CN204778470U - Cantilever type manipulator - Google Patents
Cantilever type manipulator Download PDFInfo
- Publication number
- CN204778470U CN204778470U CN201520408811.5U CN201520408811U CN204778470U CN 204778470 U CN204778470 U CN 204778470U CN 201520408811 U CN201520408811 U CN 201520408811U CN 204778470 U CN204778470 U CN 204778470U
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- ball bearing
- bolt
- deep groove
- groove ball
- fork
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Abstract
The utility model belongs to the technical field of nuclear power station nuclear level overhaul of the equipments engineering, concretely relates to cantilever type manipulator. Including cantilever pendulum rod device and slip hook assembly two parts, cantilever pendulum rod device includes thrust ball bearing, pendulum rod, deep groove ball bearing, tray, top support frame: the tray is fixed on the support frame, and the pendulum rod is connected with the tray, slip hook assembly includes bolt, U -shaped frame, bolt, lug, breaks out, suspender, equalizer, swift formula grapple, deep groove ball bearing, deep groove ball bearing: the U -shaped frame is gone up the downside and has been opened the through -hole respectively, and the deep groove ball bearing dress is inside at the U -shaped frame, the lug is connected with U -shaped rest base portion, the lug of packing into of breaking out, the suspender is packed into and is broken out, the last lifting hook of the equalizer suspender of packing into, the swift formula grapple equalizer lower part rings of packing into, slip hook assembly packs into on the pendulum rod. The utility model discloses can realize the tensile jar of bolt and do the motion of X, Y, the three direction of Z in the home range that cantilever type manipulator covered.
Description
Technical field
The utility model belongs to Nuclear Power Station level overhaul of the equipments field of engineering technology, is specifically related to a kind of cantilevered manipulator.
Background technology
In the disassembling overhaul of nuclear reactor coolant pump, will relate to one comparatively based on and very important maintenance procedures, that is exactly carry out correct dismounting to 30 king bolts of horizontal homogeneous distribution on the main faying face of nuclear reactor coolant pump.According to maintenance routine requirement, dismounting and installation king bolt all need stretch to king bolt by bolt stretching machine, wherein when dismantling, need to 30 each self stretch of king bolt 3 times, when mounted, to 30 each self stretch of king bolt 4 times, when namely dismantling and install king bolt, altogether need to perform same drawing work 210 times.And before carrying out drawing work, the stretching cylinder that single weight need be about 30kg by maintainer is arranged on king bolt, treat again stretching cylinder disassembled after king bolt stretches and be installed on next king bolt, namely 1 king bolt that stretches need complete mentioning for 2 times and putting down operation of stretching cylinder, and the dismounting completing king bolt with return dress work and stretching cylinder will be mentioned and put down 420 times, accumulative total weight is about 12600kg.The work of transporting stretching cylinder when dismantling in the past and installed king bolt back and forth completes by the pure manual labor of maintainer, its labour intensity is larger, because labour intensity is directly proportional to the required time that worked, so not only can delay the main line repair time, but also overhaul collective dose value can be increased.
Summary of the invention
The utility model technical issues that need to address are: provide a kind of cantilevered manipulator, this manipulator can realize the motion that bolt tension cylinder does X, Y, Z tri-directions in the action radius that cantilevered manipulator covers, the manual labor of original mobile stretching cylinder is substituted by mechanical movement, thus alleviate the labour intensity of maintainer, increase work efficiency, reduce collective dose value.
The utility model have employed following technical scheme:
A kind of cantilevered manipulator, comprise cantilever oscillating rod device and slip cargo hook gear two parts, wherein, described cantilever oscillating rod device comprises thrust ball bearing, fork, the first deep groove ball bearing, pallet, upper support frame: wherein, pallet side is fixed on upper support frame, fork is connected with pallet opposite side, and fork can swing by opposing tray; Described slip cargo hook gear comprises the second bolt, U-shaped frame, the 3rd bolt, hanger, shackle, suspender belt, balancing device, fast-type grapple, the second deep groove ball bearing, the 3rd deep groove ball bearing, wherein, second bolt is arranged on side through hole on U-shaped frame, second deep groove ball bearing is contained on the second bolt, and it is inner to be positioned at U-shaped frame; 3rd bolt is arranged under U-shaped frame in side through hole, and the 3rd deep groove ball bearing is contained on the 3rd bolt, and it is inner to be positioned at U-shaped frame; Hanger is connected with bottom U-shaped frame; Shackle loads hanger, and suspender belt loads shackle, and the hook of balancing device loads suspender belt, and fast-type grapple loads balancing device bottom suspension ring; Slip cargo hook gear loads on fork.
