CN115741775A - Accurate positioning and mounting device for block in small container - Google Patents
Accurate positioning and mounting device for block in small container Download PDFInfo
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- CN115741775A CN115741775A CN202211189966.5A CN202211189966A CN115741775A CN 115741775 A CN115741775 A CN 115741775A CN 202211189966 A CN202211189966 A CN 202211189966A CN 115741775 A CN115741775 A CN 115741775A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention relates to a block body accurate positioning and mounting device in a small container, which comprises: the device comprises a motion module, a rack, a three-way moving module, a supporting rod, a sucker module and a protective frame, wherein the motion module comprises a rolling wheel arranged below the rack and a braking unit matched with the rolling wheel; the three-way moving module is arranged on the rack, the output end of the three-way moving module is fixedly connected with a support rod, the support rod is connected with the sucker module, and the sucker module is used for adsorbing the block body; the protective frame comprises a hydraulic part, a top disc and at least two grabbing rods, the output end of the hydraulic part is fixedly connected with the top disc, one end of each grabbing rod is hinged to the top disc, and the other end of each grabbing rod can be wrapped around the sucker module and the block body. The invention uses the three-way moving module to form a safe and reliable mechanical carrying arm by matching with the movement of the rack, thereby replacing manual operation and solving the problem that the block body in the small container can not be installed or positioned accurately; adopt the bearer bar to protect sucker module and block simultaneously, avoid removing the in-process block and drop and cause the potential safety hazard.
Description
Technical Field
The invention relates to the field of automation equipment, in particular to a device for accurately positioning and mounting a block in a small container.
Background
At present, in some special industrial projects, certain toxic or high-temperature blocks are required to be placed in a small container to serve as a catalytic or production raw material, and the narrow container causes the problems of difficult installation or low installation efficiency and quality due to space limitation. For example, graphite blocks are ideal neutron moderating materials in nuclear reactors and have the advantage of low cost. However, for a test reactor of a small nuclear reactor vessel, because the test reactor is small, it is very difficult for a person to enter a small space enclosed around to install the test reactor, and the installation accuracy of the reactor is very high for graphite blocks, and any small deviation often causes serious consequences. Therefore, how to reduce the difficulty of installing the blocks in the small container and improve the positioning and installing accuracy of the blocks in the small container is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention provides a device for accurately positioning and mounting a block in a small container, which aims to solve the technical problem.
In order to solve the above technical problems, the present invention provides an apparatus for precisely positioning and mounting a block in a small container, comprising: the device comprises a motion module, a rack, a three-way moving module, a supporting rod, a sucker module and a protection frame.
The motion module comprises rolling wheels arranged below the rack and a braking unit matched with the rolling wheels; the three-way moving module is arranged on the rack, the output end of the three-way moving module is fixedly connected with the supporting rod, the supporting rod is connected with the sucker module, and the sucker module is used for adsorbing a block;
the protective frame comprises a hydraulic part, a top plate and at least two grabbing rods, the output end of the hydraulic part is fixedly connected with the top plate, one end of each grabbing rod is hinged to the top plate, and the other end of each grabbing rod can be wrapped around the sucker module and the block body.
Preferably, the braking unit comprises a rotating disk, a threaded propelling rod, a frame-shaped groove plate, a sleeve, a rubber turning block, a rubber propelling rod, a braking block and a braking wheel, wherein the rolling wheel rotates around an axial wheel shaft, and the braking wheel is arranged on the outer side of the rolling wheel; the frame-shaped groove plates are erected at two ends of the wheel shaft, the upper end of the threaded propelling rod is fixedly connected with the rotating disc, and the lower end of the threaded propelling rod sequentially penetrates through the frame-shaped groove plates and the sleeve; the sleeve is of a hollow structure, and the lower end of the threaded pushing rod penetrates through the top of the sleeve and is fixedly connected with the rubber rotating block in the hollow structure; the rubber rotating block is in threaded connection with the rubber pushing rod, the rubber pushing rod is horizontally limited in the hollow structure of the sleeve, the lower end of the rubber pushing rod is fixedly connected with the brake block, and the position of the brake block corresponds to the position of the brake wheel.
Preferably, the three-way moving module comprises a base, an X-direction assembly, a Y-direction assembly and a Z-direction assembly, the X-direction assembly comprises an X-direction motor, an X-direction rotating shaft and an X-direction sliding block, the Y-direction assembly comprises a Y-direction motor, a Y-direction rotating shaft and a Y-direction sliding block, the Z-direction assembly comprises a Z-direction motor, a Z-direction rotating shaft and a lifting block, the X-direction motor and the Y-direction motor are respectively mounted on the base, the Y-direction sliding block can slide along the length direction of the X-direction sliding block, the Z-direction motor can slide along the length direction of the Y-direction sliding block, and the Z-direction motor controls the lifting block to move along the Z direction through the Z-direction rotating shaft; the base is fixed on the rack, and the lifting block is fixedly connected with the supporting rod.
Preferably, the number of the X-direction assemblies is two, the two X-direction assemblies are arranged oppositely, and the two X-direction sliders in the two groups are respectively mounted on the X-direction rotating shaft in the other group.
Preferably, X is equipped with corresponding manual regulation unit respectively to pivot, Y to pivot and Z to the pivot, every manual regulation unit is including rotating wheel, rotatory screw rod and gear, rotate the wheel with rotatory screw rod is connected, rotatory screw rod with the gear rigid coupling, be equipped with on the outer circumference of gear with X is to the pivot, Y is to the pivot or the line that the external screw thread of Z to the pivot matches.
