CN115741625A - Multi-degree-of-freedom manipulator for transferring thin-wall long and thin precise heavy-load box - Google Patents

Abstract

The invention discloses a multi-degree-of-freedom manipulator for transferring a thin-wall, long, thin and precise heavy-load box body, which comprises a universal traveling system, wherein a vehicle body is arranged on the universal traveling system, a lifting system is arranged on the vehicle body, the lifting system is in transmission connection with a lifting plate, a transverse moving system is arranged on the lifting plate, and the transverse moving system is fixedly connected with a clamping system. The multi-station loading and unloading device can simultaneously meet the requirements of station platforms with different widths and heights and the adjustment of multiple degrees of freedom, realize multi-station all-dimensional cross loading and unloading, achieve the purposes of safety, stability, reliability and convenient transportation, and reduce the risk of damage to thin-wall long and thin precise heavy-load boxes in the transportation process. The automatic feeding and discharging device can be popularized and applied to all-around and multi-level feeding and discharging and automatic transferring of precise parts in relevant fields such as aerospace, mechanical heavy industry and precision machining, and has wide application markets.

Description

Multi-degree-of-freedom manipulator for transferring thin-wall long and thin precise heavy-load box

Technical Field

The invention relates to the technical field of thin-wall slender object transfer, in particular to a multi-degree-of-freedom manipulator for thin-wall slender precise heavy-load box transfer, which can be used for simple and feasible transfer of thin-wall slender precise heavy-load boxes and can reduce the damage risk of the thin-wall slender precise heavy-load boxes caused by transfer.

Background

The thin-wall slender precise heavy-duty box body (as shown in figure 1) has various manufacturing procedures and extremely high process precision, and is required to be safely, stably, reliably and conveniently transported in the box body transporting process.

In engineering practice, the prior art does not have the characteristics of mobility, multiple degrees of freedom and the like in consideration of the mechanical arm. The publication number CN211761531U realizes the movement positioning of the manipulator through the guide rail, and can realize the transverse and vertical movement of the manipulator along the direction of the guide rail, but the movement freedom degree is limited by the guide rail, and the feeding and discharging range is fixed; the publication No. CN210878797U designs a movable manipulator for clamping, which realizes the movability of the manipulator along the direction of a slide rail, but has no degree of freedom in the Z-axis direction, and is a fixed slide rail, so that the working range is limited; the publication number CN211137138U is provided with a transmission device of XY axes and a lifting device, so that three-degree-of-freedom movement positioning of the clamp is realized, but loading and unloading can be carried out only in the range of a base; the publication number CN111112154A can realize sorting of articles by the simultaneous operation of the manipulators on both sides through the lifting rod system, the movable joint, the rotary manipulator and other components on the device body, but is fixed on the workbench and is only suitable for single-station operation; the publication number CN111805521A realizes the back-and-forth loading and unloading of the two manipulators between multiple stations through the guide rail, but it cannot realize omnidirectional movement, and only can realize the transportation of fixed corresponding stations, and cannot realize multi-station cross loading and unloading.

Disclosure of Invention

The invention aims to provide a multi-degree-of-freedom manipulator for transferring thin-wall long and thin precise heavy-load boxes, which solves the problem that the existing equipment cannot simultaneously consider mobility, multi-degree of freedom and multi-station transfer, realizes random switching among any stations and vertical, left and right and front and back adjustment, is suitable for station platforms with different widths and heights, realizes the transfer function of multi-station omnibearing cross feeding and discharging, realizes accurate clamping of thin-wall long and thin precise heavy-load boxes, and reduces the damage risk in the transfer process.

The technical scheme is that the multi-degree-of-freedom manipulator for transferring the thin-wall slender precise heavy-load box comprises a universal walking system, wherein a vehicle body is arranged on the universal walking system, a lifting system is arranged on the vehicle body, the lifting system is in transmission connection with a lifting plate, a transverse moving system is arranged on the lifting plate, and the transverse moving system is fixedly connected with a clamping system.

Among the above-mentioned technical scheme, control, front and back and upper and lower constitution become XYZ axle, and universal traveling system realizes switching between each station and adjusts the position of embracing the clamp system in Y axle direction, and operating system is used for moving along Z axle direction and makes the clamp system be in reasonable within range, and the lateral shifting system is used for moving along X axle direction and embraces the clamp system and make the clamp system make it be in reasonable within range. In practical use, firstly, the universal traveling system is started to move the whole multi-degree-of-freedom manipulator to a station needing clamping and enable the multi-degree-of-freedom manipulator to be parallel to an object platform on the station, secondly, the transverse moving system is started to enable the clamping system to be parallel to the thin-wall slender precise heavy load box body, then, the lifting system is started to enable the clamping system to be aligned with the plane of the thin-wall slender precise heavy load box body, then, the clamping system is started to complete thin-wall slender precise heavy load box body grabbing, and finally, the universal traveling system, the lifting system and the transverse moving system are started again to transfer the thin-wall slender precise heavy load box body to the next procedure.

