CN110202546A - The support device of recycling machine people and recycling machine people - Google Patents
The support device of recycling machine people and recycling machine people Download PDFInfo
- Publication number
- CN110202546A CN110202546A CN201910563555.XA CN201910563555A CN110202546A CN 110202546 A CN110202546 A CN 110202546A CN 201910563555 A CN201910563555 A CN 201910563555A CN 110202546 A CN110202546 A CN 110202546A
- Authority
- CN
- China
- Prior art keywords
- recycling machine
- machine people
- support
- idler wheels
- support device
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- 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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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
This application discloses the support device of recycling machine people a kind of and recycling machine people, and wherein the support device of recycling machine people includes: rotating platform, are arranged on the biological shielding plate of the recycling machine people；Support side plate is arranged on the biological shielding plate of the recycling machine people；Bearing plate is arranged on the rotating platform and the support side plate, and the bearing plate supports the recycling machine human body；Driving device is arranged on the rotating platform, and the driving device drives the rotating platform rotation, so that the recycling machine human body rotates to the detector outlet being located on the biological shielding plate.Support device provided herein, due to using full-automatic machinery positioning recovery detector component, when avoiding due to manual operation caused by personal dose exceeded problem.
Description
Technical field
The application relates to nuclear reactor field, in particular to the conveying device and recycling machine of a kind of recycling machine people
People.
Background technique
Nuclear reactor is after operation after a period of time, and the detector assembly in heap is due to aging, failure and other reasons need
It is regularly replaced.At present mainly by the way of artificial withdrawing.However the mode of artificial withdrawing mainly has the disadvantage that
1. operator needs to work under radiation parameter, asked if occurring operation error, mechanical disorder etc. in operating process
Topic, easily causes that personal dose's is exceeded.Due to the complexity in heap apical ring border, there is also the danger such as fall, damage by staff.
2. recovery efficiency is low.Single detector recycling averagely needs 2 hours or so, the recycling work of four groups of 16 detectors
It takes a long time, brings huge physical strength and radiation to bear to operator.
Summary of the invention
The main purpose of the application is to provide the support device of recycling machine people a kind of, comprising: rotating platform, setting exist
On the biological shielding plate of the recycling machine people；Support side plate is arranged on the biological shielding plate of the recycling machine people；Load-bearing
Plate is arranged on the rotating platform and the support side plate, and the bearing plate supports the recycling machine human body；Driving dress
It sets, is arranged on the rotating platform, the driving device drives the rotating platform rotation, so that the recycling machine people sheet
Body is rotated to the detector outlet being located on the biological shielding plate.
Optionally, damping device is set between the support side plate and the biological shielding plate.
Optionally, the support device further include: idler wheel, setting the damping device and the biological shielding plate it
Between.
Optionally, the support device is gas spring.
Optionally, the gas spring includes: pressure transfer part, is arranged on the idler wheel；Spring side plate is arranged in institute
It states in pressure transfer part；Spring top plate is arranged on the spring side plate, and the support side plate is arranged in the spring top plate
On, the pressure transfer part, the spring side plate and the spring top plate form chamber resettling；Gas spring ontology, setting exist
In the chamber resettling.
Optionally, the support device further include: support device connector, the support device connector connect the life
Object barricade and the rotatable platform.
Optionally, the recycling machine human body includes: grabbing device, roller transmissioning device and guide rail, the crawl dress
Setting can move back and forth along a first direction on the guide rail；The grabbing device includes: support frame, is arranged in the guide rail
On, support frame as described above can move back and forth along a first direction on the guide rail；First motor is arranged in support frame as described above
On；Worm screw, connects the first motor, and the first motor drives the worm screw rotation；Worm screw fixing seat is arranged in the branch
On support, the fixed worm screw of the worm screw fixing seat；Hollow eccentric turbine, connects the worm screw, described in the worm drive
The rotation of hollow eccentric turbine, the hollow space of the hollow eccentric turbine are used to pass through detector to be recycled；And hollow fixed branch
Seat is supportted, is arranged on support frame as described above, the hollow space of the hollow hold-down support is used for through the detector to be recycled, and
The hollow eccentric turbine is matched for clamping tightly the detector to be recycled with the hollow fixed supporting seat by rotation；The rolling
Taking turns transmission device includes: 2 idler wheels；Idler wheel closing device, for controlling the opening and closing of 2 idler wheels；2 second electricity
Machine, is separately connected 2 idler wheels, and 2 second motors control 2 idler wheels rotation respectively.