Preferably, a special locking piece is further arranged between the rotating wheel and the rotating screw rod, the special locking piece comprises a fixed plate, a sliding chute and two sliding plates, a first 1/2 circular arc and a second 1/2 circular arc are arranged on the fixed plate, a first 1/4 circular arc matched with the first 1/2 circular arc and a second 1/4 circular arc matched with the second 1/2 circular arc are arranged on each sliding plate, the two sliding plates can slide along the sliding chute, when the two sliding plates are spliced, the first 1/2 circular arc on the fixed plate and the two first 1/4 circular arcs on the two sliding plates are spliced into a first circular hole, the second 1/2 circular arc on the fixed plate and the two second 1/4 circular arcs on the two sliding plates are spliced into a second circular hole, threads are arranged in the first circular hole, and the inner diameter of the first circular hole is larger than the inner diameter of the second circular hole; the rotary screw rod comprises a polished rod matched with the second round hole and a threaded rod matched with the first round hole; when the polished rod is arranged in the second round hole, the gear is in contact with the rotating shaft, and when the threaded rod is arranged in the first round hole, the gear is separated from the rotating shaft.
Preferably, two of the sliding plates of the special locking piece are respectively provided with a locking button, and the two locking buttons can be fixed by a fixed lock; the fixed lock is hinged with one of the lock buttons and can be buckled with the other lock button.
Preferably, the supporting rod is connected with the sucking disc module through a connecting frame, the connecting frame comprises an outer frame and an omega-shaped steel sheet, the omega-shaped steel sheet comprises an elastic ring in the middle and cylindrical rods on two sides, one of the cylindrical rods is fixedly connected with the outer frame through a fixing block, and the other cylindrical rod extends out of the outer frame; and a round hole for the cylindrical rod to be inserted is formed in the bottom of the supporting rod.
Preferably, the sucker module comprises a connecting rod, a shell, a rubber pad and a triggering unit, the connecting rod, the shell and the rubber pad are sequentially connected, the connecting rod is fixedly connected with the top plate, and the rubber pad corresponds to the block body; the trigger unit is used for opening and closing the adsorption function of the rubber pad and comprises a lifting key, a spring, a ring sleeve and a T-shaped wrench, continuous through holes are formed in the shell and the rubber pad, the lifting key is limited in the through holes through the spring, and the top end of the lifting key penetrates out of the shell and is hinged with one end of the T-shaped wrench; the ring sleeve is arranged on the shell, and the other end of the T-shaped wrench penetrates out of the ring sleeve.
Preferably, the support rod is further provided with an illumination module and an amplification monitoring module.
Compared with the prior art, the device for accurately positioning and mounting the block in the small container has the advantages that:
1. according to the device provided by the invention, the safe and reliable mechanical carrying arm is formed by the three-way moving module and the movement of the rack, so that manual operation is replaced, and the problem that toxic and harmful blocks in a small container cannot be installed or cannot be accurately positioned is solved;
2. the protective frame is added to protect the sucker module and the block body, so that damage to surrounding personnel caused by falling of certain toxic or high-temperature blocks in the carrying process is avoided, and the safety is high;
3. according to the device, due to the fact that the manual accurate adjusting mechanism is additionally arranged, the millimeter-scale accurate positioning can be achieved by matching the lighting module and the amplification monitoring module, and the installation quality is further improved;
4. according to the device, an electric mode is adopted in the three-way moving module, so that labor force can be saved;
5. the invention also has the advantages of simple operation, safety, reliability, high use efficiency and the like.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus for accurately positioning and mounting blocks in small and medium-sized containers according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a motion module according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a brake unit according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a three-way moving module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a manual adjustment unit according to an embodiment of the present invention;
figures 6a and 6b are schematic views of a special lock according to an embodiment of the present invention;
FIG. 7a is a schematic view of the structure of the bottom of a strut in accordance with one embodiment of the present invention;
FIG. 7b is a schematic structural diagram of a connection frame according to an embodiment of the present invention;
fig. 8a and 8b are schematic structural views of a protective frame according to an embodiment of the present invention, wherein fig. 8a is an opened state of a grab bar in a standby state, and fig. 8b is a closed state of the grab bar in cargo handling;
FIGS. 9a and 9b are schematic structural views of a chuck module according to an embodiment of the present invention, wherein FIG. 9a is a front view illustrating a release state, and FIG. 9b is a side view illustrating an absorption state;
fig. 10 is a schematic view illustrating the installation of the lighting module and the amplification monitoring module according to an embodiment of the present invention.
In the figure: 001-bulk; 100-motion module, 110-rolling wheel, 111-wheel shaft, 120-braking unit, 121-rotating disc, 122-threaded propelling rod, 123-frame grooved plate, 124-sleeve, 125-rubber rotating block, 126-rubber propelling rod, 127-braking block, 128-braking wheel, 200-bench, 300-three-direction moving module, 310-base, 320-X direction component, 321-X direction motor, 322-X direction rotating shaft, 323-X direction sliding block, 324-X direction shaft seat, 330-Y direction component, 331-Y direction motor, 332-Y direction rotating shaft, 333-Y direction sliding block, 334-Y direction shaft seat, 335-Y direction sliding seat, 336-connecting rod, 340-Z direction component, 341-Z direction motor, 342-Z direction rotating shaft 343-lifting block, 344-Z-direction sliding seat, 345-C-type hoop, 350-manual adjusting unit, 351-rotating wheel, 352-rotating screw rod, 353-gear, 354-polished rod, 355-threaded rod, 360-special locking piece, 361-fixing plate, 362-sliding groove, 363-sliding plate, 364-first round hole, 365-second round hole, 366-locking button, 367-fixing lock, 371-first 1/2 circular arc, 372-second 1/2 circular arc, 373-first 1/4 circular arc, 374-second 1/4 circular arc, 400-supporting rod, 410-connecting frame, 401-round hole, 411-outer frame, 412-omega-shaped steel sheet, 413-cylindrical rod, 414-fixing block, 420-first sub-rod, 430-a second branch rod, 500-a sucker module, 510-a connecting rod, 520-a shell, 530-a rubber pad, 540-a trigger unit, 541-a lifting key, 542-a spring, 543-a ring, 544-a T-type wrench, 600-a protective frame, 610-a hydraulic part, 620-a top plate, 630-a grab rod, 640-a short rod, 650-a push rod, 700-a lighting module, 710-a telescopic part and 800-an amplification monitoring module.
