefabricated PC concrete components tear open, Bu Mo robots and production line | |
| CN210365895U (en) | Three-axis linear movement reversing grabbing equipment | |
| CN106077930A (en) | A kind of automatic welding device | |
| CN201968690U (en) | Movable medical x-ray camera | |
| CN106078443A (en) | A kind of simple pendulum arm structure numerical control grinding milling machine | |
| CN205572410U (en) | Novel side dress robot truss | |
| CN104291248A (en) | Station conversion device | |
| CN206253533U (en) | One kind is multi-faceted to praise formula mould replacing trolley | |
| CN206218627U (en) | A kind of mould replacing trolley | |
| CN106552870B (en) | A kind of multi-faceted lifting formula mould replacing trolley and its die exchange | |
| CN203779293U (en) | Novel numerical control polishing machine | |
| CN206253534U (en) | One kind quickly praises formula mould replacing trolley | |
| CN106734642B (en) | One kind can traversing mould replacing trolley and its die exchange | |
| CN203542038U (en) | Tri-axial linkage vertical milling and turning processing center | |
| CN203665296U (en) | Vertical honing machine | |
| CN206105137U (en) | Automatic weld device | |
| CN208775769U (en) | Save space air-actuated turnover machine | |
| CN206276814U (en) | A kind of convenient mould replacing trolley | |
| CN206287447U (en) | One kind praises formula mould replacing trolley | |
| CN204547521U (en) | A kind of series parallel type structure engraving machine | |
| CN202716013U (en) | Gantry crane turnover machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190318 Address after: 226602 No. 128, Changjiang West Road, Haian Town, Nantong City, Jiangsu Province Patentee after: Jiangsu Tiemao Glass Co.,Ltd. Address before: 523000 No. 1, University Road, Songshan Lake Science and Technology Industrial Park, Dongguan, Guangdong Patentee before: Dongguan University of technology |
|
| TR01 | Transfer of patent right |