CN111452027B - Support device of recycling robot and recycling robot - Google Patents
Support device of recycling robot and recycling robot Download PDFInfo
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- CN111452027B CN111452027B CN202010442643.7A CN202010442643A CN111452027B CN 111452027 B CN111452027 B CN 111452027B CN 202010442643 A CN202010442643 A CN 202010442643A CN 111452027 B CN111452027 B CN 111452027B
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- 238000004064 recycling Methods 0.000 title claims description 24
- 238000011084 recovery Methods 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000034656 Contusions Diseases 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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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
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- 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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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The application discloses support arrangement and recovery robot of recovery robot, wherein the support arrangement of recovery robot includes: the rotary platform is arranged on a biological shielding plate of the recovery robot; a support side plate disposed on the biological shielding plate of the recovery robot; the bearing plate is arranged on the rotating platform and the supporting side plate and supports the recovery robot body; and the driving device is arranged on the rotating platform and drives the rotating platform to rotate, so that the recovery robot body rotates to a detector outlet on the biological shielding plate. The supporting device provided by the application has the advantages that due to the fact that the full-automatic mechanical positioning recovery detector assembly is used, the problem that personal dosage exceeds the standard when manual operation is conducted is avoided.
Description
Technical Field
The application relates to the field of nuclear reactors, in particular to a conveying device of a recycling robot and the recycling robot.
Background
After a nuclear reactor has been in operation for a period of time, the detector assemblies within the reactor must be periodically replaced due to aging, failure, etc. At present, the mode of manual drawing is mainly adopted. However, the manual drawing method has the following disadvantages:
1. operators need to work under irradiation conditions, and if the problems of misoperation, machine failure and the like occur in the operation process, the exceeding of personal dose is easily caused. Due to the complexity of the heap top environment, there is also a risk of personnel falling, bruising, etc.
2. The recovery efficiency is low. The recovery of a single detector needs about 2 hours on average, the recovery work of four groups of 16 detectors consumes a long time, and huge physical and radiation burdens are brought to operators.
Disclosure of Invention
The main object of the present application is to provide a support device of a recycling robot, including: the rotary platform is arranged on a biological shielding plate of the recovery robot; a support side plate disposed on the biological shielding plate of the recovery robot; the bearing plate is arranged on the rotating platform and the supporting side plate and supports the recovery robot body; and the driving device is arranged on the rotating platform and drives the rotating platform to rotate, so that the recovery robot body rotates to a detector outlet on the biological shielding plate.
Optionally, a shock absorbing device is disposed between the supporting side plate and the biological shielding plate.
Optionally, the support device further comprises: and the roller is arranged between the damping device and the biological shielding plate.
Optionally, the support means is a gas spring.
Optionally, the gas spring comprises: a pressure transmission part disposed on the roller; a spring side plate provided on the pressure transmitting portion; the spring top plate is arranged on the spring side plate, the supporting side plate is arranged on the spring top plate, and the pressure transmission part, the spring side plate and the spring top plate form an accommodating chamber; and the gas spring body is arranged in the accommodating cavity.
Optionally, the support device further comprises: and the supporting device connecting piece is connected with the biological shielding plate and the rotating platform.
Optionally, the recycling robot body comprises: the device comprises a gripping device, a roller conveying device and a guide rail, wherein the gripping device can reciprocate on the guide rail along a first direction; the gripping device comprises: the support frame is arranged on the guide rail and can reciprocate on the guide rail along a first direction; the first motor is arranged on the support frame; the worm is connected with the first motor, and the first motor drives the worm to rotate; the worm fixing seat is arranged on the supporting frame and is used for fixing the worm; the hollow eccentric turbine is connected with the worm, the worm drives the hollow eccentric turbine to rotate, and the hollow part of the hollow eccentric turbine is used for passing through a detector to be recovered; the hollow part of the hollow fixed support is used for allowing the detector to be recovered to pass through, and the hollow eccentric turbine rotates to be matched with the hollow fixed support to clamp the detector to be recovered; the roller conveyor includes: 2 rollers; the roller opening and closing device is used for controlling the opening and closing of the 2 rollers; 2 second motors are respectively connected with the 2 idler wheels, and the 2 second motors respectively control the 2 idler wheels to rotate.