Detailed Description
In order to more thoroughly express the technical scheme of the invention, the following specific examples are listed to demonstrate the technical effect; it is emphasized that these examples are intended to illustrate the invention and are not to be construed as limiting the scope of the invention.
The invention provides a device for accurately positioning and mounting a block in a small container, which comprises the following components as shown in figures 1 to 10: motion module 100, gantry 200, three-way movement module 300, pole 400, suction cup module 500, and protective frame 600.
The motion module 100 comprises rolling wheels 110 installed below the platform 200 and a brake unit 120 matched with the rolling wheels 110, and the motion module 100 can drive the platform 200 to move and is fixed after being positioned; the three-way moving module 300 is installed on the gantry 200, the output end of the three-way moving module 300 is fixedly connected to the supporting rod 400, and the three-way moving module 300 can accurately move the supporting rod 400 to a designated position in a three-dimensional space; the supporting rod 400 is connected with the sucker module 500, and the sucker module 500 is used for adsorbing a block 001 to complete the adsorption displacement of the block 001.
The protection frame 600 comprises a hydraulic part 610, a top disc 620 and at least two grabbing rods 630, the output end of the hydraulic part 610 is fixedly connected with the top disc 620, one end of each grabbing rod 630 is hinged to the top disc 620, and the other end of each grabbing rod can be wrapped around the sucker module 500 and the block 001.
According to the device provided by the invention, the three-way moving module 300 is utilized to form a safe and reliable mechanical carrying arm in cooperation with the movement of the rack 200, so that manual operation is replaced, and the problem that the block in the small container cannot be installed or cannot be accurately positioned is solved; meanwhile, the protective frame 600 is additionally arranged, the sucker module 500 and the block body 001 are protected, the phenomenon that certain toxic or high-temperature blocks fall behind in the carrying process to hurt surrounding personnel is avoided, and the safety is high.
In some embodiments, referring to fig. 2 and 3 with emphasis, the braking unit 120 includes a rotating disc 121, a threaded pushing rod 122, a frame-type slotted plate 123, a sleeve 124, a rubber rotating block 125, a rubber pushing rod 126, a braking block 127, and a braking wheel 128, wherein the rolling wheel 110 rotates around an axial wheel axle 111 to realize forward and backward movements; the brake wheel 128 is mounted on the outer side of the rolling wheel 110 to perform braking. The frame-shaped grooved plates 123 are erected at two ends of the wheel shaft 111, the upper ends of the threaded pushing rods 122 are fixedly connected with the rotating disc 121, and the lower ends of the threaded pushing rods sequentially penetrate through the frame-shaped grooved plates 123 and the sleeves 124; the sleeve 124 is a hollow structure, the lower end of the threaded pushing rod 122 passes through the top of the sleeve 124, and is fixedly connected with the rubber rotating block 125 in the hollow structure of the sleeve 124; the rubber rotating block 125 is in threaded connection with the rubber pushing rod 126, the rubber pushing rod 126 is horizontally limited in a hollow structure in the sleeve 124, for example, the hollow structure is a rectangular column, and the rubber pushing rod 126 is a column matched with the hollow structure, so that after the rubber pushing rod 126 extends into the hollow structure, the rubber pushing rod 126 and the hollow structure cannot realize horizontal displacement and relative rotation; the lower end of the rubber push rod 126 is fixedly connected with the brake block 127, and the position of the brake block 127 corresponds to the position of the brake wheel 128. In some embodiments, brake shoes 127 may be C-shaped to match the outer diameter profile of brake wheel 128. When the screw pushing rod 122 descends slowly under the swing of the rotating disc 121, the rubber rotating block 125 connected to the lower part of the screw pushing rod is embedded into the rubber pushing rod 126, and due to the hollow structure inside the sleeve 124 and the structural limitation of the rubber pushing rod 126 (the cross section is square), the rubber pushing rod 126 cannot rotate inside the sleeve 124 and only can move up and down, so that the lifting of the lower brake block 127 can be realized, and then the braking can be realized through the contact friction between the brake block 127 and the brake wheel 128.
In some embodiments, the threaded rod 122 can push the hard rubber brake pad 127 a distance of at least 5cm and bring the brake pad 127 to the position of the brake wheel 128, thereby acting as a brake or a brake. In some embodiments, the rotating disc 121 may be manually propelled, but is not limited thereto, and the propelling structure may be hydraulic, pneumatic or electric, as long as the rubber propelling rod 126 can freely extend and retract in the sleeve 124.
In some embodiments, with continued reference to FIG. 1, the gantry 100 may be a table-like structure with four legs welded to the frame-shaped channel plate 123. The supporting feet can be made of different types of section steel, the weight of the device and the sum of the maximum weight of the to-be-carried piece can be 1.5 times (about 100 kg), in some embodiments, the supporting feet can be made of channel steel, C-shaped steel, I-shaped steel or the like, and the supporting feet are welded and fixed with the rack 100. In some embodiments, the gantry 100 may be made using a steel plate having a thickness of not less than 3 mm.
In some embodiments, please refer to fig. 4 with emphasis, the three-way moving module 300 includes a base 310, an X-directional component 320, a Y-directional component 330, and a Z-directional component 340, the X-directional component 320 includes an X-directional motor 321, an X-directional rotating shaft 322, and an X-directional slider 323, the Y-directional component 330 includes a Y-directional motor 331, a Y-directional rotating shaft 332, and a Y-directional slider 333, the Z-directional component 340 includes a Z-directional motor 341, a Z-directional rotating shaft 342, and a lifting block 343, the X-directional motor 321 and the Y-directional motor 331 are respectively mounted on the base 310, the Y-directional slider 333 is slidable along a length direction of the X-directional slider 323, the Z-directional motor 341 is slidable along a length direction of the Y-directional slider 333, and the Z-directional motor 341 controls the lifting block 343 (i.e., an output end of the three-way moving module 200) to move along a Z direction through the Z-directional rotating shaft 342; the base 310 is fixed on the platform 200, and the lifting block 343 is fixedly connected with the rod 400, so as to adjust the three-dimensional position of the rod 400.
In some embodiments, with continued reference to FIG. 4, the X-axis seat 324 provides support for the other end of the X-axis shaft 322; the Y-axis seat 334 provides support for the other end of the Y-axis shaft 332, so that the motion of the slider driven by each axis shaft is more stable. The Y-direction slide block 333 slides in the slide rail of the X-direction slide block 323 through a Y-direction slide seat 335 at the bottom; the middle of the Y-direction sliding block 333 is also of a hollow structure, the length of the sliding rail in the Y-direction sliding block is at least 100cm, the width of the sliding rail of the X-direction sliding block 323 and the width of the sliding rail of the Y-direction sliding block 333 can be set to be 3-5 cm, and the Y-direction sliding block 335 and the Z-direction sliding block 344 in the Y-direction sliding block can be installed smoothly and slide in the hollow sliding rail. The Z-direction sliding seat 344 is provided with a C-shaped hoop 345 and a Z-direction motor 341, a Z-direction rotating shaft 342 of the Z-direction motor 341 extends out of the C-shaped hoop 345 to be connected with a lifting block 343, and the C-shaped hoop 345 can play a role in supporting and guiding. Through the different rotation of Z to motor 341, realize that lift block 343 goes up and down in the vertical direction, it should be noted that, lift block 343 should be able to keep at least 200cm to go up and down, and X to motor 321, Y to motor 331 also can satisfy corotation and reversal to this realizes the removal of each direction different positions.
In some embodiments, with continued reference to fig. 4, the X-direction assemblies 320 are two groups, two groups of the X-direction assemblies 320 are disposed oppositely, one end of each of the two X-direction sliders 323 away from the X-direction rotating shaft 322 is respectively mounted on the X-direction rotating shaft 322 in the other group, that is, the X-direction motor 321, the X-direction rotating shaft 322, and the X-direction shaft seat 324 in the two groups of the X-direction assemblies 320 are arranged in opposite directions, and two ends of each of the two X-direction sliders 323 are respectively mounted on the two X-direction rotating shafts 322, so that the two X-direction sliders 323 are mounted below the Y-direction slider 333, and the Y-direction slider 333 is fixedly connected to one of the X-direction sliders 323 through one Y-direction sliding seat 335, which can achieve the supporting and guiding effects of the two X-direction sliders 323 on the Y-direction slider 333, and can adjust the positions of the X-direction motor 321 and then the two X-direction sliders 323 according to the position of the Z-direction assembly 340 on the Y-direction slider 333, thereby better providing support for the entire three-direction moving module 300 and ensuring the stability of the apparatus. In some embodiments, the distance between the two X-direction sliders 323 is at least 100cm, and the distance between the two X-direction rotation shafts 322 is at least 120cm. In some embodiments, the Y-motor 331 and the Y-shaft 332 are mounted on the same base bar, which is connected to a side of one of the X-sliders 323 by a link 336.
In the working process of the three-way moving module 300, after the X-direction and the Y-direction of the Z-direction component 340 are moved to the right position, since the two sides of the lifting block 343 are embedded into the slide rails and the middle of the lifting block 343 is provided with threads and is installed in the threaded rotating shaft (Z-direction rotating shaft 342) of the Z-direction motor 341 (of course, the X-direction rotating shaft, the Y-direction rotating shaft and the Z- direction rotating shafts 322, 332 and 342 are all provided with threads), when the Z-direction motor 341 rotates in different directions, since the lifting block 343 is embedded into the slide rails and the horizontal movement is limited, the lifting block can only lift in the vertical direction, and the movement of the lifting block 343 in different positions in each direction is realized by combining the movement of the X-direction component 320 and the Y-direction component 330.
In some embodiments, please refer to fig. 5, the X-direction rotating shaft 322, the Y-direction rotating shaft 332, and the Z-direction rotating shaft 342 are respectively provided with corresponding manual adjusting units 350, and when the precision requirement on the rotating shaft in each direction is high, for example, millimeter-scale precision is required, the precision of the rotating shaft in each direction can be further adjusted manually by using the manual adjusting units 350, so as to avoid the situation that the precision is difficult to control due to a little or insufficient rotation of the motors (the X-direction motor 321, the Y-direction motor 331, or the Z-direction motor 341). Specifically, each manual adjustment unit 350 may include a rotating wheel 351, a rotating screw 352, and a gear 353, where the rotating wheel 351 is connected to the rotating screw 352, the rotating screw 352 is fixedly connected to the gear 353, and a thread matching with the external thread of the X-direction rotating shaft 322, the Y-direction rotating shaft 332, or the Z-direction rotating shaft 342 is disposed on an outer circumference of the gear 353. Taking the X-direction rotating shaft 322 in fig. 5 as an example, after the position of the lifting block 343 is adjusted by using the X-direction motor 321, the X-direction motor 321 is turned off, the gear 353 is driven to rotate by the rotating wheel 351, and the rotating motion of the rotating wheel 351 is converted into the rotating motion of the X-direction rotating shaft 322 by using the matching between the grains on the gear 353 and the external threads of the X-direction rotating shaft 322, so that the position of the Y-direction sliding block 333 on the X-direction rotating shaft 322 is accurately adjusted. The adjustment of the Y-axis shaft 332 and the Z-axis shaft 342 by the manual adjustment unit 350 is the same as the above principle, and is not described herein.