Therefore, the multi-station loading and unloading device can simultaneously meet the requirements of station platforms with different widths and heights and the adjustment of multiple degrees of freedom, realize multi-station all-dimensional cross loading and unloading, achieve the purposes of safety, stability, reliability and convenient transportation, and reduce the risk of damage to thin-wall slender precise heavy-load boxes in the transportation process. The multi-degree-of-freedom mechanical arm disclosed by the invention is applied to the development process of fuel elements and can also be widely applied to the transfer process similar to the development of nuclear fuel elements. Meanwhile, the device can be popularized and applied to all-around and multi-level loading and unloading and automatic transfer of precise parts in relevant fields such as aerospace, heavy machinery, precise machining and the like, and has wide application market.

As a possible implementation manner, the clamping system comprises a supporting frame, at least two mounting frames are arranged on the supporting frame, and a plurality of clamping mechanisms are arranged on each mounting frame; the support frame is also provided with a plurality of position-variable protection mechanisms;

each variable position protection mechanism includes jacking structure, the structure of circling round and lifts the structure, and jacking structure and the structure of circling round all directly or indirectly with lift the structural connection, lift the structural setting on the support frame.

Under the condition of adopting the technical scheme, the variable-position protection mechanism realizes the support of the bottom surface of the thin-wall slender precise heavy-duty box body, the clamping mechanism realizes the stable clamping of other surfaces of the thin-wall slender precise heavy-duty box body, and the safety is improved through the matching of the clamping mechanism and the variable-position protection mechanism so as to reduce the possibility that the planeness and the verticality of the thin-wall slender precise heavy-duty box body are changed in the transferring process.

In addition, the jacking structure can be adjusted to move upwards or downwards so as to be tightly attached to the bottom surface of the box body, so that the safety of the transfer process is improved or the jacking structure is far away from the bottom surface of the box body, so that the box body can be placed conveniently; the rotary structure is used for adjusting the direction of the lifting structure, and does not obstruct the grabbing and releasing of the box body; aiming at the transportation of other boxes with low safety requirements, the variable-position protection mechanism can not influence the grabbing and the transportation under the condition of nonuse.

As a possible implementation mode, the jacking structure comprises a jacking cylinder, the convolution structure comprises a rotary cylinder, the jacking cylinder and the rotary cylinder are directly or indirectly connected with the lifting structure, the lifting structure is used for lifting a thin-wall slender precise heavy-load box body, the jacking cylinder realizes that the lifting structure moves upwards or downwards in a linear mode, the rotary cylinder realizes that the lifting structure moves circularly, lifting and releasing of the box body are realized, the lifting structure rotates to be parallel to the side face of the clamping device through the rotary cylinder in the process that the clamping device moves downwards towards the side face of the box body, interference between the lifting structure and the box body is avoided, and space abdicating in the matching stage of the clamping device and the box body is realized.

As a possible implementation manner, the lifting structure comprises a pneumatic actuator, a movable plate and a connecting rod which are fixedly connected in sequence, the pneumatic actuator is fixedly connected with the convolution structure, and the jacking structure is fixedly connected with the movable plate; the connecting rod is sleeved with a liner which is used for lifting a thin-wall thin and long precise heavy-load box body.

As a possible embodiment, the pad is L-shaped.

As a possible implementation mode, the liner is made of soft materials and plays a role of buffering, and the flatness of the bottom surface of the box body is prevented from being influenced.

As a possible implementation mode, the number of the mounting racks is three, wherein two mounting racks are arranged in parallel with the variable position protection mechanism, the rest one mounting rack is arranged perpendicular to the variable position protection mechanism, clamping is carried out on the left side surface, the right side surface and the upper surface of the box body, and the lifting is carried out on the bottom surface of the box body, so that the safety in the transferring process is increased as much as possible, and the change of the flatness and the verticality is reduced as much as possible.

As a possible embodiment, the plurality of clamping mechanisms on each mounting frame are arranged in at least one row.

As a possible implementation mode, each clamping mechanism comprises a clamping cylinder, the clamping cylinder is connected with a vacuum chuck, and the mode of the vacuum chuck is adopted, so that the influence on the flatness and the verticality can be reduced as much as possible.

As a possible implementation manner, a hollow connecting screw rod is arranged between the holding and clamping cylinder and the vacuum chuck, one end of the hollow connecting screw rod is communicated with the air outlet end of the holding and clamping cylinder, the other end of the hollow connecting screw rod is connected with the vacuum chuck through a spring, and the hollow connecting screw rod is clamped on the mounting frame.

As a possible implementation manner, the universal traveling system comprises a connecting table, and at least two traveling mechanisms and at least two fine adjustment mechanisms are arranged on the bottom surface of the connecting table; the fine-tuning includes universal suspension adaptor and with the first drive that the connection platform can be dismantled hangs the component, the upper end of universal suspension adaptor with the connection can be dismantled to first drive hangs the component, universal suspension adaptor articulates there is the universal wheel. The walking mechanism realizes the omnibearing adjustment and station replacement on the ground, and the fine adjustment mechanism realizes the accurate control of the walking mechanism to be parallel to the platform loaded with the box body.