Optionally, the roller opening and closing device includes: the wedge-shaped block is arranged among the 2 rollers, and the small end of the wedge-shaped block faces downwards, and the large end of the wedge-shaped block faces upwards; the 2 first springs are connected with the 2 rollers and the side plates of the roller conveying device in a one-to-one correspondence manner; when 2 rollers rotate inwards, the 2 rollers drive the wedge block to move downwards through friction force between the 2 rollers and the wedge block, so that the 2 rollers are separated by the large head end of the wedge block, and at the moment, the 2 first springs are respectively compressed by the 2 rollers; when the 2 rollers rotate outwards, the 2 rollers drive the wedge block to move upwards through friction force between the 2 rollers and the wedge block, so that the 2 rollers are closed, and at the moment, the 2 first springs respectively press the 2 rollers towards the middle.
Optionally, the hollow eccentric turbine is connected with the hollow fixed support seat through an oilless bushing.
In order to achieve the above object, according to an aspect of the present application, there is also provided a recycling robot including the supporting device of the recycling robot of any one of the above.
The supporting device provided by the application, because the detector assembly is recovered in a fully-automatic mechanical positioning manner, the problem that the dosage of an individual exceeds the standard during manual operation is avoided, and the working and health pressure of operators is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is an overall schematic view of a recycling robot according to an embodiment of the present application;
FIG. 2 is an overall schematic view of a support device according to an embodiment of the present application;
FIG. 3 is a side view of a support device according to an embodiment of the present application;
FIG. 4 is a cross-sectional view of a gas spring according to an embodiment of the present application;
FIG. 5 is a schematic view of a roller conveyor according to an embodiment of the present application;
FIG. 6 is a cross-sectional schematic view of a hollow eccentric turbine according to an embodiment of the present application;
FIG. 7 is a cross-sectional schematic view of a hollow eccentric turbine according to an embodiment of the present application;
FIG. 8 is a schematic view of a roller conveyor with rollers closed according to an embodiment of the present application; and
fig. 9 is a schematic view of a roller conveyor with rollers open according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "inner", "outer", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 3, in an embodiment of the present application, a supporting device 600 of a recycling robot includes: a rotary platform 601, a supporting side plate 602, a bearing plate 603 and a driving device 604. Wherein the rotary platform 401 is arranged on the biological shielding plate 605 of the recovery robot. The support side plate 602 is disposed on the biological shield plate 605 of the recovery robot. The bearing plate 603 is disposed on the rotating platform 601 and the supporting side plate 602, and the bearing plate 603 supports the recovery robot body. And the driving device 604 is arranged on the rotating platform 601, and the driving device 604 drives the rotating platform 601 to rotate, so that the recovery robot body rotates to the detector outlet 606 on the biological shielding plate 605.
In use, the driving device 604 drives the rotating platform 601 to rotate around the center of the biological shielding plate, so that the recovery robot body rotates to the detector outlet 606 on the biological shielding plate 605. The recovery detector 500 extends from the detector outlet 606. The recovery probe 500 is then recovered by the recovery robot body.
In actual work, there may be a case where the surface of the biological shielding plate 605 is uneven, and the weight of the recovery robot body is large (about 300 kg). Therefore, when the supporting device moves on the biological shielding plate, the supporting device bumps up and down. But the actual work requires less deformation of the support device. Therefore, in an embodiment of the present application, the supporting device 600 further includes a shock absorbing device 607 disposed between the supporting side plate 602 and the biological shielding plate 605. The damping device can realize stable support, reduce the influence of uneven plane and ensure the smooth operation of the platform. In the present embodiment, the damping device is a gas spring, but not limited thereto. The gas spring is adopted, so that a large supporting force can be provided when the displacement is 0, and the gas spring can play a role in buffering when the supporting mechanism moves to the uneven area of the shielding plate, so that the deformation of the supporting mechanism is reduced, and the uneven stress load is avoided.
In an embodiment of the present application, the supporting device further includes: a roller 608 disposed between the shock absorber 607 and the biological shield 605. The designed support mechanism can move on the biological shielding plate under the driving of the rotating platform, and the rolling friction is reduced by adopting the rollers. In the present embodiment, the roller is a "bull's eye wheel," but not limited thereto.
As shown in fig. 4, in an embodiment of the present application, the gas spring includes: a gas spring body 6021, a spring top plate 6022, a spring side plate 6023, and a pressure transmission part 6024. Wherein the pressure transmitting portion 6024 is provided on the roller 608. A spring side plate 6023 is provided to the pressure transmitting portion 6024. A spring top plate 6022 is provided on the spring side plate 6023, and the support side plate 602 is provided on the spring top plate 6022, and the pressure transmission portion 6024, the spring side plate 6023, and the spring top plate 6022 form an accommodation chamber 6025. A gas spring body 6021 is disposed within the housing chamber 6025.