Described fork is installed the first deep groove ball bearing, the first deep groove ball bearing contacts with pallet.
Described second deep groove ball bearing contacts with the sliding rail upper groove bottom surface of fork, and described 3rd deep groove ball bearing contacts with the sliding rail lower groove floor surfaces of fork.
The beneficial effects of the utility model are:
(1) a kind of cantilevered manipulator of the present utility model, can realize the motion that bolt tension cylinder does X, Y, Z tri-directions in the action radius that cantilevered manipulator covers;
(2) a kind of cantilevered manipulator of the present utility model, has used balancing device, bolt tension cylinder easily can be mentioned in Z-direction;
(3) a kind of cantilevered manipulator of the present utility model, slip cargo hook gear is designed with 2 auxiliary bearings below U-shaped frame, can effectively avoid in use occurring stuck phenomenon;
(4) a kind of cantilevered manipulator of the present utility model, the labour intensity that can effectively reduce a staff, shortens the main line repair time, reduces overhaul collective dose value.
Accompanying drawing explanation
Fig. 1 is the front view of a kind of cantilevered manipulator provided by the utility model;
Fig. 2 is the birds-eye view of a kind of cantilevered manipulator provided by the utility model;
Fig. 3 is the A direction view of a kind of cantilevered manipulator provided by the utility model;
Fig. 4 is the slip cargo hook gear partial 3-D figure of a kind of cantilevered manipulator provided by the utility model;
Fig. 5 is the cantilever oscillating rod device partial 3-D figure of a kind of cantilevered manipulator provided by the utility model;
In figure: 1-bolt of rear end plate, 2-first bolt, 3-adjusting pad, 4-thrust ball bearing, 5-fork, 6-first deep groove ball bearing, 7-second bolt, 8-U shape frame, 9-first pad, 10-first nut, 11-the 3rd bolt, 12-hanger, 13-shackle, 14-suspender belt, 15-balancing device, 16-fast-type grapple, 17-first spring collar, 18-pallet, 19-block, 20-second pad, 21-second spring collar, 22-upper support frame, 23-second nut, 24-first spring shim, 25-second deep groove ball bearing, 26-first steady ring, 27-second steady ring, 28-the 3rd nut, 29-second spring shim, 30-the 3rd steady ring, 31-the 3rd deep groove ball bearing, 32-the 4th steady ring.
Detailed description of the invention
Below in conjunction with drawings and Examples, a kind of cantilevered manipulator of the present utility model is described further.
As Figure 1-5, a kind of cantilevered manipulator of the present utility model, comprises cantilever oscillating rod device and slip cargo hook gear two parts.