Optionally, the idler wheel closing device includes: wedge block, is arranged between 2 idler wheels, and the wedge block
Small head end it is downward, stub end is upward；2 the first springs connect 2 idler wheels and idler wheel transmission correspondingly
The side plate of device；When 2 idler wheels rotate inward, 2 idler wheels pass through its frictional force drives institute between the wedge block
Wedge block is stated to move downward, so that 2 idler wheels are separated by the stub end of the wedge block, 2 first springs at this time
It is compressed respectively by 2 idler wheels；When 2 idler wheels rotate outward, 2 idler wheels by itself and the wedge block it
Between wedge block described in frictional force drives move upwards so that 2 idler wheels are closed, at this time 2 first springs respectively to
Centre squeezes 2 idler wheels.
Optionally, the hollow eccentric turbine is connect with the hollow fixed supporting seat by oil-free bushing.
To achieve the goals above, according to the one aspect of the application, a kind of recycling machine people is additionally provided, including above-mentioned
The support device of recycling machine people described in any one.
Support device provided herein is avoided due to using full-automatic machinery positioning recovery detector component
The exceeded problem of personal dose caused by when due to manual operation alleviates the work and healthy pressure of operator.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the overall schematic according to the recycling machine people of one embodiment of the application；
Fig. 2 is the overall schematic according to the support device of one embodiment of the application；
Fig. 3 is the side view according to the support device of one embodiment of the application；
Fig. 4 is the cross-sectional view according to the gas spring of one embodiment of the application；
Fig. 5 is the schematic diagram according to the roller transmissioning device of one embodiment of the application；
Fig. 6 is the diagrammatic cross-section according to the hollow eccentric turbine of one embodiment of the application；
Fig. 7 is the diagrammatic cross-section according to the hollow eccentric turbine of one embodiment of the application；
Fig. 8 is the schematic diagram according to the roller transmissioning device of the idler wheel closed state of one embodiment of the application；And
Fig. 9 is the schematic diagram according to the roller transmissioning device of the idler wheel opening state of one embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the term " includes " of the application and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
In this application, term " on ", "lower", "inner", "outside", " in ", etc. instructions orientation or positional relationship be based on
Orientation or positional relationship shown in the drawings.These terms are not used primarily to better describe the application and embodiment
Device, element or component indicated by limiting must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1-Figure 3, in one embodiment of the application, the support device 600 of recycling machine people, comprising: rotating platform
601, support side plate 602, bearing plate 603 and driving device 604.Wherein, rotating platform 401 is arranged in the recycling machine people's
On biological shielding plate 605.Support side plate 602 is arranged on the biological shielding plate 605 of the recycling machine people.Bearing plate 603 is set
It sets on the rotating platform 601 and the support side plate 602, the bearing plate 603 supports the recycling machine human body.It drives
Dynamic device 604, is arranged on the rotating platform 601, and the driving device 604 drives the rotating platform 601 to rotate, so that
The recycling machine human body rotates to the detector outlet 606 being located on the biological shielding plate 605.
In use, the driving device 604 drives the rotating platform 601 to rotate around biological shielding plate center, make
The recycling machine human body is obtained to rotate to the detector outlet 606 being located on the biological shielding plate 605.Recovery detector
500 stretch out from detector outlet 606.Recovery detector 500 is recycled by recycling machine human body later.
In actual operation, the surface of biological shielding plate 605 is there may be uneven situation, and recycling machine people's sheet
Body weight is larger (about 300kg).Therefore there is the case where pitching when moving on biological shielding plate in support device.But
Real work requires the deformation of support device smaller again.Therefore, in one embodiment of the application, the support device 600 is also wrapped
Damping device 607 is included, is set between the support side plate 602 and the biological shielding plate 605.Damping device can be realized surely
Fixed support, the influence for reducing out-of-flatness plane, it is ensured that the smooth operating of platform.In the present embodiment, damping device is gas bullet
Spring, but be not limited thereto.Using " gas spring ", larger support force can be provided in 0 displacement, " supporting mechanism " is mobile
When to barricade out-of-flatness region, " gas spring " can play buffer function, reduce supporting mechanism deflection, stress is avoided to carry
Lotus is uneven.