In an embodiment of the present application, the supporting device further includes: a support means connection 609, said support means connection 609 connecting said biological shield 605 with said rotatable platform 601.
An embodiment of the present application further provides a recycling robot, including any one of the above-mentioned support devices of the recycling robot.
As shown in fig. 1, the present application relates to a transfer device of a recycling robot, including: the apparatus includes a gripping device 100, a roller conveyor 200, and a first guide rail (not shown) on which the gripping device 100 can reciprocate along a first direction.
As shown in fig. 5, the grasping apparatus 100 includes: the device comprises a support frame 101, a first motor 102, a worm 103, a worm fixing seat 104, a hollow eccentric worm wheel 105 and a hollow fixing and supporting seat 106. Wherein the support frame 101 is disposed on the first guide rail, and the support frame 101 can reciprocate along a first direction on the guide rail. The first motor 102 is disposed on the support frame 101. The worm 103 is connected with the first motor 102, and the first motor 102 drives the worm 103 to rotate. The worm fixing seat 104 is arranged on the support frame 101, and the worm fixing seat 104 fixes the worm 103. The hollow eccentric worm wheel 105 is connected with the worm 103, the worm 103 drives the hollow eccentric worm wheel 105 to rotate, and the hollow part 1051 of the hollow eccentric worm wheel 105 is used for passing through the detector 500 to be recovered (shown in figure 3). The hollow fixing support seat 106 is arranged on the support frame 101, the hollow part of the hollow fixing support seat 106 is used for allowing the detector 500 to be recovered to pass through, and the hollow eccentric worm wheel 105 is matched with the hollow fixing support seat 106 through rotation to clamp the detector 500 to be recovered. In this embodiment, the supporting frame 101 is directly fixed on the first guiding rail, and the worm fixing seat 104 is fixed on the supporting frame 101. However, the present invention is not limited thereto. In other embodiments of the present invention, a sliding block (not shown) may be further included between the supporting frame 101 and the first guiding rail. The slider sets up on first guide rail, and support frame 101 is fixed on the slider.
As shown in fig. 7, the roller conveyor 200 includes: 2 rollers 201, roller opening and closing device and 2 second motors 202. And the roller opening and closing device is used for controlling the opening and closing of the 2 rollers 201. The 2 second motors 202 are respectively connected to the 2 rollers 201, and the 2 second motors 202 respectively control the 2 rollers 201 to rotate.
When in use, the base 600 of the robot selects the detector 500 to be recovered, and the detector 500 to be recovered is sent to the gripping device. The grasping apparatus 200 causes the upper end of the probe 500 to be recovered to protrude from the hollow fixed support 106 by moving up and down on the first guide rail, and the probe 500 to be recovered enters the hollow portion 1051 of the hollow eccentric worm wheel 105 and the hollow portion of the hollow fixed support 106. At this time, the first motor 102 controls the worm 103 to rotate the hollow eccentric worm wheel 105. Since the hollow eccentric worm wheel 105 is of an eccentric structure, and the hollow fixed support 106 is stationary. Therefore, when the hollow eccentric worm wheel 105 rotates, the hollow eccentric worm wheel and the hollow fixed support 106 clamp the detector 500 to be recovered in the opposite direction.
Then, the gripping device 200 is moved upward along the first guide rail so that the end of the probe 500 to be recovered protruding from the hollow fixed support 106 enters the roller conveyor 200. Since 2 rollers 201 of the roller conveyor 200 are normally in a closed state. At the moment, the two rollers are spread by the roller opening and closing device. As shown in fig. 5 to 6, in the present embodiment, the roller opening and closing device includes: wedge block 203 and 2 first springs 204. The wedge-shaped block 203 is arranged between the 2 rollers 201, and the small end of the wedge-shaped block 203 faces downwards, and the large end faces upwards. The 2 first springs 204 are connected to the 2 rollers 201 and the side plates 205 of the roller conveyor in a one-to-one correspondence. When 2 rollers 201 rotate inwards, the 2 rollers 201 drive the wedge block to move downwards through friction force between the 2 rollers 201 and the wedge block 203, so that the 2 rollers 201 are separated by the big head end of the wedge block 203, and at the moment, the 2 first springs 204 are compressed by the 2 rollers 201 respectively. At this time, since 2 rollers 201 are separated (as shown in fig. 6), the end of the probe 500 to be recovered protruding from the hollow fixing support 106 enters between the two rollers 201. Then 2 rollers 201 rotate outwards, and 2 rollers 201 drive the wedge block 203 to move upwards through the friction force between the rollers 201 and the wedge block 203, so that the 2 rollers 201 are closed (as shown in fig. 5). At this time, the 2 first springs 204 respectively press the 2 rollers 201 towards the middle, so that the friction force between the roller 201 and the wedge block 203 and the friction force between the roller 201 and the detector 500 to be recovered are increased. With the rotation of the roller 201, the detector 500 to be recovered moves upwards through the friction force between the roller 201 and the detector 500 to be recovered, and simultaneously the hollow eccentric worm wheel 105 is rotated, so that the detector 500 to be recovered loosens between the hollow eccentric worm wheel 105 and the hollow fixed support 106, and the detector 500 to be recovered can be moved upwards into the recovery device 700.
In order to ensure that the wedge-shaped blocks 203 can smoothly move between the rollers 201, in an embodiment of the present application, the 2 rollers 201 are respectively provided with an annular groove, and the wedge-shaped blocks respectively move in the annular grooves.
In an embodiment of the present application, the number of the wedge-shaped blocks 203 is 2, and the 2 wedge-shaped blocks 203 are connected by a connector 206.
In an embodiment of the present application, the first spring is a gas spring. The pressure provided by the gas spring is sufficient so that the probe assembly can be pulled up by means of sufficient friction.
In an embodiment of the present application, the roller opening and closing device further includes: and a second spring 207 connecting the wedge block 203 and the top plate of the roller conveyor 200.
In an embodiment of the present invention, the number of the hollow fixing support seats 106 is two, and the two hollow fixing support seats are respectively disposed on two sides of the hollow eccentric worm wheel 105 in the axial direction.
In an embodiment of the present application, the hollow eccentric worm wheel 105 and the hollow fixed support base 106 are connected by an oilless bushing.
In an embodiment of the present application, the grasping apparatus 100 further includes: an L-shaped connecting plate 107 and a pressure detector 108. The vertical surface of the L-shaped connecting plate 107 is fixed on the first guide rail, the pressure detector 108 is arranged on the horizontal surface of the L-shaped connecting plate 107, and the pressure detector 108 is positioned below the hollow eccentric worm wheel 105 and the hollow fixed support seat 106. The support frame 101 is disposed on a vertical surface of the L-shaped connecting plate 107 and a surface of the first guide rail on a different side. In this embodiment, when the L-shaped connecting plate 107 moves upward, the pressure detector 108 is driven to move upward, so as to drive the hollow eccentric worm wheel 105 and the hollow fixed supporting seat 106 to move upward, and finally, the detector 500 to be recovered is driven to move upward. Therefore, the pulling force applied to the probe 500 to be recovered is transmitted to the pressure probe 108 through the hollow eccentric worm wheel 105 and the hollow stationary support 106. Thus, the pulling force applied to the detector 500 to be recovered can be measured. According to the real-time feedback of the pressure detector, the drawing force of the grabbing mechanism can be controlled, and the situation that the detector is broken and is more troublesome due to overlarge drawing force and overlarge acceleration is avoided; the situations of too small drawing force and low recovery efficiency are avoided. And flexible drawing is realized.
The utility model provides a support arrangement of recovery robot, to under the nuclear environment, the characteristics that the detector circumference was arranged, to the needs that the detector was retrieved, provide a recovery unit bottom rotary platform, can remove the recovery module and realize thick location to the detector top that will retrieve to carry out follow-up operation.
Has higher adaptability to the uneven area of the plane, safe bearing automatic recovery device (reduce the displacement of the supporting mechanism in the uneven area/promote the uniform distribution of the load)
In addition, this application mainly retrieves the installation environment to the detector, because environmental restriction, unsuitable team's installation environment reforms transform, the large-scale equipment fixing difficulty, technical scheme in this application is under original installation environment, has installed the recovery unit base on biological shielding plate, and furthest reduces the environment and reforms transform the task volume, the reasonable implementation scheme of taking.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A support device of a recycling robot, comprising:
the rotary platform is arranged on a biological shielding plate of the recovery robot;
a support side plate disposed on the biological shielding plate of the recovery robot;
the bearing plate is arranged on the rotating platform and the supporting side plate and supports the recovery robot body;
the driving device is arranged on the rotating platform and drives the rotating platform to rotate, so that the recovery robot body rotates to a detector outlet on the biological shielding plate;
the recovery robot body includes:
the device comprises a gripping device, a roller conveying device and a guide rail, wherein the gripping device can reciprocate on the guide rail along a first direction;
the gripping device comprises:
the support frame is arranged on the guide rail and can reciprocate on the guide rail along a first direction;
the first motor is arranged on the support frame;
the worm is connected with the first motor, and the first motor drives the worm to rotate;
the worm fixing seat is arranged on the supporting frame and is used for fixing the worm;
the hollow eccentric turbine is connected with the worm, the worm drives the hollow eccentric turbine to rotate, and the hollow part of the hollow eccentric turbine is used for passing through a detector to be recovered; and
the hollow fixing support seat is arranged on the support frame, the hollow part of the hollow fixing support seat is used for allowing the detector to be recovered to pass through, and the hollow eccentric turbine rotates to be matched with the hollow fixing support seat to clamp the detector to be recovered;
the roller conveyor includes:
2 rollers;
the roller opening and closing device is used for controlling the opening and closing of the 2 rollers;
2 second motors are respectively connected with the 2 idler wheels, and the 2 second motors respectively control the 2 idler wheels to rotate.
