CN106531272B - Nuclear industry Container transfering operating platform - Google Patents
Nuclear industry Container transfering operating platform Download PDFInfo
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- CN106531272B CN106531272B CN201611130499.3A CN201611130499A CN106531272B CN 106531272 B CN106531272 B CN 106531272B CN 201611130499 A CN201611130499 A CN 201611130499A CN 106531272 B CN106531272 B CN 106531272B
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- axis
- container
- handgrip
- translation
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Classifications
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F5/00—Transportable or portable shielded containers
- G21F5/06—Details of, or accessories to, the containers
- G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The present invention relates to a kind of nuclear industry Container transfering operating platform, its structure includes transport robot, folding handgrip and container, the folding handgrip is arranged in transport robot and coordinated with container, the container includes vessel and container cover, the container cover includes lid and clamping body, and the clamping body includes rotary shaft, lifting nut, claw, gag lever post and force application board；The folding handgrip includes handgrip body, translation mechanism, rotating mechanism and handgrip mechanism；The rotary operating member is engaged with the operating side of rotary shaft, and the handgrip part is engaged with vessel and container cover, and the keeper is engaged with force application board.The Container transfering operating platform automates the actual demand that can meet with reliability in nuclear industry work, and has certain adjustable in the operating condition, and can avoid surprisingly and can manually adjust to eliminate danger under emergency case.
Description
Technical field
The present invention relates to one kind to automate transporter, particularly a kind of nuclear industry Container transfering operating platform.
Background technology
The working environment of nuclear industry can be accompanied with substantial amounts of pollutant, and the external boundary's environment of the pollutant or human body can all be made
Working environment into huge infringement, therefore nuclear industry should try one's best in the progress of totally enclosed place, require have to working equipment
There are automation and the reliability of height to help the threat that staff avoids pollutant from bringing, the work of nuclear industry in addition is set
It is standby to also need to adjustable, to adapt to the need of work under different requirements.
Existing automatic open-close handgrip, put down as Chinese patent bulletin CN205294778U discloses a kind of automation folding lid
Platform, it coordinates the purpose for reaching container and being opened and closed by handgrip, scroll chuck and container, but the technology is applied in nuclear industry field
Problems be present：1st, reach elastic between lid and container by rotating container during being opened and closed, material can be caused to follow appearance
Device together moves；2nd, enough bonding strengths can not be provided by connecting lid and container by spiral cover mode, can not support container
Required hyperbaric environment during internal work；3rd, the connection between lid and container does not have adjustable type, it is impossible to fast and flexible
The closure adjusted according to working condition between lid and container is elastic；4th, the safety requirements being unsatisfactory under emergency case, as handgrip exists
Without auto-lock function container can be caused to be dropped in transport process during power-off, so as to trigger serious security incident.
X-axis and Z axis bidirectional-movement robot are also relatively conventional in machine industry, as Chinese patent is announced
CN204603115U discloses a kind of metal plate punching automatic loading and unloading robot, passes through existing X-axis straight line units and Z axis straight line
Unit realizes the horizontally and vertically motion on direction, but the technology in nuclear industry field using also problematic：1st, it is discontented with
Safety requirements under sufficient emergency case, as robot can cause container to be dropped in transport process without auto-lock function when power is off,
So as to trigger serious security incident；2nd, can not be eliminated danger in power-off or motor damage by the way that the external world is manually operated；3rd, it is difficult
With maintenance, because motor and what is be engaged have to enter into robot as deceleration machine equipment is arranged at device interior, during maintenance
Working region scope, there is inconvenience in this in nuclear industry.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of nuclear industry Container transfering operating platform, the Container transfering
Operating platform automates the actual demand that can meet with reliability in nuclear industry work, and has in the operating condition necessarily
Adjustable, and can avoid surprisingly and can manually adjust to eliminate danger under emergency case.
Technical scheme is used by the present invention solves above-mentioned technical problem：
A kind of nuclear industry Container transfering operating platform, its structure includes transport robot, folding handgrip and container, described
Folding handgrip is arranged in transport robot and coordinated with container；
The container includes vessel and container cover, and the vessel and container cover pass through gluing, sealing, the appearance
Device lid includes lid and clamping body, and the clamping body includes rotary shaft, lifting nut, claw, gag lever post and force application board, institute
State rotary shaft one end and be flexibly connected container cover for the operating side other end, lifting nut is threaded with the rotary shaft, it is described
Claw is rotatably connected on the outside of lifting nut, the claw both sides are spacing by gag lever post, the gag lever post be fixed on lid and
Between force application board；The vessel is provided with the outer rim being engaged with claw；
The folding handgrip includes handgrip body, translation mechanism, rotating mechanism and handgrip mechanism, the translation mechanism and rotation
Rotation mechanism is arranged on handgrip body, and the translation mechanism includes driven in translation part and translation driving member, the driven in translation part
Driving translation driving member；The rotating mechanism includes rotary drive and rotary operating member, the rotary drive driving rotation
Operating parts；The handgrip mechanism includes keeper and at least one pair of handgrip part being engaged, and the handgrip part connects translation mechanism；
The translation driving member drives the handgrip part relative motion being engaged；
The rotary operating member is engaged with the operating side of rotary shaft, and the handgrip part matches with vessel and container cover
Close, the keeper is engaged with force application board.
Folding handgrip set is fixed and spinfunction, and handgrip part distance is controlled so as to promptly vessel shell by translation mechanism
Body, the operating side in container cover is rotated by rotary operating member, rotary shaft rotates, because claw both sides are limited by gag lever post
Position, so that lifting nut rises or falls motion on the rotary shaft, drive the connection end of claw remote or close to lid, from
And claw is firmly grasped or release the outer rim of vessel, container cover and vessel is realized closed or is opened, pass through keeper
It is engaged with force application board and ensures that container cover does not rotate when operating side is operated by handgrip, so as to realizes vessel and container
Cover and full-automatic open-close is realized in the case where not rotating；Container is realized by the cooperation of transport robot and folding handgrip
Transhipment.
Further, the clamping body also includes the regulating part being engaged with claw, and the regulating part is connected to spacing
On bar.Set regulating part be arranged on claw in the middle part of certain point cooperation position, so as to control lifting nut reach where when claw
Coordinate with outer rim or depart from, also control the fit angle of claw and outer rim.
Preferably, the regulating part is provided with elastic part, opening and the through hole with opening in communication, the elastic part control
Openings of sizes processed, the gag lever post of the claw both sides is respectively the first gag lever post and the second gag lever post, and the regulating part passes through logical
Borehole jack is located in the first gag lever post, and described regulating part one end is spacing by the second gag lever post.Made by the structure setting regulating part
Can be adjusted flexibly on gag lever post and fixed position, and can guarantee that claw and regulating part all the time in the position that can coordinate.
Further, the operating side is polygon；The rotary operating member includes housing, housing side offer into
Mouthful, housing is provided with side plate, is connected with rotation indicating arm by elastomeric element on the side plate and rotates kelly, the rotation instruction
Bar is arranged on side plate center, and the rotation kelly is covered with side plate its complementary space, every rotation kelly and remaining rotation kelly substantially
Between distance at least two kinds of length, each rotate be arranged close between rotation kelly and rotation indicating arm between kelly, the rotation
The diameter of indicating arm is more than the diameter of rotation kelly.As long as the rotary operating member operating side is polygon and is more than the straight of indicating arm
Footpath simultaneously be less than inlet diameter can be achieved coordinate, after the operating side of different size or angle enters housing, rotation indicating arm with
The rotation kelly of core is compressed, and rotation is driven so as to which rotation kelly in the outer part can be realized with operating side edge mate
Axle rotates.
Preferably, the container cover center offers circular recess, described rotary shaft one end is provided with and circular recess phase
The circular protrusions of cooperation, the circular recess and circular protrusions are smoothly connected.Rotary shaft needs to be limited in container cover and not
Rotation is influenceed, to ensure that rotary operating member can drive rotary shaft by less power, passes through the circular recess and circle of smooth cooperation
Shape bulge-structure is the most easy and effective.
Preferably, the keeper is positioning pin, keeper is arranged on handgrip part, between each keeper and keeper
Distinct plane is arranged between rotary operating member.Keeper is arranged on handgrip part without individually control again, it is only necessary in handgrip
Keeper fixes container cover when part firmly grasps vessel, but position may because therefore keeper can move in the horizontal direction
Clashed with another keeper or rotary operating member, therefore need to be arranged on distinct plane makes handgrip part be positioned when firmly grasping container cover
Part intersects with another keeper or rotary operating member position, to reduce keeper volume so as to reduce the volume needed for distinct plane
To reduce handgrip cumulative volume, preferably cylindrical positioning pin is as keeper.
Further, the transport robot includes X-axis mechanism and Z-axis mechanism, and the X-axis mechanism includes X-axis frame, X
Shaft driver, X-axis driving member and the first mounting seat, the X and X-axis driving member are arranged in X-axis frame, and described
One mounting seat is connected on X-axis driving member, and it is in X-axis tumbler that the X-axis driving member, which at least partly extends X-axis frame, the X
Axle tumbler at least part shape is in polygon；The Z-axis mechanism includes Z axis frame, Z axis actuator, worm gear, worm screw, Z axis and passed
Moving part and the second mounting seat, the Z axis frame are arranged in the first mounting seat, and the Z axis actuator, worm gear, worm screw and Z axis pass
Moving part is arranged in Z axis frame, and the Z axis actuator connects Z-axis transmission part with worm screw by worm gear, and second mounting seat connects
It is connected on Z-axis transmission part, it is in Z axis tumbler that the worm screw, which at least partly extends Z axis frame, the Z axis tumbler at least portion
It is in polygon to divide shape；The folding handgrip is arranged in the second mounting seat.Pass through X-axis driving member and the X for extending X-axis frame
Axle tumbler and worm and gear and the Z axis tumbler of stretching Z axis frame, allow by X-axis to turn in power-off or motor damage
Moving part and Z axis tumbler are operated manually and eliminated danger, and have robot as reducing gear worm gear and worm structure
There is auto-lock function, when Z axis actuator runs out of steam suddenly, Z-axis transmission part connects worm gear and worm screw, the second installation due to one end
Seat can be fixed on Z-axis transmission part, will not be caused danger because container sole mass drops.
Preferably, the Z-axis transmission part includes Z axis trapezoidal screw, second mounting seat by Z axis feed screw nut with
Z axis trapezoidal screw connects.Trapezoidal screw also has auto-lock function with feed screw nut, can be further ensured that in emergency circumstances the second peace
Dress seat is fixed.
Preferably, the translation driving member includes translation trapezoidal screw peace silk shifting rod nut, the handgrip part connection
Feed screw nut is translated, described translation trapezoidal screw one end is provided with translation tumbler.It is used as by trapezoidal screw and feed screw nut
Translating driving member, feed screw nut can just rotate only when rotating trapezoidal screw, and feed screw nut can not drive trapezoidal screw to turn
It is dynamic, therefore self-locking structure of (for example driven in translation part runs out of steam suddenly) the handgrip part because translating driving member under emergency case,
Handgrip part will not be made to disengage so as to trigger danger because of the gravity of container, it is trapezoidal by setting such as hex(agonal)screw translation tumbler to make
Screw mandrel can be manually operated when driven in translation part runs out of steam.
Preferably, also include putting hole, hold-down mechanism, push-pull structure and mounting table, the container and putting hole, compression
Mechanism, push-pull structure are engaged, and alignment pin is provided with the putting hole, and the alignment pin is provided with spherical end surface, the container
It is provided with the positioning hole being engaged with alignment pin；The mounting table is engaged with container cover.Because nuclear industry is operated with Container transfering
Also need to carry out the operation such as pressurize on platform, it is therefore desirable to which putting hole and hold-down mechanism fix container, and pass through locating pin structure
Container positioning is completed, so as to which push-pull structure effectively can coordinate with container；And folding handgrip needs folding and carried in operation
Container cover, therefore mounting table need to be set to facilitate folding handgrip to place container cover when container cover separates with vessel with Bedpan
Lid is positioned and captured again.
The present invention compared with the existing technology has advantages below and effect：Folding handgrip set is fixed and spinfunction,
Handgrip part distance is controlled so as to promptly container casing by translation mechanism, passes through rotary operating member and rotates operation in container cover
End, rotary shaft rotates, because claw both sides are spacing by gag lever post so that lifting nut do on the rotary shaft rise or under
Drop motion, drive the connection end of claw remote or close to lid, so that the outer rim of vessel is firmly grasped or released to claw, make appearance
Device lid and vessel are realized closed or opened, and are engaged by keeper and force application board and are ensured container cover in operating side by handgrip
Do not rotated during operation, so as to realize that vessel and container cover realize full-automatic open-close in the case where not rotating；
The transhipment of container is realized by the cooperation of transport robot and folding handgrip；Make the closure pine between lid and container by regulating part
It can tightly be adjusted flexibly；As long as being set by rotary operating member concrete structure makes operating side for polygon and more than the diameter of indicating arm
And it can be achieved to coordinate less than inlet diameter；Rotary operating member is grasped by the circular recess and circular protrusions structure of smooth cooperation
Rotate axle when it is more effective；Set by keeper concrete structure and simplify the operation requirement of handgrip and reduce cumulative volume；
Container is fixed by putting hole and hold-down mechanism, and container is completed by locating pin structure and positioned, so as to which push-pull structure can be effective
Coordinate with container, and mounting table facilitates folding handgrip to place container cover when container cover separates with vessel so that container cover is determined
Position and capture again.The setting of above structure can meet automation and the actual demand of reliability in nuclear industry work, and in work
Make that there is certain adjustable under state.
It can be operated manually in power-off or motor damage by X-axis tumbler, Z axis tumbler or translation tumbler
Eliminate danger, make container robot that there is auto-lock function as reducing gear on worm gear and worm structure, equally translate trapezoidal silk
Bar peace silk shifting rod nut makes handgrip part have auto-lock function, and when motor runs out of steam suddenly, Z-axis transmission part is connected due to one end
Worm gear and worm screw are connect, the second mounting seat can be fixed on Z-axis transmission part, will not be endangered because container sole mass drops
Danger, handgrip part also cannot come off so as to trigger danger；Pass through Z axis trapezoidal screw and feed screw nut and Z axis frame and the first installation
The fixed connected mode of seat, further increases the reliability of platform in case of emergency；Pass through X-axis driving member and reductor
Structure or position adjustment make motor and speed reducer is convenient to be repaired under the conditions of nuclear industry.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of container open mode.
Fig. 3 is the structural representation of container closure state.
Fig. 4 is the explosive view of container cover.
Fig. 5 is the structural representation of folding handgrip and container.
Fig. 6 is the transhipment of folding handgrip or reclosable container schematic diagram.
Fig. 7 is folding handgrip transfer container lid schematic diagram.
Fig. 8 is translation driving member profile.
Fig. 9 is rotary operating member profile.
Figure 10 is the structural representation of transport robot.
Figure 11 is the sectional view of worm and gear.
Figure 12 is the sectional view of Z-axis transmission part.