In one embodiment of the application, the support device further include: idler wheel 608, setting the damping device 607 with
Between the biological shielding plate 605.Designed " supporting mechanism ", can be under the drive of rotating platform on biological shielding plate
It is mobile, rolling friction is reduced using idler wheel.In the present embodiment, idler wheel is " buphthalmos wheel ", but is not limited thereto.
As shown in figure 4, the gas spring includes: gas spring ontology 6021, spring top in one embodiment of the application
Plate 6022, spring side plate 6023 and pressure transfer part 6024.Wherein, pressure transfer part 6024 is arranged on the idler wheel 608.Bullet
Spring side plate 6023 is arranged in the pressure transfer part 6024.Spring top plate 6022 is arranged on the spring side plate 6023, and
The support side plate 602 is arranged on the spring top plate 6022, the pressure transfer part 6024, the spring side plate 6023 and
The spring top plate 6022 forms chamber resettling 6025.Gas spring ontology 6021 is arranged in the chamber resettling 6025.
In one embodiment of the application, the support device further include: support device connector 609, the support device
Connector 609 connects the biological shielding plate 605 and the rotatable platform 601.
One embodiment of the application additionally provides a kind of recycling machine people, including recycling machine people described in above-mentioned any one
Support device.
As shown in Figure 1, this application involves the conveying devices of recycling machine people a kind of, comprising: grabbing device 100, idler wheel pass
Device 200 and the first guide rail (not being painted in figure) are sent, the grabbing device 100 can be on first guide rail along first party
To reciprocating motion.
As shown in figure 5, the grabbing device 100 includes: that support frame 101, first motor 102, worm screw 103, worm screw are fixed
Seat 104, hollow eccentric worm gear 105 and hollow fixed supporting seat 106.Wherein, support frame 101 is arranged on first guide rail,
Support frame as described above 101 can move back and forth along a first direction on the guide rail.First motor 102 is arranged in support frame as described above
On 101.Worm screw 103 connects the first motor 102, and the first motor 102 drives the worm screw 103 to rotate.Worm screw is fixed
Seat 104 is arranged on support frame as described above 101, the fixed worm screw 103 of the worm screw fixing seat 104.Hollow eccentric worm gear 105 connects
The worm screw 103 is connect, the worm screw 103 drives the hollow eccentric worm gear 105 to rotate, in the hollow eccentric worm gear 105
Empty part 1051 is used to pass through detector 500 (as shown in Figure 3) to be recycled.Hollow fixed supporting seat 106 is arranged in the support
On frame 101, the hollow space of the hollow hold-down support 106 is used to pass through the detector 500 to be recycled, and described hollow inclined
Heart worm gear 105 is matched for clamping tightly the detector to be recycled 500 with the hollow fixed supporting seat 106 by rotation.In this implementation
In example, support frame 101 is directly anchored on the first guide rail, and worm screw fixing seat 104 is fixed on support frame 101.However not
As limit.It can also include a sliding block (in figure between support frame 101 and the first guide rail in the application other embodiments
It is not painted).Sliding block is arranged on the first guide rail, and support frame 101 is fixed on sliding block.
As shown in fig. 7, the roller transmissioning device 200 includes: 2 idler wheels 201, idler wheel closing device and 2 second electricity
Machine 202.Idler wheel closing device, for controlling the opening and closing of 2 idler wheels 201.2 the second motors 202 are separately connected
2 idler wheels 201,2 second motors 202 control 2 idler wheels 201 rotation respectively.