As shown in Figure 1, Figure 2 with shown in Fig. 5, described cantilever oscillating rod device comprises bolt of rear end plate 1, first bolt 2, adjusting pad 3, thrust ball bearing 4, fork 5, first deep groove ball bearing 6, first pad 9, first nut 10, first spring collar 17, pallet 18, block 19, second pad 20, second spring collar 21, upper support frame 22; Wherein, with bolt of rear end plate 1 with one heart by the through hole of pallet 18, pallet 18 is fixed on upper support frame 22 internal thread hole; Loaded on the first bolt 2 with one heart by first adjusting pad 3, the six-sided head lower surface of this adjusting pad 3 upper surface and the first bolt 2 is close to; Loaded on the first bolt 2 with one heart by first thrust ball bearing 4, the lower surface of this thrust ball bearing 4 upper surface and this adjusting pad 3 is close to; Loaded in the counter sink of pallet 18 with one heart by second thrust ball bearing 4, the bottom surface of this thrust ball bearing 4 lower surface and pallet 1 counter sink is close to; Be contained on thrust ball bearing 4 by second adjusting pad 3, the upper surface of this adjusting pad 3 lower surface and thrust ball bearing 4 is close to, and the endoporus of this adjusting pad 3 is concentric with thrust ball bearing 4 endoporus; The first bolt 2 installing first adjusting pad 3 and first thrust ball bearing 4 is loaded in the through hole of fork 5 with one heart, the terrace of appearing on the stage of the lower surface of thrust ball bearing 4 and fork 5 is close to; First bolt 2 is loaded in the tapped bore of pallet 18 with one heart, and screws in tapped bore, the leave from office terrace of fork 5 and the upper surface of second adjusting pad 3 are close to; Loaded with one heart by second pad 20 in the outside cylinder below first bolt 2, the second pad 20 upper surface and pallet 18 lower surface are close to; Inside concentric for the second spring collar 21 circular groove loading the first bolt 2; Inside concentric for the first spring collar 17 circular groove loading fork 5; Load on the cylinder step of fork 5 with one heart by the first deep groove ball bearing 6 interference, the first deep groove ball bearing 6 contacts with pallet 18; Pallet 18 is welded with block 19, is used for carrying out spacing to fork 5; First pad 9 and the first nut 10 are arranged on the other end of fork 5, are used for carrying out spacing to slip suspension hook.
As Figure 1-4, described slip cargo hook gear comprises the second bolt 7, U-shaped frame 8, the 3rd bolt 11, hanger 12, shackle 13, suspender belt 14, balancing device 15, fast-type grapple 16, second nut 23, first spring shim 24, second deep groove ball bearing 25, first steady ring 26, second steady ring 27, the 3rd nut 28, second spring shim 29, the 3rd steady ring 30, the 3rd deep groove ball bearing 31, the 4th steady ring 32, wherein, by the second bolt 7 with one heart through the through hole of U-shaped frame 8 upper left side, upper left side first steady ring 26 is loaded on the second bolt 7 with one heart, second deep groove ball bearing 25 is loaded on the second bolt 7 with one heart, upper right side second steady ring 27 is loaded on the second bolt 7 with one heart, then the second bolt 7 is passed with one heart the through hole of U-shaped frame 8 upper right side, first spring shim 24 is loaded on the second bolt 7, screws in the second nut 23 and tighten, by the 3rd bolt 11 with one heart through the through hole of U-shaped frame 8 lower left side, 3rd steady ring 30 in left side is loaded on the 3rd bolt 11 with one heart, 3rd deep groove ball bearing 31 in left side is loaded on the 3rd bolt 11 with one heart, 4th steady ring 32 is loaded on the 3rd bolt 11 with one heart, 3rd deep groove ball bearing 31 on right side is loaded on the 3rd bolt 11 with one heart, 3rd steady ring 30 on right side is loaded on the 3rd bolt 11 with one heart, then the 3rd bolt 11 is passed through with one heart the through hole of U-shaped frame 8 lower right side, second spring shim 29 is loaded on the 3rd bolt 11, screw in the 3rd nut 28 and tighten, by the screw rod of hanger 12 screw in U-shaped frame 8 bottom surface tapped bore in and tighten, shackle 13 is loaded in hanger 12, suspender belt 14 is loaded in shackle 13, the hook of balancing device 15 is loaded in suspender belt 14, fast-type grapple 16 is loaded in the suspension ring of balancing device 15 bottom.
The second deep groove ball bearing 25, two the 3rd deep groove ball bearings 31 of the slip cargo hook gear assembled are loaded on the sliding rail of fork 5, the bottom surface of the second deep groove ball bearing 25 is contacted, on two grooves that below slip cargo hook gear 2 the 3rd deep groove ball bearings 31 are respectively charged into below fork 5 sliding rail with the sliding rail upper groove bottom surface of fork 5.