Label declaration：
The lid 12 of 1 vessel of container 11
The claw 15 of 13 lifting nut of rotary shaft 14
The regulating part 17 of first 161 second gag lever post of gag lever post 162
172 through holes 173 of the elastic opening of part 171
The handgrip body 21 of 18 folding handgrip of force application board 2
Translation motor 221 translates driving member 222 and translates trapezoidal screw 2221
Translate feed screw nut 2222 and translate the electric rotating machine 231 of tumbler 223
The entrance 2322 of 232 housing of rotary operating member 2321
Side plate 2323 rotates indicating arm 2324 and rotates kelly 2325
The handgrip part 241 of spring 2326 positions pin 242
The transport robot 3 of 243 support lugn of claw 244
The X-axis driving member 313 of 311 X-axis motor of X-axis frame 312
The Z axis frame 321 of 3,131 first mounting seat of X-axis tumbler 314
The worm screw 324 of 322 worm gear of Z axis motor 323
The Z axis trapezoidal screw 3251 of 3241 Z-axis transmission part of Z axis tumbler 325
The putting hole 4 of 3,252 second mounting seat of Z axis feed screw nut 326
The push-pull structure 6 of 41 hold-down mechanism of alignment pin 5
Mounting table 7
Embodiment
With reference to embodiment, the present invention is described in further detail, following examples be explanation of the invention and
The invention is not limited in following examples.
Embodiment 1：
As illustrated in fig. 1 and 2, the present embodiment includes transport robot 3, folding handgrip 2 and container 1, and folding handgrip 2 is arranged on
Coordinate in transport robot 3 and with container 1.Container 1 matches with the putting hole 4, hold-down mechanism 5, push-pull structure 6 set on platform
Close, alignment pin 41 is provided with putting hole 4, the end face of alignment pin 41 is spherical, and container 1 is provided with to be determined with what alignment pin 41 was engaged
Position hole (not shown)；It is additionally provided with platform and is engaged mounting table 7 with lid 12.
As shown in Fig. 2 container 1 includes vessel 11 and lid 12, both, can be in vessel 11 by gluing, sealing
Or sealing ring is set at the sealing of lid 12.Coordinate shown in Fig. 4, lid 12 is provided centrally with circular recess, the circular recess
It can coordinate with the circular protrusions ring of light of the lower section of rotary shaft 13, so as to limit relative position of the rotary shaft 13 on lid 12 and can
Rotary shaft 13 is normally rotated, the other end of rotary shaft 13 is operating side, and operating side is in regular hexagon, to external operation equipment
Coordinate to apply revolving force in rotary shaft 13, the axle main body of rotary shaft 13 is provided with helicitic texture, and lifting nut 14 is set in spiral shell
In line structure, the surrounding of lifting nut 14 is evenly distributed with three claws 15, and each both sides of claw 15 are respectively close to being provided with first
The gag lever post 162 of gag lever post 161 and second, regulating part 17 is cased with the first gag lever post 161, regulating part 17 is away from the second gag lever post
162 one end offers opening 172, and the connection of 172 one end of opening is set in the through hole 173 on the first gag lever post 161, opening 172
The part of regulating part 17 of both sides is connected by elastic part 171, and the width of opening 172 can be controlled so as to controlling by elastic part 171
The size of through hole 173 processed, make the activity or fixed on the first gag lever post 161 of regulating part 17, regulating part 17 is close to the second gag lever post 162
One end shape semicircular in shape is engaged with the second gag lever post 162 by the horizontal direction upper limit of regulating part 17.First gag lever post 161
Fixed with the other end of the second gag lever post 162 by force application board 18, force application board 18 is in regular hexagon, is revolved to be rotated in operation equipment
Lid 12 is fixed during rotating shaft 13.
State when container is opened is illustrated in figure 2, wherein reducing the height of lifting nut 14, makes claw 15 close to lid
12, the regulating part 17 being arranged between the first gag lever post 161 and the second gag lever post 162 lifts claw 15, so as to discharge claw 15
With the cooperation between the outer rim 111 of vessel 11.State during container closure is illustrated in figure 3, raises the height of lifting nut 14
Degree, lifting nut 14 continues rise so as to lock vessel 11 and lid 12 after claw 15 touches outer rim 111.
As shown in figure 5, folding handgrip 2 includes handgrip body 21, translation motor 221, translation are provided with handgrip body 21
The driving translation of driving member 222, electric rotating machine 231, rotary operating member 232 and a pair of handgrip parts 241, wherein translation motor 221 passes
Moving part 222, electric rotating machine 231 drive rotary operating member 232, and handgrip part 241 is connected on translation driving member 222, two handgrip parts
Be provided with 241 positioning pin 242, two positioning pins 242 and rotary operating member 232 be arranged on different planes no matter handgrip
How part 241 translates two positioning pins 242 and rotary operating member 232 all without being in contact, and the bottom of two handgrip part 241 is provided with
Claw 243, claw 243 are in three sections of bending shapes, and the bottom surface of claw 243 is extended with support lugn 244 to inner horizontal.
As shown in figure 8, translation driving member 222 includes translation trapezoidal screw 2221 and is arranged on translation trapezoidal screw 2221
Translation feed screw nut 2222, handgrip part 241 can direct or indirect connection translation feed screw nut 2222 on, work as translation motor
When 221 driving translation trapezoidal screws 2221 rotate, two translation feed screw nuts 2222 do opposite or relative motion, and translate screw mandrel spiral shell
Mother 2222 can not be provided with autorotation, the one end for translating trapezoidal screw 2221 as shown in Figure 5 on translation trapezoidal screw 2221
Translate tumbler 223, translation tumbler 223 can biconditional operation end be regular hexagon.
As shown in figure 9, rotary operating member 232 includes cylindrical housings 2321, the side of housing 2321 is provided with entrance 2322,
Side plate 2323 is provided with housing 2321, side plate 2323 is used to connect rotation indicating arm 2324 and rotation kelly 2325, and rotation refers to
Show that bar 2324 and rotation kelly 2325 change rotation indicating arm 2324 by the connecting lateral plate 2323 of spring 2326 so as to independent
Or the rotation threshold value side plate 2323 of kelly 2325, rotation indicating arm 2324 are arranged on the center of side plate 2323, side plate 2323 remaining
Position is all connected with rotating kelly 2325, and the diameter of rotation kelly 2325 is less than the diameter of rotation indicating arm 2324, so as to when difference
After the operating side of size or angle (diameter need to be more than rotation indicating arm and be less than diameter of the housing) enters housing 2321, rotation instruction
The rotation kelly 2325 of bar 2324 and core is compressed, so as to which rotation kelly 2325 in the outer part can be with operating end margin
Coordinate and realize that drive rotary shaft 13 rotates.
As shown in fig. 6, when transhipment or reclosable container 1, positioning pin 242 fixes force application board 18, so as to ensure rotation behaviour
The remains stationary of container cover 12 when workpiece 232 rotates rotary shaft 13, and claw 243 and support lugn 244 and the both sides of vessel 11
Handle coordinate so as to fixed vessel 11.As shown in fig. 7, when transfer container lid, claw 243 and support lugn 244 with
Force application board 18 coordinates.
As shown in Figure 10 to 12, transport robot 3 is made up of X-axis frame 311 and Z axis frame 321, X-axis frame 311 and Z
Axle frame 321 is arranged in a mutually vertical manner.The wherein outside of X-axis frame 311 is provided with X-axis motor 312, and the power output of X-axis motor 312 is led to
Crossing X-axis driving member 313 drives the first mounting seat 314 to translate, and wherein X-axis driving member 313 includes screw mandrel, nut and universal joint shaft
Device, can also set guide rail or bevel gear, and screw mandrel one end of X-axis driving member 313 is matched somebody with somebody by Hooks coupling universal coupling and X-axis motor 312
Close, the other end extends X-axis frame 311 as X-axis tumbler 3131, and X-axis tumbler 3131 is rectangular shape.Z axis frame
321 are fixedly connected in the first mounting seat 314, and the upper outside of Z axis frame 321 is provided with Z axis motor 322, Z axis motor 322
Output shaft coordinates with reductor, and reductor is made up of worm gear 323 and worm screw 324, and Z axis motor 322 drives worm screw 324 to rotate, from
Worm gear 323 exports to Z-axis transmission part 325, and Z-axis transmission part 325 includes Z axis trapezoidal screw 3251 and Z axis feed screw nut 3252, also
Guide rail can be set, and the second mounting seat 326 is moved by Z axis feed screw nut 3252 on Z axis trapezoidal screw 3251, worm screw 324
Extend reductor and be welded with a cuboid block as Z axis tumbler 3241 in one end.
Furthermore, it is necessary to illustrate, the specific embodiment described in this specification, the shape of its parts and components, it is named
Title etc. can be different.The equivalent or simple change that all construction, feature and principles according to described in inventional idea of the present invention are done, is wrapped
Include in the protection domain of patent of the present invention.Those skilled in the art can be to described specific implementation
Example is made various modifications or supplement or substituted using similar mode, structure without departing from the present invention or surmounts this
Scope as defined in the claims, protection scope of the present invention all should be belonged to.
Claims (10)
- A kind of 1. nuclear industry Container transfering operating platform, it is characterised in that：Transport robot, folding handgrip and container, it is described Folding handgrip is arranged in transport robot and coordinated with container；The container includes vessel and container cover, and the vessel and container cover pass through gluing, sealing, the container cover Including lid and clamping body, the clamping body includes rotary shaft, lifting nut, claw, gag lever post and force application board, the rotation Rotating shaft one end is that the operating side other end is flexibly connected container cover, and lifting nut, the lifting are threaded with the rotary shaft Claw is rotatably connected on the outside of nut, the claw both sides are spacing by gag lever post, and the gag lever post is fixed on lid and force Between plate；The vessel is provided with the outer rim being engaged with claw；The folding handgrip includes handgrip body, translation mechanism, rotating mechanism and handgrip mechanism, the translation mechanism and whirler Structure is arranged on handgrip body, and the translation mechanism includes driven in translation part and translation driving member, the driven in translation part driving Translate driving member；The rotating mechanism includes rotary drive and rotary operating member, and the rotary drive drives rotation process Part；The handgrip mechanism includes keeper and at least one pair of handgrip part being engaged, and the handgrip part connects translation mechanism；It is described Translation driving member drives the handgrip part relative motion being engaged；The rotary operating member is engaged with the operating side of rotary shaft, and the handgrip part is engaged with vessel and container cover, The keeper is engaged with force application board.
- 2. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The clamping body also wraps The regulating part being engaged with claw is included, the regulating part is connected on gag lever post.
- 3. nuclear industry according to claim 2 Container transfering operating platform, it is characterised in that：The regulating part is provided with Elastic part, opening and the through hole with opening in communication, the elastic part control openings of sizes, the gag lever post point of the claw both sides Not Wei the first gag lever post and the second gag lever post, the regulating part is set in the first gag lever post by through hole, the regulating part one End is spacing by the second gag lever post.
- 4. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The operating side is polygon Shape；The rotary operating member includes housing, and housing side offers entrance, and housing is provided with side plate, passes through elasticity on the side plate Part is connected with rotation indicating arm and rotation kelly, and the rotation indicating arm is arranged on side plate center, and the rotation kelly is basic It is covered with side plate its complementary space, distance at least two kinds of length between every rotation kelly and remaining rotation kelly, respectively rotates kelly Between rotation kelly and rotation indicating arm between be arranged close to, it is described rotation indicating arm diameter be more than rotation kelly diameter.
- 5. nuclear industry according to claim 4 Container transfering operating platform, it is characterised in that：Open at the container cover center Provided with circular recess, described rotary shaft one end is provided with the circular protrusions being engaged with circular recess, the circular recess and circle Projection is smoothly connected.
- 6. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The keeper is positioning Pin, keeper are arranged on handgrip part, and distinct plane is arranged between keeper and rotary operating member between each keeper.
- 7. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：The transport robot bag KuoXZhou mechanisms and Z-axis mechanism, the X-axis mechanism include X-axis frame, X, X-axis driving member and the first mounting seat, institute State X and X-axis driving member is arranged in X-axis frame, first mounting seat is connected on X-axis driving member, the X-axis It is in X-axis tumbler that driving member, which at least partly extends X-axis frame, and X-axis tumbler at least part shape is in polygon；It is described Z-axis mechanism includes Z axis frame, Z axis actuator, worm gear, worm screw, Z-axis transmission part and the second mounting seat, and the Z axis frame is set In the first mounting seat, the Z axis actuator, worm gear, worm screw and Z-axis transmission part are arranged in Z axis frame, the Z axis driving Part connects Z-axis transmission part with worm screw by worm gear, and second mounting seat is connected on Z-axis transmission part, the worm screw at least portion It is in Z axis tumbler point to extend Z axis frame, and Z axis tumbler at least part shape is in polygon；The folding handgrip is set In the second mounting seat.
- 8. nuclear industry according to claim 7 Container transfering operating platform, it is characterised in that：The Z-axis transmission part bag Z axis trapezoidal screw is included, second mounting seat is connected by Z axis feed screw nut with Z axis trapezoidal screw.
- 9. nuclear industry according to claim 7 Container transfering operating platform, it is characterised in that：The translation driving member bag Include translation trapezoidal screw peace silk shifting rod nut, the handgrip part connection translation feed screw nut, described translation trapezoidal screw one end It is provided with translation tumbler.
- 10. nuclear industry according to claim 1 Container transfering operating platform, it is characterised in that：Also include putting hole, pressure Tight mechanism, push-pull structure and mounting table, the container is engaged with putting hole, hold-down mechanism, push-pull structure, on the putting hole Alignment pin is provided with, the alignment pin is provided with spherical end surface, and the container is provided with the positioning hole being engaged with alignment pin；It is described Mounting table is engaged with container cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130499.3A CN106531272B (en) | 2016-12-09 | 2016-12-09 | Nuclear industry Container transfering operating platform |
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| CN109991487B (en) * | 2017-12-29 | 2021-10-01 | 宁波方太厨具有限公司 | Testing device of electromagnetic stove |
| CN108818598B (en) * | 2018-08-30 | 2024-03-19 | 深圳市德业智能股份有限公司 | Feeding device |
| CN109366121A (en) * | 2018-10-29 | 2019-02-22 | 湖北火爆机器人科技有限公司 | A kind of clamping carrying mechanism and its operating method |
| CN109514592B (en) * | 2018-12-25 | 2023-10-03 | 北京镁伽机器人科技有限公司 | Claw structure for opening and closing cover, opening and closing cover kit and robot |
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| CN203295142U (en) * | 2013-03-09 | 2013-11-20 | 大连德欣新技术工程有限公司 | Automatic cap-taking and cap-sealing system of nuclear waste steel drums |
| CN203566226U (en) * | 2013-10-24 | 2014-04-30 | 中广核工程有限公司 | Automatic cap opening device of waste bin in nuclear power plant |
| GB201409967D0 (en) * | 2014-06-05 | 2014-07-16 | Rolls Royce Plc | Gripper mechanism |
| CN104084948B (en) * | 2014-06-27 | 2016-03-09 | 电子科技大学 | A kind of lid robot of Kaifeng automatically |
| CN104609348B (en) * | 2015-01-26 | 2017-01-25 | 长春迪瑞医疗科技股份有限公司 | Automatic cover opening device for sample container |
| CN205294778U (en) * | 2016-01-15 | 2016-06-08 | 杭州景业智能科技有限公司 | Automatic it opens and shuts to change builds platform |
| CN205556038U (en) * | 2016-04-14 | 2016-09-07 | 武汉科技大学 | Automatic drive robot of beer bottle lid |
| CN206282621U (en) * | 2016-12-09 | 2017-06-27 | 杭州智行远机器人技术有限公司 | A kind of nuclear industry Container transfering operating platform |
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