2. The support device of a recycling robot according to claim 1, further comprising:
and the damping device is arranged between the supporting side plate and the biological shielding plate.
3. The support device of a recycling robot according to claim 2, wherein the shock absorbing device further comprises:
and the roller is arranged between the damping device and the biological shielding plate.
4. The support device of a recycling robot according to claim 3, wherein the shock absorbing device is a gas spring.
5. The support device of a recycling robot according to claim 4, wherein the gas spring comprises:
a pressure transmission part disposed on the roller;
a spring side plate provided on the pressure transmitting portion;
the spring top plate is arranged on the spring side plate, the supporting side plate is arranged on the spring top plate, and the pressure transmission part, the spring side plate and the spring top plate form an accommodating chamber;
and the gas spring body is arranged in the accommodating cavity.
6. The support device of a recycling robot according to claim 1, further comprising:
and the supporting device connecting piece is connected with the biological shielding plate and the rotating platform.
7. The support device of a recycling robot according to claim 1, wherein the roller opening and closing device comprises:
the wedge-shaped block is arranged among the 2 rollers, and the small end of the wedge-shaped block faces downwards, and the large end of the wedge-shaped block faces upwards;
the 2 first springs are connected with the 2 rollers and the side plates of the roller conveying device in a one-to-one correspondence manner;
when 2 rollers rotate inwards, the 2 rollers drive the wedge block to move downwards through friction force between the 2 rollers and the wedge block, so that the 2 rollers are separated by the large head end of the wedge block, and at the moment, the 2 first springs are respectively compressed by the 2 rollers; when the 2 rollers rotate outwards, the 2 rollers drive the wedge block to move upwards through friction force between the 2 rollers and the wedge block, so that the 2 rollers are closed, and at the moment, the 2 first springs respectively press the 2 rollers towards the middle.
8. The support device of a recovery robot according to claim 7, wherein the hollow eccentric turbine is coupled with the hollow stationary support base through an oilless bushing.
9. A recycling robot comprising the supporting device of the recycling robot according to any one of claims 1 to 8.
Applications Claiming Priority (2)
| 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 |
| CN201910563555X | 2019-06-26 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111452027A CN111452027A (en) | 2020-07-28 |
| CN111452027B true CN111452027B (en) | 2021-09-24 |
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| CN201910563555.XA Pending CN110202546A (en) | 2019-06-26 | 2019-06-26 | The support device of recycling machine people and recycling machine people |
| 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 |
| CN202010443942.2A Active CN111421527B (en) | 2019-06-26 | 2020-05-22 | Conveying device of recycling robot and recycling robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910563555.XA Pending CN110202546A (en) | 2019-06-26 | 2019-06-26 | The support device of recycling machine people and recycling machine people |
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| CN202020887190.4U Active CN212312027U (en) | 2019-06-26 | 2020-05-22 | Conveying device of recovery robot and recovery robot |
| CN202010443942.2A Active CN111421527B (en) | 2019-06-26 | 2020-05-22 | Conveying device of recycling robot and recycling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110202546A (en) * | 2019-06-26 | 2019-09-06 | 北京理工大学 | The support device of recycling machine people and recycling machine people |
| 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 |
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- 2019-06-26 CN CN201910563555.XA patent/CN110202546A/en active Pending
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2020
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- 2020-05-22 CN CN202020887190.4U patent/CN212312027U/en active Active
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN212312027U (en) | 2021-01-08 |
| CN110202546A (en) | 2019-09-06 |
| CN111452027A (en) | 2020-07-28 |
| CN111421527B (en) | 2024-06-14 |
| CN111421527A (en) | 2020-07-17 |
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