As a possible implementation manner, the traveling mechanism includes a second driving suspension member disposed on the bottom surface of the connection platform, the second driving suspension member is detachably connected with a universal roller, and a wheel shaft of the universal roller is detachably connected with a rotary servo motor.

As a possible implementation mode, the lifting system comprises a ball screw module, a first coupler and a lifting servo motor which are longitudinally arranged on the vehicle body and are sequentially in transmission connection, and the ball screw module is in threaded connection with the lifting plate.

As a possible implementation manner, the ball screw module, the first coupling and the lifting servo motor are connected through a pressing member.

As a possible implementation manner, the transverse moving system comprises a motor connecting plate, and a transverse servo motor, a second coupler, a ball screw and a gripper connecting plate which are all arranged on the lifting plate and are fixedly connected in sequence, wherein the motor connecting plate is detachably connected with the lifting plate and the transverse servo motor; and the lifting plate is also provided with a connecting member detachably connected with the gripper connecting plate.

As a possible implementation manner, the multi-degree-of-freedom manipulator further comprises a controller for controlling the actions of each component. So as to realize automatic control.

As a possible implementation manner, the transverse servo motor, the second coupling and the ball screw are connected by adopting a pressing component; preferably, the ball screw and the gripper connecting plate are detachably connected.

Drawings

FIG. 1 is a schematic view of a multi-degree of freedom robot in an embodiment of the present invention;

FIG. 2 is a schematic view of a gimbal system according to an embodiment of the present invention;

FIG. 3 is a schematic view of a lateral movement system and a lift system in an embodiment of the present invention;

FIG. 4 is a schematic view of a clamping system according to an embodiment of the present invention;

FIG. 5 is a schematic view of a clamping mechanism in an embodiment of the invention;

FIG. 6 is a schematic structural diagram of an embodiment of a variable position protection mechanism.

Wherein, 1-a support frame; 2-a mounting rack; 3-a variable position protection mechanism; 301-a rotary cylinder; 302-a jacking cylinder; 303-a pneumatic actuator; 304-a movable plate; 305-a rod body; 306-a liner; 4-a clamping mechanism; 401-clamping cylinder; 402-vacuum chuck; 403-hollow connecting screw; 5-universal walking system; 501-a connection table; 502-a running gear; 5021-a second drive suspension member; 5022, universal rollers; 5023-rotating servo motor; 503-fine adjustment mechanism; 5031-Universal suspension adaptor; 5032-a first drive suspension member; 5033-Universal wheel; 6-vehicle body; 7-a lifting system; 701-a ball screw module; 702-a first coupling; 703-a lifting servo motor; 8-lifting plate; 9-a lateral movement system; 901-motor connection board; 902-lateral servo motor; 903-a second coupling; 904-ball screw; 905-a grip connecting plate; 10-a controller.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the process of transferring objects such as thin-wall slender precise heavy-load boxes at different stations, the thin-wall slender precise heavy-load boxes are high in manufacturing procedures and extremely high in process precision, so that the requirements on transfer equipment are high, and the transfer must be stably and safely realized. When the inventor adopts the prior art disclosed at present to transport the box body, certain defects are found to exist: the cross feeding and discharging between all-round and different stations can not be realized, and the problem that the box body is damaged at a high risk due to unreasonable clamping caused by the fact that all-round adjustment is not available can be solved.

Aiming at the problems, the inventor of the invention can realize the conversion between different stations and the adjustment in the Y-axis direction by arranging the universal traveling system 5; the lifting system 7 is arranged to realize adjustment (namely height adjustment) in the Z-axis direction; the adjustment of the X-axis direction (i.e. the adjustment of the horizontal position) is realized by arranging a transverse moving system 9; therefore, the problems that the width of the platform of the heat treatment area, the electron beam area and the surface nondestructive detection area in the box transfer route is narrow, the height of the platform is different and the like can be solved by adjusting the XYZ axes, the box body can be accurately clamped, and the damage risk caused in the transfer process is reduced. Can realize the conversion between the different stations through universal traveling system 5, realize alternately going up unloading, solve the problem that processing equipment itself does not dispose the unloading manipulator and is difficult to the development, compromise the demand that the manipulator worked between many equipment.

