CN110091341A - A kind of hydraulic press electromechanical hand - Google Patents
A kind of hydraulic press electromechanical hand Download PDFInfo
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- CN110091341A CN110091341A CN201910409734.8A CN201910409734A CN110091341A CN 110091341 A CN110091341 A CN 110091341A CN 201910409734 A CN201910409734 A CN 201910409734A CN 110091341 A CN110091341 A CN 110091341A
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- mechanical arm
- support
- arm
- tool heads
- chimney
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The present invention relates to the retired fields of radioactivity factory building chimney, specifically a kind of hydraulic press electromechanical hand, including can be with inner wall of stack face contact and the support device being supported, support device lower end is connected with multi-degree-of-freemechanical mechanical arm, tool heads are installed in multi-degree-of-freemechanical mechanical arm, tool heads include the cutting tool head cut for chimney steel pipe support beam, the robot tool head for clamping cutting after funnel steel pipe support beam, the decontamination tool heads for removing inner wall of stack face pollutant, are popped one's head in tool heads equipped with radiation detection.The present invention can effectively carry out the investigation of chimney radio nuclide source terms, chimney decontamination and cutting disassembling process by the tool heads of fixed device, movement mechanism with multiple degrees of freedom, a variety of carryings; key issues of mechanical movement is limited the investigation of premise lower stack source item, decontamination, structural demolition, robot crawling and fixation, utensil carries is solved, and is effectively protected retired staff, the periphery common people and Environmental security.
Description
Technical field
The present invention relates to the retired field of radioactivity factory building chimney, in particular to a kind of hydraulic press electromechanical hands.
Background technique
Radioactivity factory building chimney is the important auxiliary facility of nuclear facilities, is mainly used for the discharge of gaseous effluent.Air draft cigarette
Chimney, can be inevitably by radioactive pollution in nuclear facilities operational process.Therefore, it when this kind of chimney faces retired, needs
Industry security and radiation safety are considered simultaneously, this brings great challenge to retired activity.
Early in last century, more families, domestic 821 factories and Chinese Nuclear Power Design Academy etc. relate to vouching position, establish more seat heights
Frame chimney is for discharging radioactive emission.Although specific radioactivity and discharge activity total amount are full in the gas for passing through smoke stack emission
The discharge standard of sufficient national regulation, but middle chimney wall surface inevitably deposited variable amount of radionuclide year in year out,
Its specific radioactivity and hotspot's distribution are still unaware of, this is to the comprehensive assessment of chimney Decommissioning engineering and the formulation of technical solution
Bring extreme difficulty.
Typical radioactivity factory building chimney height is not less than 120m, the nearly 15m of bottom outer diameter, top bore about 5m, chimney bottom
Portion's wall thickness about 700mm, top wall thickness about 200mm.Funnel body is taper reinforced concrete structure, and inner wall of stack is typically covered with
Certain thickness acid resisting mortar or pitch, individual chimney inner concentrics are disposed with the steel pipe of internal diameter about 600mm, are used for division process
Exhaust and building exhaust air, and steel pipe and inner wall of stack are equipped with multiple spot and circumferentially support.Chimney outer wall is equipped with metal ladder and platform, but
In bad repair for many years, ladder, platform cannot use substantially.If, for the chimney of this kind of labyrinth, leading in the non-nuclear industry of tradition
Chimney is removed frequently with the blasting method being simple and efficient.However, relating to core field, the retired preceding essential journey of chimney
Sequence includes: source item characteristic survey, chimney decontamination, chimney demolition, post-processing etc., needs farthest to reduce in whole process to put
The external diffusion of penetrating property nucleic ensures retiree's safety, and dismounting, decontamination process should reduce the generation of secondary waste as far as possible,
Reduce radioactive waste influences caused by environment and our Future Developments.
However, the retired technical research of current state's inner chimney is still in its infancy, to radioactivity chimney source item distribution character
Understanding it is also unintelligible, the research in relation to key technologies such as the decontamination of radioactivity chimney, cutting disassemblings has not been reported both at home and abroad, lack
Engineering test instructs chimney retired.