Preferably, please refer to fig. 6a and 6b with more emphasis, and with reference to fig. 5, a dedicated locking element 360 is further disposed between the rotating wheel 351 and the rotating screw 352, the dedicated locking element 360 includes a fixed plate 361, a sliding slot 362 and two sliding plates 363, a first 1/2 circular arc 371 and a second 1/2 circular arc 372 are disposed on the fixed plate 361, each sliding plate 363 is provided with a first 1/4 circular arc 373 matching with the first 1/2 circular arc 371 and a second 1/4 circular arc 374 matching with the second 1/2 circular arc 372, the two sliding plates 363 are capable of sliding along the sliding slot 362, when the two sliding plates 363 are combined, the first 1/2 circular arc 371 on the fixed plate 361 and the two first 1/4 circular arcs 373 on the two sliding plates 363 are combined into a first circular hole 364, the second 1/2 circular arc 372 on the fixed plate 361 and the two second 1/4 circular arcs on the two sliding plates 363 are combined into a second circular hole 365, the first circular hole 364 is provided with threads, and an inner diameter of the first circular hole 364 is larger than an inner diameter of the second circular hole 364, for example, which is 3.5 cm larger than an inner diameter of the second circular hole 365; the rotating screw 352 comprises a polish rod 354 matching the second circular hole 365, and a threaded rod 355 matching the first circular hole 364; when the polish rod 354 is disposed in the second circular hole 365, the gear 353 is in contact with the rotating shaft (the X-direction rotating shaft 322, the Y-direction rotating shaft 332 or the Z-direction rotating shaft 342), and when the threaded rod 355 is disposed in the first circular hole 364, the gear 353 is disengaged from the rotating shaft (the X-direction rotating shaft 322, the Y-direction rotating shaft 332 or the Z-direction rotating shaft 342).
In some embodiments, with continued reference to fig. 6a and 6b, two of the sliding plates 363 of the dedicated locking element 360 are further provided with locking buttons 366, and the two locking buttons 366 can be fixed by a fixing lock 367, and when the two sliding plates 363 are assembled, the two sliding plates 363 can be fixed by the fixing lock 367, so as to prevent the sliding plates 363 from shifting when the rotating screw 352 rotates. In some embodiments, the fixed lock 367 is hinged to one of the lock knobs 366 and can be buckled with the other lock knob 366, so that the fixed lock 367 is prevented from falling or being lost.
With continued reference to fig. 6a and 6b, and with reference to fig. 5, the principle of operation of the special lock 360 is as follows: similarly, taking the X-direction rotating shaft 322 in fig. 5 as an example, when manual fine adjustment is needed, stopping the rotation of the X-direction motor 321, sliding the two sliding plates 363 to both sides, pushing the threaded rod 355 into the first 1/2 arc 371, then pushing the two sliding plates 363 inward, so that the two sliding plates 363 are combined, at this time, the threaded rod 355 is engaged in the first circular hole 364, the rotating wheel 351 can drive the rotating screw 352 to rotate in the first circular hole 364, and then adjusting the relative position of the gear 353 and the X-direction rotating shaft 322, so that the gear 353 reaches 0.5cm above the position of the X-direction rotating shaft 322 (at this time, the texture of the gear 353 corresponds to the external thread of the X-direction rotating shaft 322, but the fine distance is kept from both contacting), at this time, the polished rod 354 of the rotating screw 352 reaches the first circular hole 364, and the distance between the gear 353 and the X-direction rotating shaft 322 is adjusted; after the steps are completed, the fixing lock 367 is opened, the sliding plate 363 is moved towards two sides again, the polished rod 354 is moved into the second 1/2 arc 372, then the sliding plate 363 is spliced and locked, at the moment, the gear 353 is in contact with the X-direction rotating shaft 322, and therefore the gear 353 is driven to rotate through the rotating wheel 351, the gear 353 is driven to rotate, the X-direction rotating shaft 322 is driven to rotate slightly under the condition that the gear 353 is not pushed, and fine adjustment is achieved. After the fine adjustment is completed, the resetting of the rotary screw 352 can be realized by performing the inversion operation in the above steps (so that the gear 353 does not contact the X-direction rotating shaft 322). The adjustment of the Y-axis shaft 332 and the Z-axis shaft 342 is also the same as the above principle, and will not be described herein.
In some embodiments, please refer to fig. 7a and 7b with emphasis, the supporting rod 400 is connected to the suction cup module 500 through a connecting frame 410, the connecting frame 410 includes an outer frame 411 and an Ω -shaped steel sheet 412, the Ω -shaped steel sheet 412 includes an elastic ring in the middle and cylindrical rods 413 on two sides, one of the cylindrical rods 413 is fixed to the outer frame 411 through a fixing block 414, and the other cylindrical rod 413 extends out of the outer frame 411; the bottom of the supporting rod 400 is provided with a round hole 401 for inserting the cylindrical rod 413. During installation, the omega-shaped steel sheet 412 can be retracted into the connecting frame 410 by pressing the cylindrical rod 413 exposed outside the outer frame 411, and when the connecting frame 410 moves to a position corresponding to the circular hole 401 at the end of the supporting rod 400, the cylindrical rod 413 is popped out to the circular hole 401 matched with the cylindrical rod, so that the connecting frame 410 is connected with the supporting rod 400, and if the connecting frame is required to be taken down, the connecting frame utilizes the same principle, and the details are omitted here. In some embodiments, the number of the circular holes 401 may be multiple, for example, 3 to 5, and multiple circular holes 401 may be distributed along the Z direction, so that the circular holes 401 at suitable positions are selected to mount the connection frame 410 according to specific requirements.
In some embodiments, as shown in fig. 8a and 8b, in the protection frame 600, the hydraulic part 610 has a horizontal position, and a short rod 640 is respectively arranged at the front, the back, the left, and the right of the horizontal position, the upper portion of the short rod 640 is hinged with the hydraulic part 610, the lower end of the short rod is hinged with the grabbing rod 630, the grabbing rod 630 may be a C-shaped structure, the number of the grabbing rods 630 may be 4, and 4 grabbing rods 630 internally form an annular bolt around the end portion of the hydraulic part 610 (i.e., the top plate 620 is connected with the hydraulic part 610 through the push rod 650). The working principle of the protective frame 600 is that the push rod 650 is driven to move downwards by the jacking force of the hydraulic component 610, so that the disc-shaped top disc 620 at the end of the push rod 650 drives the grabbing rod 630 bolted with the disc-shaped top disc 620, the grabbing rod 630 is opened upwards by taking the end hinge point of the short rod 640 as the center, and otherwise, when the push rod 650 rises to the top, the grabbing rod 630 contracts around the end pivot point of the short rod 640. Therefore, when the sucker module 500 firmly sucks the block 001, the push rod 650 upwards drives the grabbing rods 630 to contract, a relatively closed shape is formed between the grabbing rods 630 to wrap and lift the sucker module 500 and the block 001, and it is worth noting that the grabbing rods 630 need to be wrapped with corrosion-resistant non-metallic materials, so that not only can the friction force be increased, but also the corrosion of the block 001 to the structure can be prevented; of course, corresponding to the high-temperature object blocks, the grabbing rod 630 can be coated with fireproof materials, and the service life of the grabbing rod is prolonged. Under the action of the various moving and auxiliary elements of the apparatus of the present invention, the block 001 reaches exactly about 5cm above the installation site, and the hydraulic unit 610 is operated to lower the push rod 650, thereby expanding the gripping bar 630 to facilitate the exact placement of the block 001.
In some embodiments, as shown in fig. 9a and 9b, the suction cup module 500 includes a connecting rod 510, a housing 520, a rubber pad 530, and a trigger unit 540, the connecting rod 510, the housing 520, and the rubber pad 530 are connected in sequence, the connecting rod 510 is fixedly connected to the top plate 620, and the rubber pad 530 corresponds to the block 001; the trigger unit 540 is used for opening and closing the adsorption function of the rubber pad 530, and includes a lifting key 541, a spring 542, a ring cover 543 and a T-shaped wrench 544, continuous through holes are provided in the housing 520 and the rubber pad 530, the lifting key 541 is limited in the through hole by the spring 542, and the top end of the lifting key penetrates through the housing 520 and is hinged with one end of the T-shaped wrench 544; the ring sleeve 543 is mounted on the housing 520, the other end of the T-wrench 544 penetrates out of the ring sleeve 543, and the bottom of the T-wrench 544 has a certain arc to realize rotation at a certain angle. The working principle of the T-shaped wrench 544 is that the T-shaped wrench 544 uses the ring sheath 543 as a fulcrum, the force-bearing end and the lifting key 541 of the T-shaped wrench 544 are located at two ends of the lever structure, respectively, the T-shaped wrench 544 can slide downward under the driving of manpower or a miniature hydraulic component, after sliding to a certain distance, the ring sheath 543 drives the T-shaped wrench 544 to rotate downward along a certain arc at the lower part under a continuous contraction force, the end of the T-shaped wrench 544 is bolted to the lifting key 541, so that the lifting key 541 can be driven to lift upward by a certain distance (at this time, the housing 520 around the lifting key 541 horizontally limits the lifting key 541), the rubber pad 530 is fixed to the lifting key 541, and under the driving of the lifting key 541 and the surrounding springs 542, the rubber pad 530 at the bottom of the lifting key 541 is recessed upward by a certain distance, so that when the rubber pad 530 stably contacts the smooth and flat block 001, a certain vacuum suction force can be generated through the above steps. Conversely, the T-wrench 544 moves upward, so that the lifting key 541 moves downward to release the negative pressure, thereby separating the suction cup (rubber pad 530) from the block 001. Through the design, the vacuum chuck can realize full-process automatic control and manual non-contact operation so as to increase the safety of the device.
In some embodiments, the bottom of the lifting key 541 can be clamped by two rigid sheets at the bottom of the rubber pad 530, and the rubber pad 530 can have an inner concave curvature so that the presence of the rigid sheet below does not affect the negative pressure generated during suction, thereby better creating the negative pressure or vacuum.
Certainly, since the object 001 is sucked by the negative pressure principle, the negative pressure required to be provided by the rubber pad 530 serving as the sucking disc can at least lift the smooth object of 2 kg-10 kg, the object 001 should be uniform, no hole is formed in the middle, and otherwise, the negative pressure cannot be formed.