Fig. 1 is a schematic view of a multi-degree-of-freedom robot in an embodiment of the present invention. As shown in fig. 1, the multi-degree-of-freedom manipulator provided by the embodiment of the invention comprises a universal walking system 5, wherein a vehicle body 6 is arranged on the universal walking system 5, a lifting system 7 is arranged on the vehicle body 6, the lifting system 7 is in transmission connection with a lifting plate 8, a transverse moving system 9 is arranged on the lifting plate 8, and the transverse moving system 9 is fixedly connected with a clamping system. The cross feeding between the arbitrary regulation and the different stations of three directions of realization XYZ axle. The vehicle body 6 mainly provides mounting support for the lifting system 7. The shape and material of the vehicle body 6 can be selected as required. For example: the shape is a gantry shape, which can save the use of materials, reduce the weight of the whole manipulator, save the driving cost and the manufacturing cost, but is not limited to the gantry shape. For example: the material is hard stainless steel alloy, but not limited thereto. The lifting plate 8 not only provides mounting support for the transverse moving system 9, but also drives the transverse moving system 9 to move up and down under the transmission of the lifting system 7, namely, the adjustment in the Z-axis direction is realized. The shape and material of the lifting plate 8 can be selected as required. For example: the shape is a frame shape, which can save the use of materials, reduce the weight of the whole manipulator, save the driving cost and the manufacturing cost, but is not limited to the shape. For example: the material is hard stainless steel alloy, but not limited thereto. The clamping system is used for clamping the box body required to be transported.

In practical use, firstly, the universal traveling system 5 is started to move the whole multi-degree-of-freedom manipulator to a station needing clamping and enable the multi-degree-of-freedom manipulator to be parallel to an object platform on the station, secondly, the transverse moving system 9 is started to enable the clamping system to be parallel to the thin-wall slender precise heavy load box body, then, the lifting system 7 is started to enable the clamping system to be aligned to the plane of the thin-wall slender precise heavy load box body, then, the clamping system is started to complete thin-wall slender precise heavy load box body grabbing, and finally, the universal traveling system 5, the lifting system 7 and the transverse moving system 9 are started again to transfer the thin-wall slender precise heavy load box body to the next procedure.

As shown in fig. 2, the universal traveling system 5 includes a connection base 501 for attaching the vehicle body 6. In order to save materials, reduce the weight of the connecting table 501 and reduce the volume of the whole manipulator, in practical application, the connecting table 501 adopts a frame-shaped structure. As shown in fig. 2, the bottom surface of the connection stage 501 is provided with at least two traveling mechanisms 502 and at least two fine adjustment mechanisms 503. The running gear 502 is used for switching the manipulator between different stations, and belongs to large-amplitude adjustment. The fine adjustment mechanism 503 is used for adjusting the position of the clamping system of the manipulator when the manipulator is already at the target station, so that the manipulator can conveniently clamp the box body. In practical application, the traveling mechanism 502 and the fine adjustment mechanism 503 can both realize universal adjustment.

As shown in fig. 2, in practical applications, the fine adjustment mechanism 503 includes a universal suspension adaptor 5031 and a first driving suspension member 5032 detachably connected to the connection platform 501, the upper end of the universal suspension adaptor 5031 is detachably connected to the first driving suspension member 5032, and the universal suspension adaptor 5031 is hinged to a universal wheel 5033. The first driving suspension member 5032 drives the universal suspension adaptor 5031 to rotate, and the universal suspension adaptor 5031 drives the universal wheel 5033 to rotate, so as to adjust the position in a small range. The detachable connection here may be a bolt or a screw connection, but is not limited thereto.

As shown in fig. 2, in practical applications, the traveling mechanism 502 includes a second driving suspension member 5021 disposed on the bottom surface of the connection stage 501, a universal roller 5022 is detachably connected to the second driving suspension member 5021, and a rotary servo motor 5023 is detachably connected to a wheel shaft of the universal roller 5022. When the rotary servo motor 5023 works, the rotary servo motor 5023 drives the universal roller 5022 to do linear motion, and the second driving suspension member 5021 drives the universal roller 5022 to change the direction, so that the rotary servo motor 5023 can accurately move to a target station. The universal roller 5022 can adopt any roller capable of realizing steering at any angle, such as: a maram wheel, but is not so limited. As shown in fig. 2, in practical applications, for the installation safety and the operation stability of the rotary servo motor 5023, a support member may be sleeved outside the connection shaft connected to the universal roller 5022, and the upper end of the support member is detachably connected to the second driving suspension member 5021. The detachable connection here may be a bolt or a screw connection, but is not limited thereto.

As shown in fig. 2, in practical applications, because the universal roller 5022 is switched between different stations, the moving speed of the universal roller 5022 is higher than that of the universal wheel 5033, and therefore, a speed reducer is disposed on the connecting shaft connecting the rotary servo motor 5023 and the universal roller 5022, so that the universal roller 5022 can decelerate stably, and the box of the clamp is prevented from being damaged.

As shown in fig. 2, in practical use, in order to improve the smoothness of the transit process, a shock absorber is provided on each of the first and second drive suspension members 5032, 5021. The shock absorber is a common device in the prior art, and the structure of the shock absorber does not need to be elaborated here.

As shown in fig. 3, the lifting system 7 includes a ball screw module 701, a first coupling 702, and a lifting servo motor 703, which are vertically disposed on the vehicle body 6 and are sequentially connected to each other in a driving manner, and the ball screw module 701 is screwed to the lifting plate 8. The lifting servo motor 703 rotates to drive the ball screw module 701 to rotate around a self axis in a vertical plane through the first coupler 702, and the rotation of the ball screw module 701 causes the lifting plate 8 to realize the adjustment in the Z-axis direction. The ball screw module 701, the first coupler 702 and the lifting servo motor are connected through a pressing member.

As shown in fig. 3, in practical applications, the lifting servo motor 703 has two output ends, the ball screw modules 701 have two sets, which are respectively connected to the two output ends of the lifting servo motor 703, and the lifting plate 8 is horizontally disposed and two ends of the lifting plate are respectively connected to one ball screw module 701 in a transmission manner. Through realizing going up and down simultaneously to 8 both ends of lifter plate, improved stability and security in the accommodation process.

As shown in fig. 3, in practical applications, as a possible implementation manner, the ball screw module 701 includes at least two ball screws 904, and the same ends of the two ball screws 904 are in transmission connection with an output end of the lifting servo motor 703, so as to implement synchronous transmission. Each ball screw 904 is connected with a nut in a threaded manner, and the outer end of the nut is fixedly connected with the lifting plate 8. Thereby driving the nut to move up and down while the ball screw 904 rotates, so as to realize the up-and-down movement of the lifting plate 8.

In practical applications, as a possible implementation manner, the ball screw module 701 includes at least two ball screws 904, and the same ends of the two ball screws 904 are in transmission connection with an output end of one end of the lifting servo motor 703, so as to implement synchronous transmission. The lifting plate 8 is provided with threaded through holes with the same number as the ball screws 904, and each ball screw 904 is in threaded connection with the lifting plate 8 through one threaded hole, so that the lifting plate 8 is finally moved up and down.

As shown in fig. 3, in practical applications, the lateral moving system 9 includes a motor connecting plate 901, and a lateral servo motor 902, a second coupling 903, a ball screw 904 and a gripper connecting plate 905 that are all disposed on the lifting plate 8 and are sequentially connected in a transmission manner, where the motor connecting plate 901, the lifting plate 8 and the lateral servo motor 902 are detachably connected; the lifting plate 8 is further provided with a connecting member (not shown) detachably connected to the hand grip connecting plate 905. The motor connecting plate 901 is used to fix the lateral servo motor 902, thereby improving the reliability of installation thereof. The connecting member drives the clamping system and the hand grip connecting plate 905 to move horizontally, so that the adjustment in the X-axis direction is realized. In a possible embodiment, as shown in fig. 3, the gripper connecting plate 905 comprises a plate body, and a through hole is formed in the plate body along the axial direction of the ball screw 904 to form a threaded connection with the ball screw 904, so as to drive the connecting member to move in the X-axis direction to achieve adjustment.

In practical applications, the connecting member may be any component capable of achieving connection, such as: a connecting post, but is not limited thereto.

In practical applications, as shown in fig. 3, in one possible implementation, the lateral servo motor 902, the second coupling 903 and the ball screw 904 are connected by a pressing member; the ball screw 904 is detachably connected with the hand grip connecting plate 905. The detachable connection here may be a connection by a bolt assembly.

Fig. 4 is a schematic structural diagram illustrating a clasping system in an embodiment of the present invention. As shown in fig. 4, the clamping system provided by the present invention comprises a supporting frame 1, at least two mounting frames 2 are arranged on the supporting frame 1, and each mounting frame 2 is provided with a plurality of clamping mechanisms 4; the support frame 1 is also provided with a plurality of position-variable protection mechanisms 3. The position of the variable position protection mechanism 3 is adjusted so that the clamping of the clamping mechanism 4 on the box body is not influenced, the clamping system is placed above the box body to be clamped, the clamping mechanism 4 is started to clamp the box body, the height of the variable position protection mechanism 3 is adjusted according to the height of the box body so that the lifting part of the variable position protection mechanism 3 is located below the side of the box body, the position of the variable position protection mechanism 3 is enabled to be located under the box body, and the height of the lifting part is adjusted to be in contact with the bottom of the box body so as to achieve lifting.

It should be noted that: the number of the clamping mechanisms 4 arranged on each mounting frame 2 can be the same or different, and the corresponding arrangement can be carried out according to actual requirements.

The size of the supporting frame 1, the size of the mounting frames 2, the distance between the mounting frames 2, the specific number of the clamping mechanisms 4, the arrangement mode of the clamping mechanisms 4, the specific number of the variable position protection mechanisms 3 and the arrangement mode of the variable position protection mechanisms 3 are all determined by the size of a required clamping box body. For example, the required clamping box body is a thin-wall, slender and precise heavy-duty box body commonly used in the nuclear industry, as shown in fig. 4, the number of the mounting frames 2 is three, one of the mounting frames is arranged in parallel with the support frame 1, and the clamping structure arranged on the mounting frame is used for clamping the top of the box body; the rest two of the support frames are perpendicular to the support frame 1 and parallel to each other, and the distance between the rest two of the support frames at least needs to be larger than the width of the box body; the number of the clamping mechanisms 4 on each mounting frame 2 is 12 and the clamping mechanisms are arranged in two rows; the number of the position-variable protection mechanisms 3 arranged on the support frame 1 is 6 and the protection mechanisms are arranged in two rows.

As shown in fig. 4, the supporting frame 1 may be a square frame to reduce the weight of the clasping system and facilitate observation of whether the clasping system is accurately positioned above the box to be transported, so as to achieve accurate clamping. The mounting bracket 2 can be a square body with a groove, so that the clamping mechanism 4 can be stored when not used and the box body can be accurately placed into the holding system without being influenced by the clamping mechanism 4. Fixture 4 can set up in the recess of mounting bracket 2 also can block locate on mounting bracket 2, suitably, blocks locate on mounting bracket 2, the maintenance of fixture 4 of being convenient for or the installation of automation process cable. As shown in fig. 4, the variable position protection mechanism 3 may be mounted on a mounting plate, and the mounting plate is fixedly connected to the support frame 1.

As shown in fig. 5, each clamping mechanism 4 includes a clamping cylinder 401 and a vacuum chuck 402, an output end of the clamping cylinder 401 is connected with a hollow connecting screw 403, and the hollow connecting screw 403 and the vacuum chuck 402 are connected through a spring. When embracing the work of pressing from both sides cylinder 401, the spring between vacuum chuck 402 and the cavity connecting screw 403 is stretched and is realized separation between them, tightly presses vacuum chuck 402 on transporting the work piece, realizes the centre gripping, when embracing clamp cylinder 401 during inoperative, tensile spring is in elastic recovery's the lower of ordering about for vacuum chuck 402 drops and contacts with cavity connecting screw 403 from transporting the work piece.

The hollow connecting screw 403 can be snapped onto the mounting frame 2. As shown in fig. 2, the hollow connecting screw 403 is provided with a slot, and as shown in fig. 1, the mounting frame 2 is partially clamped in the slot.

In a possible embodiment, in order to facilitate installation and detachment, the hollow connecting screw 403 may be formed by connecting a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod may be connected by a screw thread, and a clamping groove may be disposed at a joint formed by connecting the first connecting rod or the second connecting rod or both, or suitably, at a joint formed by connecting the first connecting rod and the second connecting rod.

In a possible embodiment, the hollow connecting screw 403 may be composed of a first connecting rod, a second connecting rod and a connecting member, the connecting member is provided with a slot, and the first connecting rod and the second connecting rod are connected by a screw thread. In order not to affect the area of the inner circle of each cross section inside the hollow connecting screw 403, the locking groove may be formed by two rings sleeved outside the hollow connecting screw 403 and fixedly connected with the hollow connecting screw 403 and a region between the two rings, and the rings may be hexagonal nuts.

As shown in fig. 6, each of the displaceable shielding mechanisms 3 includes a jacking structure, a swivel structure, and a lifting structure. The jacking structure is used for driving the lifting structure to realize vertical linear motion, the jacking structure can be directly or indirectly connected with the lifting structure, and the jacking structure can be a jacking cylinder 302. The convolution structure is used for driving the lifting structure to realize circular motion, the convolution structure can be directly or indirectly connected with the lifting structure, and the convolution structure can be a convolution cylinder 301. The bottom surface contact of lifting structure and box just applys ascending power to the box and reduces fixture 4 applied force in order to realize lifting to the box, avoids the plane degree and the straightness that hangs down of box to change and influences subsequent use. The lifting structure may be partially or fully in contact with the bottom surface of the tank during lifting, suitably partially in contact.

As shown in fig. 6, the lifting structure may include a pneumatic actuator 303, a movable plate 304, and a lifting assembly fixedly connected in sequence, the lifting assembly is connected to a linear bearing of the rotary cylinder 301 to realize a rotation function of the lifting assembly, and the jacking structure is fixedly connected to the movable plate 304; the pressure generated by the gas released by the convolution structure acts on the pneumatic actuator 303, the pneumatic actuator 303 pushes the movable plate 304 to make a circular motion, and the movable plate 304 drives the lifting assembly to make a circular motion.

As shown in fig. 6, the lifting assembly may be an integrally formed rod 305 with a lifting portion, and may also include the rod 305 and a pad 306 sleeved on the rod 305, and may also include the rod 305 and the pad 306 connected to each other. It should be noted that, the sleeving may be performed such that the rod 305 penetrates the whole pad 306 or may partially penetrate the pad 306, and after the sleeving, the rod 305 and the pad 306 may be fixedly connected by an adhesive, so that the pad 306 and the rod 305 move in the same manner. The shape of the lift and pad 306 may be L-shaped or O-shaped, among other shapes that enable lift. The shape of the rod 305 may be a straight line at one end and an L-shape or O-shape at the other end, as well as other shapes that can be lifted.

For example, as shown in fig. 6, the lifting assembly includes a rod 305 and a pad 306, the rod 305 and the pad 306 are both L-shaped, and the pad 306 is sleeved outside the rod 305. The pad 306 may be made of a soft material such as, but not limited to, foam and soft rubber.

As shown in fig. 4, the mounting frame 2 and the supporting frame 1 may be welded or connected by other methods, such as: but is not limited to this. The protective movable plate 304 may be mounted on a supporting plate, one end of the supporting plate is connected to the frame of the supporting frame 1 and the other end of the supporting plate is connected to the mounting frame 2, where the connection may be a bolt connection or a welding connection.

The working principle of the clasping system provided by the invention is described by taking a thin-wall slender precise heavy-load box body commonly used in the clamping nuclear industry as an example.

As shown in fig. 4, before clamping the box, the rotary cylinder 301 is started, the rotary cylinder 301 drives the movable plate 304 to rotate, the movable plate 304 drives the rod 305 to rotate, and the rod 305 drives the liner 306 to rotate, so that the lifting portion of the liner 306 is disposed along the length direction of the mounting rack 2; moving the clamping device and placing the box body in a groove formed by the clamping device; starting the clamping cylinder 401 to enable the vacuum chuck 402 to be tightly attached to the surface of the box body to realize clamping; starting a jacking cylinder 302, driving a rotary cylinder 301, a pneumatic actuator 303, a movable plate 304, a rod body 305 and a liner 306 to be integrally and linearly applied in the vertical direction, and specifically moving downwards to drive the liner 306 to move to the lateral lower part of the box body; starting a rotary cylinder 301, and driving a liner 306 to be positioned right below a box body; and starting the jacking cylinder 302 to drive the liner 306 to move upwards and contact with the bottom surface of the box body to realize lifting.

From the above, in the invention, the clamping function is realized through the clamping mechanism 4, and the lifting function is realized through the variable position protection mechanism 3, wherein the jacking structure in the variable position protection mechanism 3 moves linearly up and down to be attached to the bottom of the box body, and the convolution structure in the variable position protection mechanism 3 moves circularly to realize that the part attached to the bottom of the box body does not influence the clamping of the clamping mechanism 4 on the box body, namely the box body cannot be influenced to smoothly enter the groove formed by the surrounding of the three mounting frames 2; by adopting the vacuum chuck 402, the acting force can be dispersed, and the influence on the planeness and the verticality can be avoided; the liner 306 is made of soft materials, so that the situation that the liner 306 is too hard and extrudes the bottom surface of the box body under the action of the self gravity of the box body to cause the deformation of the box body and further influence the planeness and the verticality of the box body is avoided.

In one possible implementation, as shown in fig. 6, the rod body 305 may be made of stainless steel or iron-aluminum alloy, but is not limited thereto.

In one possible implementation, as shown in fig. 5, the vacuum chuck 402 may be made of elastic rubber, but is not limited thereto.

In a possible implementation manner, as shown in fig. 5, the bottom of the vacuum chuck 402 may be provided with a connecting ring with an external thread, the connecting ring is connected with the hollow connecting screw 403 through a nut, and the connecting ring is tightly connected with the bottom of the vacuum chuck 402 to realize a sealing function due to the elasticity of the vacuum chuck 402.

In one possible implementation, as shown in FIG. 5, the vacuum chuck 402 may be flared to increase the suction area and further distribute the force.

In a possible implementation manner, the bottom of the vacuum chuck 402 may be provided with a connecting ring with an internal thread, one end of the hollow connecting screw 403 connected to the connecting ring is provided with an external thread, where the internal thread and the external thread are used in cooperation, so that the hollow connecting screw 403 can be connected to the connecting ring by screwing the hollow connecting screw 403 into the connecting ring, and the connecting ring is tightly connected to the bottom of the vacuum chuck 402 to achieve a sealing effect due to the elasticity of the vacuum chuck 402.

In a possible implementation manner, the bottom of the vacuum chuck 402 may be provided with a connecting ring with an external thread, one end of the hollow connecting screw 403 connected with the connecting ring is provided with an internal thread, the internal thread and the external thread are used in cooperation, so that the connecting ring can be connected with the hollow connecting screw 403 by screwing the connecting ring into the hollow connecting screw 403, and the bottom of the vacuum chuck 402 is tightly connected with the connecting ring to realize a sealing effect due to the elasticity of the vacuum chuck 402.

From the above, the clamping system disclosed by the invention can be applied to the fields with high requirements on the transported objects, such as: nuclear industry, shipping, aerospace, machinery manufacturing, petrochemical industry, and the like.

In the embodiment of the invention, the types of the cylinders are as follows: the jacking cylinder 302: yadecke WGJ06-20-40-Y-2; the clamping cylinder 401: alder TR25X55; the rotation cylinder 301: san Hans Automation Co., ltd, no. Sn RT007DA.

In practical applications, as shown in fig. 1, a corresponding controller 10 may be provided to control each component according to the operation requirement.