In general, the domestic retired technological difficulties of radioactivity factory building chimney concentrate on three aspects at present:
1, the source item investigation at different spatial；
2, the online decontamination of chimney wall surface；
3, in long and narrow space complicated metal structure cutting disassembling.
It solves above-mentioned problem and be unable to do without advanced intelligence equipment, automation control and practicable technology path, because
This, designs a kind of pair of the progress source item investigation of radioactivity chimney inside, the online decontamination of chimney wall surface, the cutting of complicated metal structure and tears open
The hydraulic press electromechanical hand removed has realistic meaning very much for a person skilled in the art.
Summary of the invention
Based on problem above, the present invention provides a kind of hydraulic press electromechanical hands.The present invention passes through fixed device, mostly freely
Spend movement mechanism, the tool heads of a variety of carryings can effectively carry out the investigation of chimney radio nuclide source terms, chimney decontamination and cutting disassembling
Process solves mechanical movement and is limited the investigation of premise lower stack source item, decontamination, structural demolition, robot crawling and fixation, utensil load
Key issues of band, and it is effectively protected retired staff, the periphery common people and Environmental security.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of hydraulic press electromechanical hand, including dress can be supported with inner wall of stack face contact and the support device being supported
It sets lower end and is connected with multi-degree-of-freemechanical mechanical arm, tool heads are installed in multi-degree-of-freemechanical mechanical arm, tool heads include being used for chimney steel
The cutting tool head of pipe supporting beam cutting cuts the robot tool head of after funnel steel pipe support beam, for removing for clamping
The decontamination tool heads of inner wall of stack face pollutant are popped one's head in equipped with radiation detection in tool heads.
As a preferred mode, the connection of support device lower end is equipped with rotation dress with multi-degree-of-freemechanical mechanical arm junction
It sets.
As a preferred mode, rotating device includes rotation fixed disk, and rotation fixed disk is connected to support base lower end,
Tooth sector is installed, tooth sector is engaged with rotation master gear, and rotation master gear is connect with steering motor in rotation fixed disk.
As a preferred mode, support device includes support plate, and support plate upper surface is hinged at least two supports
Principal arm supports and is hinged with support auxiliary on principal arm, and support auxiliary is equipped with support base away from one end of master arm, supports principal arm
Be connected between support plate for push master arm rotate main support hydraulic pressure bar, main support hydraulic pressure bar both ends respectively with support
Seat and master arm are hinged, support the secondary support hydraulic pressure being connected between auxiliary and master arm for pushing support auxiliary overturning
Bar, secondary support hydraulic pressure bar both ends are hinged with support auxiliary and master arm respectively.
As a preferred mode, multi-degree-of-freemechanical mechanical arm includes fixed disk, and fixed disk is connected to tooth sector following table
Face is hinged with first mechanical arm in fixed disk, is connected between first mechanical arm and fixed disk for pushing first mechanical arm to rotate
Mechanical arm hydraulic stem, mechanical arm hydraulic stem both ends are hinged with first mechanical arm and fixed disk respectively, and first mechanical arm is away from solid
One end of price fixing is hinged with second mechanical arm, and second mechanical arm is hinged with third mechanical arm away from one end of first mechanical arm, the
One mechanical arm and second mechanical arm hinged place are equipped with the mechanical arm rotary electric machine for pushing second mechanical arm to rotate, the second machine
Tool arm and third mechanical arm hinged place are equipped with the mechanical arm rotary electric machine for pushing third mechanical arm to rotate.
As a preferred mode, decontamination tool heads include the waste gathering device for collecting pollutant, are discarded
Grinding machine head for removing inner wall of stack face pollutant is installed, radiation detection probe is mounted on waste in the middle part of object collection device
On collection device, it is also equipped on waste gathering device for being ground cooling coolant spray head.
As a preferred mode, tool heads further include for wearing to chimney steel pipe and its supporting beam turn hole guidance steel cable
The drill bit entered.
Compared with prior art, the beneficial effects of the present invention are: the present invention passes through fixed device, multifreedom motion machine
Structure, a variety of carryings tool heads can effectively carry out chimney radio nuclide source terms investigation, chimney decontamination and cutting disassembling process, solve
It is crucial that mechanical movement is limited the investigation of premise lower stack source item, decontamination, structural demolition, robot crawling and fixation, utensil carrier band etc.
Problem, and it is effectively protected retired staff, the periphery common people and Environmental security.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of hydraulic press electromechanical hand.
Fig. 2 is the structural schematic diagram of support device in hydraulic press electromechanical hand.
Fig. 3 is rotating device and the structural schematic diagram of multi-degree-of-freemechanical mechanical arm in hydraulic press electromechanical hand.
Fig. 4 is the structural schematic diagram of cutting tool head in tool heads.
Fig. 5 is the structural schematic diagram of robot tool head in tool heads.
Fig. 6 is the structural schematic diagram of drill bit in tool heads.
Fig. 7 is the positive axonometric drawing of decontamination tool heads in tool heads.
Fig. 8 is the axonometric drawing backwards of decontamination tool heads in tool heads.
Wherein,
41 support devices, 411 support plates, 412 support principal arms, 413 main support hydraulic pressure bars, 414 support auxiliarys, 415 secondary branch
Support hydraulic stem, 416 support bases
42 garbage collection cylinders,
43 rotating devices, 431 rotation fixed disks, 432 tooth sectors, 433 rotation master gears, 434 steering motors,
44 multi-degree-of-freemechanical mechanical arms, 441 fixed disks, 442 first mechanical arms, 443 mechanical arm hydraulic stems, 444 mechanical arms turn
Dynamic motor, 445 second mechanical arms, 446 third mechanical arms,
45 tool heads, 451 cutting tool heads, 452 robot tool heads, 453 drill bits, 454 decontamination tool heads, 4541 grindings
Head, 4542 waste gathering devices, 4543 coolant spray heads, 4544 radiation detections probe.
Specific embodiment
The present invention will be further described below with reference to the drawings.Embodiments of the present invention include but is not limited to following reality
Apply example.
Embodiment 1:
A kind of hydraulic press electromechanical hand, hydraulic press electromechanical hand includes can be with inner wall of stack face contact and the branch being supported
Support arrangement 41, the main purpose of support device 41 are that providing firm support is convenient for radiation detection, chimney breast support
Beam cuts dismantlement work, and the promotion of telescopic mechanical device, which can be used, in embodiment withstands inner wall of stack face and be fixed, telescopic
Mechanical device such as prior art double-head cylinder, reverse-flighted screw mechanism, one-way hydraulic cylinder, rack-and-pinion telescoping mechanism etc., due to
Embodiment have it is a variety of, do not repeating herein.
41 lower end of support device is connected with rotating device 43, and 43 lower end of rotating device is equipped with multi-degree-of-freemechanical mechanical arm 44,
The purpose of rotating device 43 is that multi-degree-of-freemechanical mechanical arm 44 can be driven to be circumferentially rotated, and then can be adjusted flexibly mostly freely
The working space for spending mechanical arm 44 is convenient for every detection inside chimney, removes work.Multi-degree-of-freemechanical mechanical arm 44 is existing
Technology, such as four shaft mechanical arms, five shaft mechanical arms, six shaft mechanical arms.
Tool heads 45 are installed, tool heads 45 include cutting for chimney steel pipe support beam in multi-degree-of-freemechanical mechanical arm 44
Cutting tool head 451 cuts the robot tool head 452 of after funnel steel pipe support beam, for removing inner wall of stack for clamping
The decontamination tool heads 45 of face pollutant, equipped with radiation detection probe 4544 in tool heads 45.Wherein cutting tool head 451 and machine
Tool hand tool head 452 is the prior art, and cutting tool head 451 is cut using chopping disk, and robot tool head 452 is two pawls
Formula handgrip pulls two pawls promptly to realize crawl function by screw mechanism.
There are many implementations for decontaminating tool heads 45, such as:
1) abrasive jet.It is using loose or fixed-contamination object, the advantage that abrasive jet removes metal or concrete surface
Can remote-controlled operation, reduce operation dosage, reduce the risk of high altitude operation, the disadvantage is that secondary amount of waste is big, Aerosol Pollution is tight
Weight.The most typical example of the technology is sandblasting.
2) high pressure water rinses.Decontamination is carried out to surface using the injection of high pressure water, erosion effect, can not be connect suitable for personnel
Close surface, advantage be it is easy to operate, can be with remote-controlled operation, the disadvantage is that there is secondary liquid waste generation.
3) it grinds.Decontamination is carried out with water cooling or dry method using grinding equipment, is only suitable for removing relatively thin pollution layer.
4) ponder.Using ponder equipment to surface carry out decontamination, ponder that depth is generally 2cm, with ensure noresidue pollute
Object.The technology is primarily adapted for use in the decontamination of concrete surface.
5) other technologies such as laser ablation, microwave, flame method, bio-decontaminated.
Radiation detection probe 4544 is realized using the prior art, as γ radiation level measures, surface contamination directly measures, takes
The methods of sample is estimated to carry out Radionuclide analysis and amount retained.
The course of work:
1, the cutting disassembling of hydraulic press electromechanical hand complicated metal structure in long and narrow space:
1) cutting tool head 451 is installed in hydraulic press electromechanical on hand, hangs in hydraulic press electromechanical hand for hoist engine
Inside chimney, the support device 41 of hydraulic press electromechanical hand, which trails, to be resisted inner wall of stack face and is consolidated, subsequent rotating device
43 and multi-degree-of-freemechanical mechanical arm 44 so that cutting tool head 451 is drawn close metal ventilation duct supporting steel frame, to metal ventilation duct branch
Support steelframe excision；
2) hydraulic press electromechanical hand support device 41, which releases, fixes, and hoist engine hangs out hydraulic press electromechanical hand, and switching is mechanical
Hand tool head 452, then hydraulic press electromechanical, rotating device 43 and multiple degrees of freedom after support device 41 is fixed are hung in by hoist engine
Mechanical arm 44 make robot tool head 452 draw close cutting after supporting steel frame and clamped, hydraulic press electromechanical hand support dress
It sets 41 releasings to fix, the metal ventilation duct supporting steel frame after cutting is hung out by hoist engine；
3) pipe cutting apparatus is hung in by hoist engine and is cut with removing the metal ventilation duct of supporting steel frame, cut
Hoist engine is crossed after the completion of cutting hangs out pipe cutting apparatus；
4) hydraulic press electromechanical hand and on it installation manipulator tool heads 452 are replaced, rear support dress inside chimney is hung in
Set 41 it is fixed after rotating device 43 and multi-degree-of-freemechanical mechanical arm 44 so that robot tool head 452 is drawn close the metal vents after cutting
Road is simultaneously clamped, and then hydraulic press electromechanical hand support device 41, which releases, fixes, and hangs out the metal after cutting by hoist engine
Ventilation shaft；
5) step 1~4 are repeated until the cutting disassembling of complicated metal structure is completed inside chimney；
2, source item investigation of the hydraulic press electromechanical hand at different spatial:
1) decontamination tool heads 45445 are installed in hydraulic press electromechanical on hand, hang hydraulic press electromechanical hand for hoist engine
Enter inside chimney, the support device 41 of hydraulic press electromechanical hand, which trails, to be resisted inner wall of stack face and consolidated, in a height
After fixing, the radiation detection probe 4544 in decontamination tool heads 45445 starts to measure dose of radiation in mechanical arm working range
Data；
2) when measuring, reading Analysis, gauger are carried out with 4544 measurement mechanical arm working range of radiation detection probe first
Twice of the reading it was found that instrument readings are above standard should carry out one-point measurements in 6 seconds or more to this region at this time.Secondly to metope
It is monitored, for metope, division region can be carried out by the way of 1m × 1m.Obtaining chimney metope and space
After measurement result, if whole measurement results are higher than the control standard of control zone in each grid, this region will
It is defined as emphasis Polluted area；And the definition mode of Polluted area is exactly to find there is an one-point measurement knot in measured zone
Fruit is higher than standard and is greater than twice of reading of standard, and measurement result is not above reading of standard in whole region；And it is light
The definition standard of degree contaminated area is exactly to have an one-point measurement reading to be above standard in entire measured zone to read but be less than
Twice of reading of standard, and the measured value of whole region is not above reading of standard；
3) continue decline with hoist engine after the completion of fixed height radiation detection and repeat step 1~2 next height of measurement,
Until being measured.
3, hydraulic press electromechanical hand carries out the online decontamination of chimney wall surface
1) decontamination tool heads 45445 are installed in hydraulic press electromechanical on hand, hang hydraulic press electromechanical hand for hoist engine
Enter inside chimney, the support device 41 of hydraulic press electromechanical hand, which trails, to be resisted inner wall of stack face and consolidated, in a height
After fixing, the work of decontamination tool heads 45445 is using abrasive jet, high pressure water is rinsed, ground, pondering, laser ablation, microwave,
The technologies such as flame method, bio-decontaminated are gone out inner wall of stack face dirt；
2) fixed height inner wall of stack face dirt remove after the completion of with hoist engine continue decline hydraulic press electromechanical it is heavy-handed
Multiple step 1 carries out decontamination, until dirt removal in inner wall of stack face is completed.
Embodiment 2:
The present embodiment the difference from embodiment 1 is that: for the ease of hydraulic press electromechanical hand complex environment inside chimney
Structure (support device 41, multi-degree-of-freemechanical mechanical arm 44, the decontamination tool heads of hydraulic press electromechanical hand are described in detail in work
45445)；
A kind of hydraulic press electromechanical hand, including that can be supported with inner wall of stack face contact and the support device being supported 41
41 lower end of device is connected with multi-degree-of-freemechanical mechanical arm 44, and tool heads 45 are equipped in multi-degree-of-freemechanical mechanical arm 44, and tool heads 45 are wrapped
Include the cutting tool head 451 for the cutting of chimney steel pipe support beam, the manipulator for clamping cutting after funnel steel pipe support beam
Tool heads 452, the decontamination tool heads 45 for removing inner wall of stack face pollutant are popped one's head in equipped with radiation detection in tool heads 45
4544。
Further, for the stability of lifting supporting apparatus 41, support device 41 includes support plate 411, support plate 411
Upper surface is hinged at least two support principal arms 412, supports and is hinged with support auxiliary 414 on principal arm 412, and support auxiliary 414 is carried on the back
One end from master arm is equipped with support base, supports and is connected between principal arm 412 and support plate 411 for pushing master arm to turn
Dynamic main support hydraulic pressure bar 413, main 413 both ends of support hydraulic pressure bar are hinged with support base and master arm respectively, support auxiliary 414
The secondary support hydraulic pressure bar 415 for pushing support auxiliary 414 to overturn, secondary support hydraulic pressure bar 415 are connected between master arm
Both ends are hinged with support auxiliary 414 and master arm respectively.The support auxiliary 414 and master arm rotated by multiple groups forms one
The climbing of kind " spider-type " joint supports joint between auxiliary 414 and master arm to have certain flexibility, passes through hydraulic or air pressure
Device keeps the contact pressure between support 414 end support base of auxiliary and inner wall of stack face, and then guarantees support device 41 in cigarette
The stability of chimney inner wall.
Further, for the ease of the flexible rotating of rotating device 43, rotating device 43 includes rotation fixed disk 431, is turned
Dynamic fixed disk 431 is connected to support base lower end, rotates and is equipped with tooth sector 432 in fixed disk 431, tooth sector 432 with turn
Dynamic master gear 433 engages, and rotation master gear 433 is connect with steering motor 434.Pass through the dynamic master of 434 connecting band turn of steering motor
Gear 433 rotates, to drive tooth sector 432 to rotate, to realize the purpose of its lower end connection steering of multi-degree-of-freemechanical mechanical arm 44.
Further, in order to facilitate the rotation of multi-degree-of-freemechanical mechanical arm 44, multi-degree-of-freemechanical mechanical arm 44 includes fixed disk 441,
Fixed disk 441 is connected to 432 lower surface of tooth sector；It is set only to realize two-dimentional sky in order to simplify 44 structure of multi-degree-of-freemechanical mechanical arm
Interior movement (three-dimensional motion cooperate with transfer realize), the free arm of multi-degree-of-freemechanical mechanical arm 44 include first mechanical arm 442,
Second mechanical arm 445 and third mechanical arm 446.Due to first mechanical arm 442 load it is larger, in order to improve first mechanical arm 442
Driving force, be hinged with first mechanical arm 442 in fixed disk 441, be connected with and be used between first mechanical arm 442 and fixed disk 441
Push first mechanical arm 442 rotate mechanical arm hydraulic stem 443,443 both ends of mechanical arm hydraulic stem respectively with first mechanical arm 442
And fixed disk 441 is hinged；In order to realize that first mechanical arm 442 and second mechanical arm 445, second mechanical arm 445 and third are mechanical
The transmission of arm 446, first mechanical arm 442 are hinged with second mechanical arm 445, second mechanical arm 445 away from one end of fixed disk 441
Third mechanical arm 446, first mechanical arm 442 and 445 hinged place of second mechanical arm are hinged with away from one end of first mechanical arm 442
Mechanical arm rotary electric machine 444 for pushing second mechanical arm 445 to rotate, second mechanical arm 445 and third mechanical arm are installed
446 hinged places are equipped with the mechanical arm rotary electric machine 444 for pushing third mechanical arm 446 to rotate.
Further, for the ease of the collection of dirt when decontamination, decontamination tool heads 45 include for collecting the useless of pollutant
Gurry collection device 4542, collection device is realized using the principle of the aspiration of negative pressure, is equipped in the middle part of waste gathering device 4542
For removing the grinding machine head 4541 of inner wall of stack face pollutant；For the ease of removing inner wall of stack surface radiation while detecting,
Radiation detection probe 4544 is mounted on waste gathering device 4542, in order to reduce the heat that grinding decontamination generates, waste
It is also equipped on collection device 4542 for being ground cooling coolant spray head 4543.
Further, convenient for a large amount of collections of dirt when decontamination, setting is useless in the fixed disk 441 of multi-degree-of-freemechanical mechanical arm 44
Expect that surge drum, garbage collection cylinder are connected to and using negative pressure equipment with the waste gathering device 4542 in decontamination tool heads 45 as taken out
Blower carries out radiation dust collection.For convenience with observed inside chimney, in the fixed disk 441 of multi-degree-of-freemechanical mechanical arm 44
Photographic device (not shown) is installed.
Further, tool heads 45 further include the drill bit for penetrating to chimney steel pipe and its supporting beam turn hole guidance steel cable
453, when pipeline and steelframe are cut and disassembled, in order to avoid robot tool head 452 can not clamp disassembly component and it is straight
The case where falling is connect, turn hole is first carried out to disassembly component using rotary head, then steel cable is clamped with robot tool head 452 and wears
Hole bundled after again handling go out chimney, guarantee the stability of chimney steel pipe and its supporting beam demolishing process.
It as above is the embodiment of the present invention.Design parameter in above-described embodiment and embodiment is merely to understand table
State the invention verification process of inventor, the scope of patent protection being not intended to limit the invention, scope of patent protection of the invention
Still it is subject to the claims, it is all to change with equivalent structure made by specification and accompanying drawing content of the invention, together
Reason should be included within the scope of the present invention.
Claims (7)
1. a kind of hydraulic press electromechanical hand, it is characterised in that: including can be with inner wall of stack face contact and the support being supported fills
It sets (41), support device (41) lower end is connected with multi-degree-of-freemechanical mechanical arm (44), on the multi-degree-of-freemechanical mechanical arm (44)
It is equipped with tool heads (45), the tool heads (45) include the cutting tool head (451) cut for chimney steel pipe support beam, use
Robot tool head (452) in clamping cutting after funnel steel pipe support beam, the decontamination for removing inner wall of stack face pollutant
Tool heads (45) pop one's head in (4544) equipped with radiation detection on the tool heads (45).
2. a kind of hydraulic press electromechanical hand according to claim 1, it is characterised in that: support device (41) lower end connects
It connects and is equipped with rotating device (43) with multi-degree-of-freemechanical mechanical arm (44) junction.
3. a kind of hydraulic press electromechanical hand according to claim 2, it is characterised in that: the rotating device (43) includes turning
Dynamic fixed disk (431), the rotation fixed disk (431) are connected to support base lower end, are equipped on the rotation fixed disk (431)
Tooth sector (432), the tooth sector (432) with rotation master gear (433) engage, the rotation master gear (433) and turn
It is connected to motor (434).
4. described in any item a kind of hydraulic press electromechanical hands according to claim 1~3, it is characterised in that: the support device
It (41) include support plate (411), support plate (411) upper surface is hinged at least two support principal arms (412), the support
Support auxiliary (414) is hinged on principal arm (412), support auxiliary (414) is equipped with support away from one end of master arm
Seat is connected with the main support hydraulic pressure bar for pushing master arm to rotate between support principal arm (412) and support plate (411)
(413), main support hydraulic pressure bar (413) both ends are hinged with support base and master arm respectively, the support auxiliary (414) with
The secondary support hydraulic pressure bar (415) for pushing support auxiliary (414) overturning, the pair support hydraulic pressure are connected between master arm
Bar (415) both ends are hinged with support auxiliary (414) and master arm respectively.
5. described in any item a kind of hydraulic press electromechanical hands according to claim 1~3, it is characterised in that: the multiple degrees of freedom
Mechanical arm (44) includes fixed disk (441), and the fixed disk (441) is connected to tooth sector (432) lower surface, the fixed disk
(441) it is hinged on first mechanical arm (442), is connected between the first mechanical arm (442) and fixed disk (441) for pushing
First mechanical arm (442) rotation mechanical arm hydraulic stem (443), mechanical arm hydraulic stem (443) both ends respectively with the first machine
Hingedly, the first mechanical arm (442) is hinged with second away from the one end of fixed disk (441) for tool arm (442) and fixed disk (441)
Mechanical arm (445), the second mechanical arm (445) are hinged with third mechanical arm away from the one end of first mechanical arm (442)
(446), the first mechanical arm (442) and second mechanical arm (445) hinged place are equipped with for pushing second mechanical arm (445)
The mechanical arm rotary electric machine (444) of rotation, the second mechanical arm (445) are installed useful with third mechanical arm (446) hinged place
In the mechanical arm rotary electric machine (444) for pushing third mechanical arm (446) rotation.
6. described in any item a kind of hydraulic press electromechanical hands according to claim 1~3, it is characterised in that: the decontamination tool
Head (45) includes the waste gathering device (4542) for collecting pollutant, peace in the middle part of the waste gathering device (4542)
Equipped with the grinding machine head (4541) for removing inner wall of stack face pollutant, the radiation detection probe (4544) is mounted on waste
On collection device (4542), it is also equipped on the waste gathering device (4542) for being ground cooling coolant spray head
(4543)。
7. described in any item a kind of hydraulic press electromechanical hands according to claim 1~3, it is characterised in that: the tool heads
It (45) further include for chimney steel pipe and its drill bit (453) that penetrates of supporting beam turn hole guidance steel cable.
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| CN201910409734.8A CN110091341A (en) | 2019-05-16 | 2019-05-16 | A kind of hydraulic press electromechanical hand |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112192580A (en) * | 2020-09-07 | 2021-01-08 | 安徽恒创智能装备有限公司 | Robot for removing crusts and slag in vertical barrel warehouse |
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