In some embodiments, please refer to fig. 10 with great emphasis, and with reference to fig. 1, the supporting rod 400 is further provided with an illumination module 700 and an amplification monitoring module 800, specifically, the illumination module 700 connected to the first branch rod 420 is provided at a side of the supporting rod 400, the amplification monitoring module 800 connected to the second branch rod 430 is provided at another side of the supporting rod 400, and the probe and the light source with amplification function are used to implement auxiliary functions of monitoring, amplification and illumination. Of course, these aids may not be available in large containers where the viewing angle is good and the installation accuracy requirements are not high. In some embodiments, the first sub-rod 420 and the second sub-rod 430 may be spaced apart from the connecting frame 410 by a distance of about 5cm to 10cm, and the vertical direction may be hydraulically lifted by the telescopic member 710, but if necessary, the first sub-rod 420 and the second sub-rod 430 may also be designed as a hydraulic lateral telescopic structure to achieve lateral and longitudinal bi-directional expansion and contraction to better expand the viewing angle range.
In addition, all the auxiliary modules (including the lighting module 700 and the amplification monitoring module 800), the protection frame 600, the motion module 100 and the three-way moving module 300 can be connected with the core control end in a wired or wireless manner, so that the operation and control of personnel are facilitated.
In summary, the present invention provides an apparatus for accurately positioning and mounting a block in a small container, comprising: the motion module 100 comprises a rolling wheel 110 installed below the gantry 200 and a braking unit 120 matched with the rolling wheel 110; the three-way moving module 300 is mounted on the rack 200, and the output end of the three-way moving module 300 is fixedly connected with the supporting rod 400; the supporting rod 400 is connected with the sucker module 500, and the sucker module 500 is used for adsorbing a block 001; the protection frame 600 comprises a hydraulic part 610, a top disc 620 and at least two grabbing rods 630, the output end of the hydraulic part 610 is fixedly connected with the top disc 620, one end of each grabbing rod 630 is hinged to the top disc 620, and the other end of each grabbing rod can be wrapped around the sucker module 500 and the block 001. According to the device provided by the invention, the three-way moving module 300 is utilized to form a safe and reliable mechanical carrying arm in cooperation with the movement of the rack 200, so that manual operation is replaced, and the problem that the block in the small container cannot be installed or cannot be accurately positioned is solved; meanwhile, the protective frame 600 is additionally arranged, the sucker module 500 and the block body 001 are protected, the phenomenon that certain toxic or high-temperature blocks fall behind in the carrying process to hurt surrounding personnel is avoided, and the safety is high.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A block accurate positioning installation device in small-size container, its characterized in that includes: a motion module, a rack, a three-way moving module, a support rod, a sucker module and a protective frame,
the motion module comprises rolling wheels arranged below the rack and a braking unit matched with the rolling wheels; the three-way moving module is arranged on the rack, the output end of the three-way moving module is fixedly connected with the support rod, the support rod is connected with the sucker module, and the sucker module is used for sucking a block;
the protective frame comprises a hydraulic part, a top plate and at least two grabbing rods, the output end of the hydraulic part is fixedly connected with the top plate, one end of each grabbing rod is hinged to the top plate, and the other end of each grabbing rod can be wrapped around the sucker module and the block body.
2. The apparatus for precisely positioning and mounting a block in a small container according to claim 1, wherein the braking unit comprises a rotating disk, a screw propelling rod, a frame-type groove plate, a sleeve, a rubber rotating block, a rubber propelling rod, a brake block and a brake wheel, the rotating wheel rotates around an axial wheel shaft, and the brake wheel is mounted on the outer side of the rotating wheel; the frame-shaped groove plates are erected at two ends of the wheel shaft, the upper end of the threaded propelling rod is fixedly connected with the rotating disc, and the lower end of the threaded propelling rod sequentially penetrates through the frame-shaped groove plates and the sleeve; the sleeve is of a hollow structure, and the lower end of the threaded pushing rod penetrates through the top of the sleeve and is fixedly connected with the rubber rotating block in the hollow structure; the rubber rotating block is in threaded connection with the rubber pushing rod, the rubber pushing rod is horizontally limited in the hollow structure of the sleeve, the lower end of the rubber pushing rod is fixedly connected with the brake block, and the position of the brake block corresponds to the position of the brake wheel.
3. The apparatus for precisely positioning and mounting blocks in small containers according to claim 1, wherein the three-way moving module comprises a base, an X-direction assembly, a Y-direction assembly and a Z-direction assembly, the X-direction assembly comprises an X-direction motor, an X-direction rotating shaft and an X-direction sliding block, the Y-direction assembly comprises a Y-direction motor, a Y-direction rotating shaft and a Y-direction sliding block, the Z-direction assembly comprises a Z-direction motor, a Z-direction rotating shaft and a lifting block, the X-direction motor and the Y-direction motor are respectively mounted on the base, the Y-direction sliding block can slide along the length direction of the X-direction sliding block, the Z-direction motor can slide along the length direction of the Y-direction sliding block, and the Z-direction motor controls the lifting block to move along the Z-direction through the Z-direction rotating shaft; the base is fixed on the rack, and the lifting block is fixedly connected with the supporting rod.
4. The apparatus for accurately positioning and installing the inner block of the small container according to claim 3, wherein the X-direction assemblies are arranged in two groups, the two groups of X-direction assemblies are arranged oppositely, and the two X-direction sliders in the two groups are respectively installed on the X-direction rotating shaft in the other group.