When in use, the selection of pedestal 600 of robot needs recovery detector 500, and by detector 500 to be recycled send to
At grabbing device.Grabbing device 200 enters hollow eccentric by moving up and down on the first guide rail, detector 500 to be recycled
The hollow space 1051 of worm gear 105 and the hollow space of hollow hold-down support 106, and make the upper of detector 500 to be recycled
Distal process is for hollow hold-down support 106.Hollow eccentric worm gear 105 is driven to rotate at this point, first motor 102 controls worm screw 103.By
In hollow eccentric worm gear 105 be eccentric structure, and hollow hold-down support 106 be it is fixed.Therefore, when hollow eccentric worm gear
After 105 rotations detector 500 to be recycled can be clamped in the opposite direction jointly with hollow hold-down support 106.
Then, grabbing device 200 is moved up along the first guide rail so that detector to be recycled 500 protrude from it is hollow solid
The one end for determining support 106 enters in roller transmissioning device 200.Due to being closed when 2 idler wheels 201 of roller transmissioning device 200 are flat
Conjunction state.At this point, two idler wheels are strutted by idler wheel closing device.As shown in Fig. 5-Fig. 6, in the present embodiment, the rolling
Taking turns closing device includes: wedge block 203 and 2 the first springs 204.Wedge block 203 is arranged between 2 idler wheels 201, and
The small head end of the wedge block 203 is downward, and stub end is upward.2 the first springs 204 connect 2 idler wheels correspondingly
201 and the roller transmissioning device side plate 205.When 2 idler wheels 201 rotate inward, 2 idler wheels 201 pass through it
Wedge block described in frictional force drives moves downward between the wedge block 203, so that 2 idler wheels 201 are by the wedge shape
The stub end of block 203 separates, and 2 first springs 204 are compressed respectively by 2 idler wheels 201 at this time.At this time due to 2
Idler wheel 201 is separated (as shown in Figure 6), and one end that detector 500 to be recycled protrudes from hollow hold-down support 106 enters two rollings
Between wheel 201.Then 2 idler wheels 201 rotate outward, and 2 idler wheels 201 by it, drive by the frictional force between the wedge block 203
It moves the wedge block 203 to move upwards, so that 2 idler wheels 201 closure (as shown in Figure 5).2 first springs at this time
204 squeeze 2 idler wheels 201 to centre respectively so that the frictional force and idler wheel 201 of idler wheel 201 and wedge block 203 with to
Frictional force between recovery detector 500 increases.With the rotation of idler wheel 201, pass through idler wheel 201 and detector 500 to be recycled
Between frictional force detector 500 to be recycled is moved up, while rotary hollow bias worm gear 105, so that spy to be recycled
Device 500 is surveyed to fluff between hollow eccentric worm gear 105 and hollow hold-down support 106, it can be by detector 500 to be recycled to moving up
It moves into recyclable device 700.
In order to guarantee that wedge block 203 smooth can move between idler wheel 201, in one embodiment of the application, described 2
A idler wheel 201 is respectively equipped with annular groove, and the wedge block moves in the annular groove respectively.
In one embodiment of the application, the wedge block 203 is 2, and passes through connection between 2 wedge blocks 203
Part 206 connects.
In one embodiment of the application, first spring is gas spring.The pressure that gas spring provides is sufficiently large, because
This can pull up detector assembly by sufficiently large frictional force.
In one embodiment of the application, the idler wheel closing device further include: second spring 207 connects the wedge block
203 and the roller transmissioning device 200 top plate.
In one embodiment of the application, the hollow fixed supporting seat 106 is two, and is respectively arranged at described hollow inclined
The axial two sides of heart worm gear 105.
In one embodiment of the application, the hollow eccentric worm gear 105 passes through oil-free with the hollow fixed supporting seat 106
Bushing connection.
In one embodiment of the application, the grabbing device 100 further include: L-type connecting plate 107 and pressure detector 108.
The vertical plane of the L-type connecting plate 107 is fixed on first guide rail, and the setting of pressure detector 108 connects in the L-type
On the horizontal plane of fishplate bar 107, and the pressure detector 108 is located at hollow eccentric worm gear 105 and the hollow fixed supporting seat
106 lower section.The vertical plane of the L-type connecting plate 107 is arranged in support frame as described above 101, and not ipsilateral with first guide rail
One side on.In the present embodiment, when L-type connecting plate 107 moves up, pressure detector 108 is driven to move up, thus
Drive hollow eccentric worm gear 105 and the hollow fixed supporting seat 106 to move up, finally drive detector 500 to be recycled to
Upper movement.Therefore, pulling force suffered by detector 500 to be recycled passes through hollow eccentric worm gear 105 and the hollow fixed support
In 106 conduction to pressure detector 108 of seat.In this way, pulling force suffered by detector 500 to be recycled can be measured.According to pressure
The Real-time Feedback of detector can control the size of grasping mechanism taking out force, avoid taking out force excessive, and acceleration is excessive, make to visit
Device fracture is surveyed, situation about more bothering is caused；Avoid taking out force too small, the slow situation of recovery efficiency.Realize flexible withdrawing.
The support device of recycling machine people provided herein, under nuclear environment, the characteristics of detector circumference,
Needs towards detector recycling, provide a kind of recyclable device bottom rotating platform, can be moved to recycling module and be wanted
Coarse positioning is realized above the detector of recycling, to carry out subsequent operation.
Have plane out-of-flatness region compared with high-adaptability, safe bearing load automatic recycling device (reduces supporting mechanism not
The displacement of flattened region/promote load uniformly distributed)
In addition, the application mainly for detector recycle installation environment, due to environmental restrictions, be not suitable for group installation environment into
Row transformation, large scale equipment is difficult to install, and the technical solution in the application is under original installation environment, on biological shielding plate
It is mounted with recyclable device pedestal, minimizes environmental reconstruction task amount, the reasonable implementation scheme taken.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of support device of recycling machine people characterized by comprising
Rotating platform is arranged on the biological shielding plate of the recycling machine people；
Support side plate is arranged on the biological shielding plate of the recycling machine people；
Bearing plate is arranged on the rotating platform and the support side plate, and the bearing plate supports the recycling machine people sheet
Body；
Driving device is arranged on the rotating platform, and the driving device drives the rotating platform rotation, so that described time
Robot body is received to rotate to the detector outlet being located on the biological shielding plate.
2. the support device of recycling machine people according to claim 1, which is characterized in that the support device further include:
Damping device is set between the support side plate and the biological shielding plate.
3. the support device of recycling machine people according to claim 2, which is characterized in that the damping device further include:
Idler wheel is arranged between the damping device and the biological shielding plate.
4. the support device of recycling machine people according to claim 3, which is characterized in that the damping device is gas bullet
Spring.
5. the support device of recycling machine people according to claim 4, which is characterized in that the gas spring includes:
Pressure transfer part is arranged on the idler wheel；
Spring side plate is arranged in the pressure transfer part；
Spring top plate is arranged on the spring side plate, and the support side plate is arranged on the spring top plate, the pressure
Transfer part, the spring side plate and the spring top plate form chamber resettling；
Gas spring ontology is arranged in the chamber resettling.
6. the support device of recycling machine people according to claim 1, which is characterized in that the support device further include:
Support device connector, the support device connector connect the biological shielding plate and the rotatable platform.
7. the support device of recycling machine people according to claim 1, which is characterized in that the recycling machine human body packet
It includes:
Grabbing device, roller transmissioning device and guide rail, the grabbing device can be reciprocal along a first direction on the guide rail
Movement；
The grabbing device includes:
Support frame is arranged on the guide rail, and support frame as described above can move back and forth along a first direction on the guide rail；
First motor is arranged on support frame as described above；
Worm screw, connects the first motor, and the first motor drives the worm screw rotation；
Worm screw fixing seat is arranged on support frame as described above, the fixed worm screw of the worm screw fixing seat；
Hollow eccentric turbine connects the worm screw, the rotation of hollow eccentric turbine described in the worm drive, the hollow eccentric whirlpool
The hollow space of wheel is used to pass through detector to be recycled；And
Hollow fixed supporting seat is arranged on support frame as described above, and the hollow space of the hollow hold-down support is used for by described
Detector to be recycled, and the hollow eccentric turbine is matched for clamping tightly described wait return by rotation with the hollow fixed supporting seat
Receive detector；
The roller transmissioning device includes:
2 idler wheels；
Idler wheel closing device, for controlling the opening and closing of 2 idler wheels；
2 the second motors, are separately connected 2 idler wheels, and 2 second motors control 2 idler wheels rotation respectively.
8. the support device of recycling machine people according to claim 7, which is characterized in that the idler wheel closing device packet
It includes:
Wedge block is arranged between 2 idler wheels, and the small head end of the wedge block is downward, and stub end is upward；
2 the first springs connect the side plate of 2 idler wheels and the roller transmissioning device correspondingly；
When 2 idler wheels rotate inward, 2 idler wheels pass through its wedge block described in frictional force drives between the wedge block
It moves downward, so that 2 idler wheels are separated by the stub end of the wedge block, 2 first springs are by described 2 at this time
Idler wheel compresses respectively；When 2 idler wheels rotate outward, 2 idler wheels pass through its frictional force between the wedge block
The wedge block is driven to move upwards, so that 2 idler wheels are closed, 2 first springs are squeezed to centre respectively at this time
2 idler wheels.
9. the support device of recycling machine people according to claim 8, which is characterized in that the hollow eccentric turbine and institute
Hollow fixed supporting seat is stated to connect by oil-free bushing.
10. a kind of recycling machine people, which is characterized in that including recycling machine people's as described in any one of claims 1-9
Support device.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910563555.XA CN110202546A (en) | 2019-06-26 | 2019-06-26 | The support device of recycling machine people and recycling machine people |
| CN202010443942.2A CN111421527A (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
| CN202020887190.4U CN212312027U (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
| CN202010442643.7A CN111452027B (en) | 2019-06-26 | 2020-05-22 | Support device of recycling robot and recycling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910563555.XA CN110202546A (en) | 2019-06-26 | 2019-06-26 | The support device of recycling machine people and recycling machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110202546A true CN110202546A (en) | 2019-09-06 |
Family
ID=67794820
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910563555.XA Pending CN110202546A (en) | 2019-06-26 | 2019-06-26 | The support device of recycling machine people and recycling machine people |
| CN202010443942.2A Pending CN111421527A (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
| CN202010442643.7A Active CN111452027B (en) | 2019-06-26 | 2020-05-22 | Support device of recycling robot and recycling robot |
| CN202020887190.4U Active CN212312027U (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010443942.2A Pending CN111421527A (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
| CN202010442643.7A Active CN111452027B (en) | 2019-06-26 | 2020-05-22 | Support device of recycling robot and recycling robot |
| CN202020887190.4U Active CN212312027U (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN110202546A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110335690A (en) * | 2019-07-08 | 2019-10-15 | 北京理工大学 | The conveying device of recycling machine people and recycling machine people |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10107183B2 (en) * | 2014-11-20 | 2018-10-23 | Superturbo Technologies, Inc. | Eccentric planetary traction drive super-turbocharger |
| CN204505246U (en) * | 2015-03-24 | 2015-07-29 | 台达电子电源(东莞)有限公司 | A kind of interposer substrate machine for automatically recovering and interposer substrate thereof reclaim gripper |
| CN107671832A (en) * | 2017-10-28 | 2018-02-09 | 北海南坡腕网络技术有限公司 | A kind of robot Multifunctional mobile base |
| CN207431621U (en) * | 2017-11-07 | 2018-06-01 | 江苏宝丽轻金属技术有限公司 | multi-station rotating platform |
-
2019
- 2019-06-26 CN CN201910563555.XA patent/CN110202546A/en active Pending
-
2020
- 2020-05-22 CN CN202010443942.2A patent/CN111421527A/en active Pending
- 2020-05-22 CN CN202010442643.7A patent/CN111452027B/en active Active
- 2020-05-22 CN CN202020887190.4U patent/CN212312027U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110335690A (en) * | 2019-07-08 | 2019-10-15 | 北京理工大学 | The conveying device of recycling machine people and recycling machine people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111452027B (en) | 2021-09-24 |
| CN111452027A (en) | 2020-07-28 |
| CN212312027U (en) | 2021-01-08 |
| CN111421527A (en) | 2020-07-17 |
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Application publication date: 20190906 |