Therefore, the multi-degree-of-freedom manipulator disclosed by the embodiment can simultaneously meet the requirements of the station platforms with different widths and heights and the adjustment of multiple degrees of freedom, realize multi-station all-dimensional cross feeding and discharging, achieve the purposes of safety, stability, reliability and convenience in transportation, and reduce the risk of damage to thin-wall long and thin precise heavy-load boxes in the transportation process. The multi-degree-of-freedom mechanical arm disclosed by the invention is applied to the development process of fuel elements and can also be widely applied to the transfer process similar to the development of nuclear fuel elements. Meanwhile, the device can be popularized and applied to all-around and multi-level loading and unloading and automatic transfer of precise parts in relevant fields such as aerospace, heavy machinery, precise machining and the like, and has wide application market.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides a multi freedom manipulator for thin wall is long and thin accurate heavily loaded box is transported which characterized in that, includes universal traveling system, the last automobile body that is provided with of universal traveling system, be provided with operating system on the automobile body, the operating system transmission is connected with the lifter plate, be provided with the lateral shifting system on the lifter plate, lateral shifting system fixedly connected with embraces the clamp system.

2. The multi-degree-of-freedom manipulator as claimed in claim 1, comprising a support frame, wherein at least two mounting frames are arranged on the support frame, and each mounting frame is provided with a plurality of clamping mechanisms; the support frame is also provided with a plurality of position-variable protection mechanisms;

each variable position protection mechanism comprises a jacking structure, a rotary structure and a lifting structure, wherein the jacking structure and the rotary structure are directly or indirectly connected with the lifting structure, and the lifting structure is arranged on the supporting frame.

3. The multi-degree-of-freedom manipulator of claim 2, wherein the jacking structure comprises a jacking cylinder, the swivel structure comprises a rotary cylinder, and both the jacking cylinder and the rotary cylinder are directly or indirectly connected with the jacking structure.

4. The multi-degree-of-freedom manipulator according to claim 2, wherein the lifting structure comprises a pneumatic actuator, a movable plate and a connecting rod which are fixedly connected in sequence, the pneumatic actuator is fixedly connected with the convolution structure, and the jacking structure is fixedly connected with the movable plate; the connecting rod is sleeved with a gasket, and the gasket is used for lifting the thin-wall thin-long precise heavy-load box body.

5. The multi-degree-of-freedom manipulator of claim 2, wherein the number of the mounting frames is three, two of the mounting frames are arranged in parallel with the variable position protection mechanism, and the remaining one of the mounting frames is arranged perpendicular to the variable position protection mechanism.

6. The multi-degree-of-freedom manipulator of claim 2, wherein the plurality of gripping mechanisms on each mounting frame are arranged in at least one row.

7. The multi-degree-of-freedom manipulator according to claim 2, wherein each clamping mechanism comprises a clamping cylinder, and a vacuum chuck is connected to the clamping cylinder; preferably, embrace and press from both sides the cylinder with be provided with cavity connecting screw between the vacuum chuck, the one end of cavity connecting screw with embrace the end intercommunication of giving vent to anger that presss from both sides the cylinder, just the other end of cavity connecting screw pass through the spring with vacuum chuck connects, cavity connecting screw card is located on the mounting bracket.

8. The multi-degree-of-freedom manipulator according to any one of claims 1-7, wherein the universal traveling system comprises a connecting table, and at least two traveling mechanisms and at least two fine adjustment mechanisms are arranged on the bottom surface of the connecting table; the fine adjustment mechanism comprises a universal suspension adapter and a first driving suspension member detachably connected with the connecting table, the upper end of the universal suspension adapter is detachably connected with the first driving suspension member, and the universal suspension adapter is hinged with a universal wheel; preferably, the running mechanism comprises a second driving suspension member arranged on the bottom surface of the connecting table, the second driving suspension member is detachably connected with a universal roller, and a rotary servo motor is detachably connected to a wheel shaft of the universal roller.

9. The multi-degree-of-freedom manipulator according to any one of claims 1 to 7, wherein the lifting system comprises a ball screw module, a first coupler and a lifting servo motor, which are longitudinally arranged on the vehicle body and are sequentially in transmission connection, and the ball screw module is in threaded connection with the lifting plate; preferably, the ball screw module, the first coupler and the lifting servo motor are connected through a compression member.

10. The multi-degree-of-freedom manipulator according to any one of claims 1 to 7, wherein the lateral movement system includes a motor connection plate, and a lateral servo motor, a second coupler, a ball screw, and a gripper connection plate, which are all disposed on the lifting plate and fixedly connected in sequence, and the motor connection plate is detachably connected to both the lifting plate and the lateral servo motor; the lifting plate is also provided with a connecting member which is detachably connected with the hand grip connecting plate; preferably, the multi-degree-of-freedom manipulator further comprises a controller for controlling the actions of all the components; preferably, the transverse servo motor, the second coupling and the ball screw are connected by a pressing component; preferably, the ball screw and the gripper connecting plate are detachably connected.

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