5. The device for precisely positioning and installing the internal block of the small container according to claim 3, wherein the X-direction rotating shaft, the Y-direction rotating shaft and the Z-direction rotating shaft are respectively provided with a corresponding manual adjusting unit, each manual adjusting unit comprises a rotating wheel, a rotating screw and a gear, the rotating wheel is connected with the rotating screw, the rotating screw is fixedly connected with the gear, and the outer circumference of the gear is provided with a line matched with the external thread of the X-direction rotating shaft, the Y-direction rotating shaft or the Z-direction rotating shaft.
6. The device for accurately positioning and installing the inner block of the small container according to claim 5, wherein a special locking piece is further arranged between the rotating wheel and the rotating screw rod, the special locking piece comprises a fixed plate, a sliding chute and two sliding plates, a first 1/2 circular arc and a second 1/2 circular arc are arranged on the fixed plate, a first 1/4 circular arc matched with the first 1/2 circular arc and a second 1/4 circular arc matched with the second 1/2 circular arc are arranged on each sliding plate, the two sliding plates can slide along the sliding chute, when the two sliding plates are spliced, the first 1/2 circular arc on the fixed plate and the two first 1/4 circular arcs on the two sliding plates are spliced to form a first circular hole, the second 1/2 circular arc on the fixed plate and the two second 1/4 circular arcs on the two sliding plates are spliced to form a second circular hole, a circular hole thread is arranged in the first circular hole, and the inner diameter of the first circular hole is larger than the inner diameter of the second circular hole; the rotary screw comprises a polished rod matched with the second round hole and a threaded rod matched with the first round hole; when the polished rod is arranged in the second round hole, the gear is in contact with the rotating shaft, and when the threaded rod is arranged in the first round hole, the gear is separated from the rotating shaft.
7. The apparatus for accurately positioning and installing the inner block of a small container according to claim 6, wherein the two sliding plates of the special locking member are respectively provided with a locking button, and the two locking buttons can be fixed by a fixed lock; the fixed lock is hinged with one of the lock buttons and can be buckled with the other lock button.
8. The device for accurately positioning and installing the blocks in the small container according to claim 1, wherein the supporting rod is connected with the sucking disc module through a connecting frame, the connecting frame comprises an outer frame and an omega-shaped steel sheet, the omega-shaped steel sheet comprises an elastic ring at the middle part and cylindrical rods at two sides, one of the cylindrical rods is fixedly connected with the outer frame through a fixing block, and the other cylindrical rod extends out of the outer frame; and a round hole for inserting the cylindrical rod is formed in the bottom of the supporting rod.
9. The device for accurately positioning and installing the block in the small container according to claim 1, wherein the sucking disc module comprises a connecting rod, a shell, a rubber pad and a triggering unit, the connecting rod, the shell and the rubber pad are sequentially connected, the connecting rod is fixedly connected with the top disc, and the rubber pad corresponds to the block; the trigger unit is used for opening and closing the adsorption function of the rubber pad and comprises a lifting key, a spring, a ring sleeve and a T-shaped wrench, continuous through holes are formed in the shell and the rubber pad, the lifting key is limited in the through holes through the spring, and the top end of the lifting key penetrates out of the shell and is hinged with one end of the T-shaped wrench; the ring sleeve is arranged on the shell, and the other end of the T-shaped wrench penetrates out of the ring sleeve.
10. The pipe lifting device of claim 1, wherein an illumination module and an amplification monitoring module are further mounted on the strut.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211189966.5A CN115741775A (en) | 2022-09-28 | 2022-09-28 | Accurate positioning and mounting device for block in small container |
| PCT/CN2023/084645 WO2024066261A1 (en) | 2022-09-28 | 2023-03-29 | Apparatus for accurate positioning and installation of block-shaped body into small container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211189966.5A CN115741775A (en) | 2022-09-28 | 2022-09-28 | Accurate positioning and mounting device for block in small container |
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| Publication Number | Publication Date |
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| CN115741775A true CN115741775A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211189966.5A Pending CN115741775A (en) | 2022-09-28 | 2022-09-28 | Accurate positioning and mounting device for block in small container |
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| Country | Link |
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| CN (1) | CN115741775A (en) |
| WO (1) | WO2024066261A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024066261A1 (en) * | 2022-09-28 | 2024-04-04 | 上海市安装工程集团有限公司 | Apparatus for accurate positioning and installation of block-shaped body into small container |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1883888A (en) * | 2006-06-30 | 2006-12-27 | 中国科学院光电技术研究所 | Grasp and suction dual-functional underwater electric manipulator |
| CN207172107U (en) * | 2017-09-30 | 2018-04-03 | 武汉库柏特科技有限公司 | A kind of flexible manipulator of cylinder driving |
| JP7316567B2 (en) * | 2019-02-28 | 2023-07-28 | パナソニックＩｐマネジメント株式会社 | sweeping robot |
| CN109928202A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Aluminum alloy pattern plate transfer robot |
| CN212201875U (en) * | 2020-02-10 | 2020-12-22 | 中铁电气化局集团西安电气化工程有限公司 | Novel ladder vehicle |
| CN111496760B (en) * | 2020-03-23 | 2021-08-31 | 北京全路通信信号研究设计院集团有限公司 | Robot, control method thereof and method for measuring quality of clamping material by using robot |
| CN115741775A (en) * | 2022-09-28 | 2023-03-07 | 上海建工集团股份有限公司 | Accurate positioning and mounting device for block in small container |
-
2022
- 2022-09-28 CN CN202211189966.5A patent/CN115741775A/en active Pending
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2023
- 2023-03-29 WO PCT/CN2023/084645 patent/WO2024066261A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024066261A1 (en) * | 2022-09-28 | 2024-04-04 | 上海市安装工程集团有限公司 | Apparatus for accurate positioning and installation of block-shaped body into small container |
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| WO2024066261A1 (en) | 2024-04-04 |
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