CN106438556A - Single-cylinder and single-piston inner hole manipulator - Google Patents
Single-cylinder and single-piston inner hole manipulator Download PDFInfo
- Publication number
- CN106438556A CN106438556A CN201610817906.1A CN201610817906A CN106438556A CN 106438556 A CN106438556 A CN 106438556A CN 201610817906 A CN201610817906 A CN 201610817906A CN 106438556 A CN106438556 A CN 106438556A
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- Prior art keywords
- piston rod
- cylinder
- piston
- block
- lock
- 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.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1457—Piston rods
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/26—Locking mechanisms
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a single-cylinder and single-piston inner hole manipulator. The single-cylinder and single-piston inner hole manipulator comprises a cylinder, a lock and a clamping jaw; the cylinder includes a cylinder body, a piston and a piston rod; the piston divides the internal of the cylinder into two parts of a front cavity and a back cavity; the lock includes a cage, a guide block and two lock balls; the cage coats the piston rod; multiple chutes are symmetrically distributed in the cage in the radial direction; the two lock balls are arranged at two ends of the guide block, and are both positioned in the chutes; semispherical grooves matched with the corresponding lock balls are respectively formed in the piston rod and the inner wall of the cylinder; the clamping jaw includes a basal body and a magnetic extension block; the bottom of the basal body is fixedly connected with the guide sleeve; the magnetic extension block extends into the basal body through an extension hole in the basal body to contact with the piston rod; a boss and an inner convex conical block are matched on the magnetic extension block and the piston rod; and the piston rod is provided with a circular table contacted with the upper surface of the cage. The single-cylinder and single-piston inner hole manipulator simplifies a traditional two-stage cylinder structure to a single-cylinder and single-piston structure, realizes extension and clamping of the clamping jaw, and is simple in structure, light in weight and high in practicability.
Description
Technical field
The present invention relates to a kind of detect the manipulator of robot and in particular to a kind of single cylinder for steam generator heat-transfer pipe
Single-piston endoporus manipulator.
Background technology
In pressurized-water reactor nuclear power plant, steam generator is a main equipment of primary Ioops system, and its main body is fallen by thousands of
The U-shaped heat-transfer pipe composition put, the heat for primary Ioops water is taken out of from nuclear reactor passes to secondary circuit water, to produce steaming
Vapour.The main cause that steam generator has an accident is heat transfer tracheal rupture, once rupturing, the radioactivity of primary Ioops cools down heat-transfer pipe
Agent will enter secondary circuit, loss-of-coolant accident occur, cause nuclear pollution.Therefore steam generator heat-transfer pipe make regular check on pole
For important, and the in-service maintenance of heat-transfer pipe and assessment are extremely complex.
At present, in steam generator heat-transfer pipe inspection, according to the radiation proof requirement of nuclear power station, need automatic detection
Device stretches into and inside steam generator, heat-transfer pipe is detected, heat-transfer pipe to be detected is located at the hole of steam generator tube sheet
In.And carrying out heat-transfer pipe detection using climbing robot is mainstream research direction, climbing robot carries detection means and is provided with
Multiple manipulators, robot are delivered to the lower section of steam generator tube sheet, and this robot can be inserted into heat-transfer pipe by manipulator
It is hung in tube sheet crawling underneath in endoporus and detects, this method structure is more compact, flexible movements, and detection efficiency is higher, but existing
It is two-stage cylinder operation form in the robot device using, needed for claw, grasp is actually only carried by second level cylinder
For first order cylinder is only used for the contraction of claw and stretches out, and single function and complex structure are heavy, for detection Robot Stiffness
One timing weight is lighter, and claw firmly grasps that effect is better, and security is higher, and more flexibly the advantages of, need one kind more light
Reliable manipulator driving device.
Content of the invention
The problem existing for prior art, the present invention is to solve the technical scheme that problems of the prior art adopt
As follows：
A kind of single cylinder single-piston endoporus manipulator it is characterised in that：Including cylinder, lock and claw, described cylinder include cylinder body,
Piston and piston rod, by cylinder interior front chamber and rear chamber's two parts respectively, described front chamber and rear chamber are equal for described piston
It is provided with blow vent；
Lock includes retainer, lock ball and guide pad, and described retainer is moving up and down to be covered on the piston rod, and retainer is provided with many
The chute of individual radial symmetric distribution, is provided with freely slidable guide pad and two lock balls, described two lock balls in described chute
Located at guide pad two ends, it is recessed that the cylinder inner wall on described piston rod and front chamber top is equipped with the hemispherical matching with lock ball
Groove；Described front chamber top is provided with an opening, is provided with the fairlead being fixedly linked above described retainer, described fairlead with should
Opening inside diameter sealing cooperation；
It is provided with, at the top of described piston rod upper half ball recess, the round platform contacting with retainer upper surface, piston rod top sets
There is outward-dipping boss, described piston rod upper end can be stretched out by the opening of fairlead the past chamber roof, under described claw
End is fixedly linked with lock, and claw upper end is enclosed within piston rod top periphery, when piston rod protrudes upward with respect to lock, outward-dipping
Boss claw upper end is backed down so that claw is clamped in pipe to surrounding.By this apparatus structure, piston can drive lock
Move upwardly together with claw, when claw stretches in pipe, motionless by lock pinning claw, piston continues to drive piston rod to transport upwards
Dynamic, surrounding to is pushed the magnetoconstriction block of claw by the boss of piston rod upper section slants outward, thus blocking in inside pipe wall.
As improvement, described claw includes matrix and multiple magnetoconstriction block, described matrix be in fairlead in
Blank pipe, base bottom is fixedly connected with fairlead, and matrix top is enclosed within around piston rod, and matrix top is provided with multiple telescopic holes,
The outer circumference of described magnetoconstriction block is arc-shaped, and magnetoconstriction block inner face is provided with multiple interior convex cone blocks, and described interior convex cone block passes through
Telescopic hole is stretched in matrix and is matched with outward-dipping boss on piston rod, when piston rod moves upwards with respect to matrix,
Match to extrude by outward-dipping boss and interior convex cone block and back down magnetoconstriction block so that claw is clamped on to surrounding
In pipe.
As improvement, the boss of described piston rod upper section slants outward is many lobes overall structure, outward-dipping boss with
The outer surface that the interior convex cone block cooperation of telescopic block is slided is plane or two kinds of forms of cambered surface.
As improvement, described magnetoconstriction block is uniformly distributed along matrix circumference, and its quantity has 2-10 so that claw is in pipe
Uniform force during interior clamping, thus blocking tighter, also easily resets when unclamping.
As improvement, on described piston rod, outward-dipping boss is arranged with multigroup according to differing heights direction, described stretches
In shrinkage cavity and magnetoconstriction block interior convex cone block be also provided with accordingly multigroup.By the outward-dipping boss of differing heights and interior convex cone
Block is grouped so that claw all has clamping stress up and down so that retaining and release process is more smooth in pipe.
Claw and inside pipe wall card obtain more firmly described chute have 3-8.
Present invention has the advantages that：
In the air cylinder structure of the present invention, traditional two-stage air cylinder structure is reduced to single cylinder single-piston structure, piston is by cylinder chamber
Body is divided into former and later two chambers, realizes the flexible of claw and firmly grasps, structure is simple, weight saving.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the retainer structural representation of lock section position in the present invention；
Fig. 3 is claw structure decomposed schematic diagram of the present invention；
Fig. 4 is each course movement status architecture schematic diagram in the embodiment of the present invention；
Fig. 5 is embodiment of the present invention part-structure size relationship figure；
Fig. 6 is guide pad and lock ball size relationship figure；、
In Fig. 7, a and b is respectively two kinds of constructive embodiment schematic diagrames of piston rod；
Fig. 8 be Fig. 7 in a piston rod embodiment with claw structure schematic diagram.
Wherein：11- cylinder body, 111,151- hemispherical groove, 152- round platform, 153- boss, 12- end cap, 13- piston,
131- front chamber, 132- rear chamber, 14- fairlead, 15- piston rod, 152 round platform 16- the first gas ports, 17- second gas port, 21-
Retainer, 211- chute, 22- lock ball, 23- guide pad, 3- claw, 31- matrix, 32- magnetoconstriction block, convex cone block in 321-.
Specific embodiment
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail, such as Fig. 1-
Shown in 3, a kind of single cylinder single-piston endoporus manipulator it is characterised in that：Including cylinder, lock and claw, described it is locked in cylinder chamber
Indoor.
Described cylinder includes cylinder body 11, end cap 12, piston 13, fairlead 14, piston rod 15, and described piston 13 is by inner cavity chamber
It is divided into front chamber 131, rear chamber 132；Described fairlead 14 is connected with lock, and stretches out from cylinder body 11 front opening；Described
Piston rod 15 front end on piston 13 is axially arranged upper and lower two boss 153, and front end is stretched in matrix 31 through lock；Described
Cylinder body 11 is provided with the first gas port 16, and described end cap 12 is provided with the second gas port 17.
Described lock includes retainer 21, lock ball 22, guide pad 23, and described retainer 21 is engraved structure, and inner radial sets
There is the chute 211 sliding for lock ball 22 and guide pad 23, described two lock balls 22 are located at guide pad 23 two ends；Described piston rod 15
On circumferentially arranged with can with lock ball 22 coincide hemispherical groove 151.
As shown in figure 5, lock ball radius is r, underpart of the piston rod outer surface to cylinder surfaces distance is s；As shown in fig. 6,
In described chute, two lock balls 22 plus guiding block length are h, meet s<h≤s+r.
Described claw includes matrix 31 and magnetoconstriction block 32, and described matrix 31 is the hollow tube in fairlead 14,
Bottom is fixedly connected with fairlead 14, and described piston rod 15 is stretched out through matrix 31 by the opening on cylinder, and matrix 31 is different
Short transverse is provided with multigroup telescopic hole, and outside described magnetoconstriction block 32, circumference is arc-shaped, and magnetoconstriction block 32 inner face is provided with many
Individual interior convex cone block 321, described interior convex cone block 321 is stretched in matrix 31 by telescopic hole and is contacted with piston rod 15, the plurality of
Magnetoconstriction block 32 is uniformly distributed in matrix 31 circumference, and its quantity has 2-10；Same group of magnetoconstriction block 32 inner side
Interior convex cone block 321 is corresponded with outward-dipping boss 153 on sustained height on piston rod 15, when piston rod 15 protrudes upward
When, on described piston rod 15, outward-dipping boss 153 extrudes interior convex cone block 321 thus support magnetoconstriction block 32 to surrounding
Open, at the top of hemispherical groove 151 of described piston rod 15, be provided with the round platform 152 contacting with retainer upper surface.
Described cylinder body 11 front chamber 131 upper inner wall is provided with the hemispherical groove 111 can coincideing with lock ball 22.
Described chute 211 has 3-8.
Fig. 7 is two kinds of example structure schematic diagrams of piston rod, and wherein the piston rod boss 153 of a is multi-petal shape shape, its evagination
Face is arc, the piston rod boss 153 also multi-petal shape shape of b, and its arcuate surface is plane, the boss of the multi-petal shape shape of both structures
153 is all symmetrical centered on piston rod.
As shown in a-g in Fig. 4, represent a kind of steam generator heat-transfer pipe in the present invention detect the manipulator of robot from
To clamping tube wall in deeply managing, after unclamp tube wall, exit the process of tube sheet, concrete action step is as follows：
Next climbing robot of ordinary circumstance is provided with four manipulators, when climbing robot is creeped in tube sheet lower end, needs
Claw on each manipulator carries out shrinking and extending action completes to move.
As shown in figures 4 a and 4b, this device is sent into the in the hole of steam generator heat-transfer pipe by machine human organism.
As illustrated in fig. 4 c, claw extending action：Hemispherical groove 151 on piston rod and lock ball 22 are interlocked, by
Two gas ports 17 are passed through compressed air to rear chamber 132, and front chamber 131 is connected with air, promote the piston rod of piston 13 top
15 move upwards, drive lock, fairlead 14, matrix 31, magnetoconstriction block 32 to move up.
As shown in figure 4d, claw firmly grasps action：Continue to be passed through compressed air, front chamber 131 and big gas phase to rear chamber 132
Connection, piston 13 moves upwards makes piston rod 15 contact with magnetoconstriction block 32, and now lock ball 22 and cylinder body 11 top circumference set
The hemispherical groove 111 put is interlocked.Due to there being upper and lower double cone face structure, using outward-dipping boss on piston rod 15
Extruding force between 153 and the interior convex cone block 321 of telescopic block 32 makes each telescopic block 32 project in parallel out, the external envelope of each telescopic block 32
Circular diameter increases, and then promptly inside pipe wall, makes what whole climbing robot can consolidate to be lifted on tube sheet lower end, for confirming claw
Whether firmly grasp endoporus, front chamber 131 is suitably passed through a small amount of compressed air, makes piston 13 have the trend moving down, that is, magnetic is stretched
Contracting block 32 attempts to remove, to ensure telescopic block 32 and hole wall laminating.
As shown in fig 4e, claw unclamps action：Compressed air, rear chamber are passed through toward front chamber 131 by the first gas port 16
132 and air communicate, make piston 13 drive its above piston rod 15 move down, in the magnetic confinement restoring force of telescopic block 32
Under effect, the circle diameter that each lobe of telescopic block 32 is constituted reduces, thus claw unclamps hole wall.
As shown in fig. 4f, claw contractive action：Continue to be passed through compressed air, rear chamber 132 and big gas phase to front chamber 131
Logical, piston rod 15 moves down the retainer upper surface making the round platform 152 on piston rod and lock, thus driving lock, guiding
Set 14, matrix 31, magnetoconstriction block 32 move down.
As shown in figure 4g, this device claw is removed hole by machine human organism.When manipulator reaches the state of Fig. 4 a, ante-chamber
Room 17 and air communicate, and manipulator recovers reset condition.
In sum, the single cylinder single-piston endoporus manipulator of the present invention, can solve the problem that detection robot grabs on orifice plate
Climb and hand preponderance problem, so, the present invention effectively overcomes some practical problems of the prior art thus in steam
Generator context of detection has very high use value and uses meaning.
Protection scope of the present invention is not limited to the above embodiments it is clear that those skilled in the art can be to this
Bright carry out various change and deformation without deviating from scope and spirit of the present invention.If these are changed and deformation belongs to present invention power
In the range of profit requirement and its equivalent technologies, then the intent of the present invention also comprises these changes and deforms.
Claims (6)
1. a kind of single cylinder single-piston endoporus manipulator it is characterised in that：Including cylinder, lock and claw, described cylinder includes cylinder
Body, piston and piston rod, cylinder interior is distinguished front chamber and rear chamber's two parts, described front chamber and rear chamber by described piston
It is equipped with blow vent；
Lock includes retainer, lock ball and guide pad, and described retainer is moving up and down to be covered on the piston rod, and retainer is provided with many
The chute of individual radial symmetric distribution, is provided with freely slidable guide pad and two lock balls, described two lock balls in described chute
It is respectively arranged on guide pad two ends, the cylinder inner wall on described piston rod and front chamber top is equipped with the hemispherical matching with lock ball
Groove；Described front chamber top is provided with an opening, is provided with the fairlead being fixedly linked above described retainer, described fairlead with
The sealing cooperation of this opening inside diameter；
It is provided with, at the top of described piston rod upper half ball recess, the round platform contacting with retainer upper surface, piston rod top sets
There is outward-dipping boss, described piston rod upper end can be stretched out by the opening of fairlead the past chamber roof, under described claw
End is fixedly linked with lock, and claw upper end is enclosed within piston rod top periphery, when piston rod protrudes upward with respect to lock, outward-dipping
Boss claw upper end is backed down so that claw is clamped in pipe to surrounding.
2. according to claim 1 a kind of single cylinder single-piston endoporus manipulator it is characterised in that：Described claw includes matrix
With multiple magnetoconstriction blocks, described matrix is the hollow tube in fairlead, and base bottom is fixedly connected with fairlead, matrix
Top is enclosed within around piston rod, and matrix top is provided with multiple telescopic holes, and the outer circumference of described magnetoconstriction block is arc-shaped, and magnetic is stretched
Contracting block inner face is provided with multiple interior convex cone blocks, and described interior convex cone block is stretched into outward-dipping with piston rod in matrix by telescopic hole
Boss matches, and when piston rod moves upwards with respect to matrix, is matched by outward-dipping boss and interior convex cone block crowded
Magnetoconstriction block is backed down so that claw is clamped in pipe by pressure to surrounding.
3. according to claim 2 a kind of single cylinder single-piston endoporus manipulator it is characterised in that：Described piston rod top to
The boss of outer incline is many lobes overall structure, and outward-dipping boss with the outer surface of the interior convex cone block cooperation slip of telescopic block is
Plane or two kinds of forms of cambered surface.
4. according to claim 3 a kind of single cylinder single-piston endoporus manipulator it is characterised in that：Described magnetoconstriction block edge
Matrix circumference is uniformly distributed, and its quantity has 2-10.
5. according to claim 4 a kind of single cylinder single-piston endoporus manipulator it is characterised in that：On described piston rod outwards
The boss tilting is arranged with multigroup according to differing heights direction, and on described telescopic hole and magnetoconstriction block, interior convex cone block is also corresponding
It is provided with multigroup.
6. according to claim 1 a kind of single cylinder single-piston endoporus manipulator it is characterised in that：Described chute has 3-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610817906.1A CN106438556B (en) | 2016-09-12 | 2016-09-12 | A kind of single cylinder single-piston endoporus manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610817906.1A CN106438556B (en) | 2016-09-12 | 2016-09-12 | A kind of single cylinder single-piston endoporus manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106438556A true CN106438556A (en) | 2017-02-22 |
| CN106438556B CN106438556B (en) | 2017-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610817906.1A Active CN106438556B (en) | 2016-09-12 | 2016-09-12 | A kind of single cylinder single-piston endoporus manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111346889A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Pneumatic grabbing head for grabbing bolt hole |
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| CN105736510A (en) * | 2016-04-26 | 2016-07-06 | 武汉大学 | Single-cylinder dual-piston manipulator for inner hole |
| CN105856211A (en) * | 2016-05-10 | 2016-08-17 | 温州职业技术学院 | Cylindrical coordinate industrial mechanical hand with hydraulic control system and circuit control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101581177A (en) * | 2008-05-12 | 2009-11-18 | 美和锁株式会社 | Cylinder block device |
| CN101667465A (en) * | 2009-11-27 | 2010-03-10 | 哈尔滨工程大学 | Robot for overhauling primary side of steam generator of nuclear power plant |
| CN203035638U (en) * | 2012-11-30 | 2013-07-03 | 江苏恒立高压油缸股份有限公司 | Mechanical self-locking hydraulic oil cylinder |
| CN103486402A (en) * | 2013-09-18 | 2014-01-01 | 国核电站运行服务技术有限公司 | Mechanical foot of heat transmission pipe detecting robot for vapor generators |
| CN203779487U (en) * | 2014-03-27 | 2014-08-20 | 公鑫 | Detection robot outside heat pipe |
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| CN205097081U (en) * | 2015-10-28 | 2016-03-23 | 国核电站运行服务技术有限公司 | A mechanism is clutch to tube hole for steam generator detects |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111346889A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Pneumatic grabbing head for grabbing bolt hole |
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| Publication number | Publication date |
|---|---|
| CN106438556B (en) | 2017-11-10 |
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