The principle of work of a kind of cantilevered manipulator provided by the utility model is described below in conjunction with accompanying drawing 1-5: slip cargo hook gear slides on the sliding rail of fork 5 by the second deep groove ball bearing 25, i.e. X-direction motion.When axioversion appears in slip cargo hook gear, the 3rd deep groove ball bearing 31 can play axial limiting effect, prevents the stuck phenomenon produced because of inclination.Now the fork 5 of cantilever oscillating rod device just can swing for centre of gration with thrust ball bearing 4 on pallet 18, i.e. Y-direction motion.First deep groove ball bearing 6 supplemental support fork 5 moves along arc track at the fan-shaped position of pallet 18, and it is spacing to carry out the limit that swings of fork 5 by block 19.Now Labor-saving flat weighing apparatus 15 carries bolt tension cylinder up-and-down movement by fast-type grapple 16, i.e. Z-direction motion.
In conjunction with the accompanying drawings and embodiments the utility model is explained in detail above, but the utility model is not limited to above-described embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from the utility model aim.The content be not described in detail in the utility model all can adopt prior art.
Claims (3)
1. a cantilevered manipulator, it is characterized in that: comprise cantilever oscillating rod device and slip cargo hook gear two parts, wherein, described cantilever oscillating rod device comprises thrust ball bearing (4), fork (5), the first deep groove ball bearing (6), pallet (18), upper support frame (22): wherein, pallet (18) side is fixed on upper support frame (22), fork (5) is connected with pallet (18) opposite side, and fork (5) can swing by opposing tray (18); Described slip cargo hook gear comprises the second bolt (7), U-shaped frame (8), the 3rd bolt (11), hanger (12), shackle (13), suspender belt (14), balancing device (15), fast-type grapple (16), the second deep groove ball bearing (25), the 3rd deep groove ball bearing (31), wherein, second bolt (7) is arranged on the upper side through hole of U-shaped frame (8), second deep groove ball bearing (25) is contained on the second bolt (7), and it is inner to be positioned at U-shaped frame (8); 3rd bolt (11) is arranged under U-shaped frame (8) in side through hole, and the 3rd deep groove ball bearing (31) is contained on the 3rd bolt (11), and it is inner to be positioned at U-shaped frame (8); Hanger (12) is connected with U-shaped frame (8) bottom; Shackle (13) loads hanger (12), suspender belt (14) loads shackle (13), the hook of balancing device (15) loads suspender belt (14), and fast-type grapple (16) loads balancing device (15) bottom suspension ring; Slip cargo hook gear loads on fork (5).
2. a kind of cantilevered manipulator according to claim 1, is characterized in that: upper installation first deep groove ball bearing (6) of described fork (5), the first deep groove ball bearing (6) contacts with pallet (18).
3. a kind of cantilevered manipulator according to claim 1, it is characterized in that: described second deep groove ball bearing (25) contacts with the sliding rail upper groove bottom surface of fork (5), described 3rd deep groove ball bearing (31) contacts with the sliding rail lower groove floor surfaces of fork (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520408811.5U CN204778470U (en) | 2015-06-12 | 2015-06-12 | Cantilever type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520408811.5U CN204778470U (en) | 2015-06-12 | 2015-06-12 | Cantilever type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204778470U true CN204778470U (en) | 2015-11-18 |
Family
ID=54518562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520408811.5U Expired - Fee Related CN204778470U (en) | 2015-06-12 | 2015-06-12 | Cantilever type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204778470U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272384A (en) * | 2015-06-12 | 2017-01-04 | 江苏核电有限公司 | A kind of cantilevered mechanical hand |
| CN107553082A (en) * | 2016-06-30 | 2018-01-09 | 江苏核电有限公司 | A kind of laborsaving extraction element of cantilever oscillating rod type |
-
2015
- 2015-06-12 CN CN201520408811.5U patent/CN204778470U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272384A (en) * | 2015-06-12 | 2017-01-04 | 江苏核电有限公司 | A kind of cantilevered mechanical hand |
| CN106272384B (en) * | 2015-06-12 | 2019-01-08 | 江苏核电有限公司 | A kind of cantilevered manipulator |
| CN107553082A (en) * | 2016-06-30 | 2018-01-09 | 江苏核电有限公司 | A kind of laborsaving extraction element of cantilever oscillating rod type |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |