CN206811961U

CN206811961U - Truss manipulator based on planetary gear train

Info

Publication number: CN206811961U
Application number: CN201720448490.0U
Authority: CN
Inventors: 田颖; 郭鹏; 张明路; 吕晓玲
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2017-04-26
Filing date: 2017-04-26
Publication date: 2017-12-29
Anticipated expiration: 2027-04-26

Abstract

It the utility model is related to the truss manipulator based on planetary gear train, it is characterized in that the manipulator includes planetary gear train structure, pusher dog structure, upper strata, clamping structure, lower floor and outer framework, the upper and lower can move up and down along the short transverse of outer framework, planetary gear train structure and pusher dog structure are separately fixed on upper strata according to upper-lower position, and clamping structure is installed in lower floor；The upper strata includes pulling structure, upper strata top plate, upper strata frame, I-shaped board motor, upper strata bottom plate and I-shaped plate；Upper strata top plate is fixedly connected with upper strata bottom plate by upper strata frame, and upper strata top plate and upper strata bottom plate can move up and down along the short transverse of outer framework；A guide rail is connected on four corners of the I-shaped plate, four guide rail parallels are set, and the both ends of four guide rails are each attached on the frame of upper strata, and it is ball-screw to have a guide rail in four guide rails.The manipulator can realize once more nut positioning, and gripping precision is high, and stability is good, and operating efficiency significantly improves.

Description

Truss manipulator based on planetary gear train

Technical field

It the utility model is related to nuclear power station robotic technology field, specially a kind of truss machinery based on planetary gear train Hand.

Background technology

Nowadays nuclear power plant reactor is all to produce huge heat energy using the chain reaction of nuclear fission of the materials such as metallic uranium, During fission, certain radioactive pollutant can be produced.In nuclear power station loop, cvcs RCV filter cores Need to regularly replace.

A kind of hydraulic-driven operation arm for 7 free degree that RoboProbe Technologies companies of the U.S. develop PREDATOR, maintenance and repair and nuclear matter for nuclear plant equipment handle work, effectively reduce the accident rate of work, can Task is completed with the movement similar to the mankind and speed.The TITAN systems of Schilling Robotics companies of U.S. production Row mechanical arm has stronger capability of resistance to radiation, and wherein TITAN T-Gamma are controlled by the main hand of micro in six joints System, shows mode of operation on screen, has the characteristics of easily operated, is applied at present by nuclear electricity factory and USDOE In repairing including nuclear power station, the cleaning of daily core and nuclear waste transmutation etc..

Present domestic mostly using manpower replacing, replacing filter core operation intensity is big, and danger coefficient is high, can not avoid strong spoke Penetrate danger.Once generation accident, personnel and economic extreme loss can be caused.Because nuclear power plant operation environment is complicated, nuclear radiation And the threat of nuclear leakage, develop the good manipulator of a job stabilization and be particularly important.

Existing related catching robot, carrying roller captures as disclosed in the Chinese patent of Application No. 201511002154.5 Manipulator, two paw profile are respectively the semicircle of same diameter, and it can only capture the cylindrical object of same specification, right Also needing to change the mechanical finger of different size in the object of different-diameter can just fulfil assignment task；Such as Application No. The disclosed dual action mechanical hand that filter core is changed for nuclear power station of 201610330802.8 Chinese patent, its end effector one Hold and be used for tightening nut, the other end is used to change filter core, can only realize the positioning to single nut with elastic, and Stability Analysis of Structures Property is not good enough.

Utility model content

In view of the shortcomings of the prior art, the technical problems to be solved in the utility model is to provide a kind of based on planetary gear train Truss manipulator.The manipulator can realize once more nut positioning, and gripping precision is high, and using linear movement, stability is good, work Efficiency significantly improves.

The utility model solves the technical scheme that the technical problem uses：A kind of truss based on planetary gear train is provided Manipulator, it is characterised in that the manipulator includes planetary gear train structure, pusher dog structure, upper strata, clamping structure, lower floor and housing Frame, the upper and lower can move up and down along the short transverse of outer framework, and planetary gear train structure and pusher dog structure are according to upper Lower position is separately fixed on upper strata, and clamping structure is installed in lower floor；

The upper strata includes pulling structure, upper strata top plate, upper strata frame, I-shaped board motor, upper strata bottom plate and I-shaped plate；On Layer top plate is fixedly connected with upper strata bottom plate by upper strata frame, and upper strata top plate and upper strata bottom plate can be along the short transverses of outer framework Move up and down；A guide rail is connected on four corners of the I-shaped plate, four guide rail parallels are set, and four guide rails Both ends be each attached on the frame of upper strata, it is ball-screw to have a guide rail in four guide rails, one end of the ball-screw I-shaped board motor is connected by shaft coupling, the I-shaped board motor is fixed on upper strata bottom plate by motor base and motor bent plate On；I-shaped board motor drives the ball screw turns；The lower surface for pulling structure and being fixed on upper strata bottom plate；

The structure that pulls includes drag hook and pulls motor, the lower surface of bottom plate on upper strata, along the direction of motion of I-shaped plate On, be arranged in parallel two guide rails, wherein a guide rail is ball-screw, ball-screw is by shaft coupling and pulls motor connection, The lower surface for pulling motor and upper strata bottom plate being fixed on by motor bent plate, the drag hook and the ball of upper strata bottom plate lower surface The nut seat connection of leading screw；

The planetary gear train structure includes nutting motor, rear baffle, internal messing gear wheel, driving gear, drive shaft, gear Piece, planetary gear, connecting shaft, big bearing, small bearing and omnipotent disassembly and assembly structure；The nutting motor passes through motor bent plate, motor Pedestal is fixed on the top of I-shaped plate, and the output shaft of nutting motor is connected by one end of shaft coupling and drive shaft, drive shaft The other end pass through rear baffle, and rear baffle is fixedly connected with driving gear by big bearing；The internal messing gear wheel with Driving gear is coaxially mounted to the front portion of rear baffle, has been evenly arranged in the space between internal messing gear wheel and driving gear A number of planetary gear, a number of planetary gear are meshed with internal messing gear wheel and driving gear, each planet The front end face of gear is equipped with omnipotent disassembly and assembly structure mounting hole, and omnipotent disassembly and assembly structure is installed in omnipotent disassembly and assembly structure mounting hole, Each planetary gear is connected by corresponding connecting shaft, small bearing with rear baffle；Simultaneously front end face on each planetary gear Catch is installed；

The pusher dog structure includes pusher dog, pull bar, sleeve, pusher dog folding motor, gear, rack and stretch rod, the set Cylinder is fixed on the bottom of I-shaped plate, and pusher dog folding motor is fixed on I-shaped plate by motor base and motor bent plate；It is described Stretch rod front end passes through sleeve, is connected with a number of pusher dog, and stretch rod rear portion is provided with rack, the pusher dog folding motor Output shaft connection gear, gear are meshed with the rack on stretch rod；The outside of the sleeve be uniformly connected with by bearing pin with The pull bar that planetary gear quantity matches, the other end of each pull bar connect the middle part of corresponding pusher dog by bearing pin, pusher dog quantity with Pull bar quantity is consistent；

The lower floor includes clamping motor and lower plywood；Four corners of lower plywood are connected with outer framework, lower plywood It can be moved up and down along the short transverse of outer framework；In the direction of motion of the upper surface of lower plywood along I-shaped plate, parallel arrangement has Two ball-screws, the two ball-screws are connected with one by shaft coupling and clamp motor, clamp motor and lead to Cross motor bent plate and be fixed on lower plywood；Two clamping structures, a ball wire are installed on two ball-screws in lower floor Thick stick drives a clamping structure action, and clamping structure moves forward and backward under the driving of corresponding ball-screw.

Compared with prior art, the beneficial effects of the utility model are：

1) planetary gear train structure of the present utility model is a kind of new and effective tightening nut structure, is had in planetary gear train Four planetary gears, are machined with hex hole on each planetary gear, installation universal disassembly and assembly structure in hex hole, are fixed for position More nut structures, can be achieved once position, greatly shorten the time of tightening nut, and the engagement of gear can make each spiral shell Female stress is close to unanimously.Its omnipotent disassembly and assembly structure installed, the requirement much lower matched to instrument and nut size, adaptability It is stronger.

2) four pusher dogs are housed in pusher dog structure of the present utility model, by the linear movement of stretch rod, while control four The folding of individual pusher dog, it can be realized with this and once dial multiple nuts, and rack is housed on stretch rod, by pusher dog folding motor Wheel and rack engagement driving stretch rod, pusher dog operating accuracy are high；Respectively there is a wedge in upper and lower two pusher dogs, in filter Filter enclosing cover is blocked with this structure in the moving process of enclosing cover, operating efficiency significantly improves.

3) using the clamping structure by clamping the motion of motor control clip, various sizes of filter core can be clamped, and clamp Stably, during this robot work, moved in turn using two structure identical clamping structures, can effectively reduce the structure of truss Size.

4) the utility model integrally uses truss structure, and clear in structure, having stable behavior, each layer function is clear and definite, with multi-joint Arm structure manipulator is compared, and resistance to overturning is good.Coordinated with the ball-screw on diagonal and nut seat realize girders layer (on Layer and lower floor) motion, kinematic accuracy is high, and malformation is small.

Brief description of the drawings

Fig. 1 is that a kind of overall front view structure of truss manipulator embodiment of the utility model based on planetary gear train is illustrated Figure；

Fig. 2 is the right side structural representation on truss manipulator upper strata 3 of the utility model based on planetary gear train；

Fig. 3 pulls structural representation for truss manipulator upper strata of the utility model based on planetary gear train；

Fig. 4 is a kind of the isometric of the planetary gear train structure of truss manipulator embodiment of the utility model based on planetary gear train Geodesic structure schematic diagram；

Fig. 5 is the part-structure schematic diagram of truss manipulator planetary gear train structure of the utility model based on planetary gear train；

Fig. 6 is a kind of solid of the omnipotent disassembly and assembly structure of truss manipulator embodiment of the utility model based on planetary gear train Structural representation；

Fig. 7 is a kind of left view knot of the pusher dog structure 2 of truss manipulator embodiment of the utility model based on planetary gear train Structure schematic diagram；

Fig. 8 is that a kind of stereochemical structure of the lower floor 5 of truss manipulator embodiment of the utility model based on planetary gear train is shown It is intended to；

Fig. 9 is a kind of three-dimensional knot of the clamping structure 4 of truss manipulator embodiment of the utility model based on planetary gear train Structure schematic diagram；

Figure 10 is the main structure diagram of the outer framework of truss manipulator of the utility model based on planetary gear train；

Figure 11 is A-A cross section structure diagrams in Figure 10；

In figure, 1- planetary gear trains structure, 2- pusher dogs structure, 3- upper stratas, 4- clamping structures, 5- lower floors, 6- outer frameworks, 101- Nutting motor, 102- hexagons bottom plate, 103- rear baffles, 104- internal messings gear wheel, 105- driving gears, 106- drivings Axle, 107- catch, 108- planetary gears, 109- connecting shafts, the big bearings of 110-, the small bearings of 111-, 112- inner cylinders, 113- cylinders, 114- springs, 201- pusher dogs, 202- pull bars, 203- sleeves, 204- pusher dog foldings motor, 205- stretch rods, 206- gears, 207- Rack, 301- upper stratas top plate, 302- upper stratas frame, 303- I-shapeds board motor, 304- drag hooks, 305- I-shapeds plate, 306- upper stratas bottom Plate, 307- pull motor, 401- clamps motor, 402- axles, 403- first clamps, 404- second clamps, 405- holders, 501- folder Fill motor, 502- lower plywoods, 601- right plates, 602- front side boards, 603- lower shoes, 604- frame motors.

Embodiment

The utility model is described in detail with reference to example and its accompanying drawing.Embodiment is with technical side described in the utility model The specific implementation carried out premised on case, give detailed embodiment and process.But claims hereof protection domain It is not limited to the description scope of the embodiment.

Truss manipulator (referring to Fig. 1) of the utility model based on planetary gear train includes planetary gear train structure 1, pusher dog structure 2nd, upper strata 3, clamping structure 4, lower floor 5 and outer framework 6, the upper strata 3 and lower floor 5 can move down along in the short transverse of outer framework Dynamic, planetary gear train structure 1 and pusher dog structure 2 are separately fixed on upper strata 3 according to upper-lower position, are installed in lower floor 5 and are clamped knot Structure 4；

The upper strata 3 (referring to Fig. 2) include pull structure, upper strata top plate 301, upper strata frame 302, I-shaped board motor 303, Upper strata bottom plate 306 and I-shaped plate 305；Upper strata top plate 301 is fixedly connected with upper strata bottom plate 306 by upper strata frame 302, and upper strata Top plate 301 and upper strata bottom plate 306 can move up and down along the short transverse of outer framework；Divide on four corners of the I-shaped plate 305 A guide rail is not connected with, and four guide rail parallels are set, and the both ends of four guide rails are each attached on upper strata frame 302, described It is ball-screw to have a guide rail in four guide rails, and one end of the ball-screw connects I-shaped board motor 303, institute by shaft coupling State I-shaped board motor 303 and upper strata bottom plate 306 is fixed on by motor base and motor bent plate；I-shaped board motor 303 drives the rolling Ballscrew rotates, and then drives I-shaped plate 305 to be moved forward and backward along four guide rails；The structure that pulls is fixed on upper strata bottom plate 306 Lower surface；

The structure (referring to Fig. 3) that pulls includes drag hook 304 and pulls motor 307, the lower surface of bottom plate 306 on upper strata, Along in the direction of motion of I-shaped plate 305, parallel arrangement two guide rails of parallel arrangement, wherein a guide rail is ball-screw, ball For leading screw by being connected by shaft coupling with pulling motor 307, the motor 307 that pulls is fixed on upper strata bottom plate by motor bent plate 306 lower surface, the drag hook 304 are connected with the nut seat of the ball-screw of the lower surface of upper strata bottom plate 306, when pulling motor 307 when driving the ball screw turns being connected with drag hook 304, and drag hook 304 moves forward and backward, and is driven and drag hook when pulling motor 307 When the ball-screw of 304 connections rotates backward, moved after drag hook 304, when rotating forward, drag hook 304 moves forward；

The planetary gear train structure 1 (referring to Fig. 4-5) includes nutting motor 101, rear baffle 103, internal messing gear wheel 104th, driving gear 105, drive shaft 106, catch 107, planetary gear 108, connecting shaft 109, big bearing 110, small bearing 111 and ten thousand It can be removably mounted structure；The nutting motor 101 is fixed on the top of I-shaped plate 305, nutting by motor bent plate, motor base The output shaft of motor is connected by shaft coupling with one end of drive shaft 106, and the other end of drive shaft passes through rear baffle 103, and leads to Rear baffle 103 is fixedly connected by excessive bearing 110 with driving gear 105；The internal messing gear wheel 104 and driving gear 105 The front portion of rear baffle 103 is coaxially mounted to, is evenly arranged in the space between internal messing gear wheel 104 and driving gear 105 Have an a number of planetary gear 108, a number of planetary gear 108 with internal messing gear wheel 104 and the phase of driving gear 105 Engagement, the front end face of each planetary gear 108 are equipped with omnipotent disassembly and assembly structure mounting hole, and omnipotent disassembly and assembly structure is installed on omnipotent tear open In assembling structure mounting hole, each planetary gear 108 is connected by corresponding connecting shaft 109, small bearing 111 with rear baffle 103；Together When be respectively mounted catch 107 on the front end face of each planetary gear 108；

The omnipotent disassembly and assembly structure mounting hole is hexagon, and the omnipotent disassembly and assembly structure (referring to Fig. 6) includes inner cylinder 112nd, cylinder 113, spring 114 and hexagon bottom plate 102；Hexagon bottom plate 102 is fixed on the omnipotent disassembly and assembly structure of planetary gear 108 In mounting hole, inner cylinder 112 is installed at the front end face center of hexagon bottom plate 102；Centered on inner cylinder 112, in hexagon A number of spring 114 is installed, the other end of each spring 114 is all connected with a cylinder 113 on the front end face of bottom plate 102； The cylinder 113 and the contact portion of spring 114 are hollow-core construction, and discontiguous part is solid construction, and spring is inserted into post In the hollow-core construction of body, and the height sum of spring and cylinder 113 is more than the height of inner cylinder 112, and difference in height is a spiral shell Female height；After omnipotent disassembly and assembly structure contacts with nut, with being moved forward and backward for I-shaped plate 305, it is connected with cylinder 113 Spring 114 will compress and recover, in tightening nut, can be pressed into the cylinder 113 of nut contact portion, with planetary gear Rotation, cylinder rotates with planet wheels, with this tightening nut.Cylinder 112 plays constraint to cylinder 113 around, makes post around Body is in vertical state.

When unscrewing nut by planetary gear train structure 1, I-shaped board motor 303 drives the ball being connected with I-shaped plate 305 Leading screw rotates, so that I-shaped plate 305 travels forward, the planetary gear train structure 1 being connected with I-shaped plate 305 travels forward, and makes ten thousand Can be removably mounted structure rough alignment nut, after cylinder 113 contacts with nut, the cylinder 113 that is now contacted with nut and with The connected spring 114 of cylinder can be compressed, and planetary gear train structure 1, which moves forward to specified location, I-shaped board motor 303, to be stopped Work, now nutting motor 101 starts, and driving gear 105 rotates clockwise, and planetary gear 108 rotates counterclockwise, and inside nibbles Close gear wheel 104 to rotate clockwise, corresponding nut rotates counterclockwise, and is dismantled, when nut and inner cylinder During 112 contact, nutting motor 101 is stopped, and I-shaped board motor 303 starts, and I-shaped plate 305 moves backward, planetary gear train Structure 1 is moved backward, is completed nut and is unscrewed.

When tightening nut by planetary gear train structure 1, I-shaped board motor 303 drives the ball being connected with I-shaped plate 305 Leading screw rotates, and so as to which I-shaped plate 305 travels forward, the planetary gear train structure 1 being connected with I-shaped plate 305 travels forward, and makes omnipotent Disassembly and assembly structure rough alignment nut, the cylinder 113 now contacted with nut and the spring 114 being connected with cylinder 113 can press Contracting, after nut contacts with inner cylinder 112, I-shaped board motor 303 is stopped, and nutting motor 101 starts, driving gear 105 rotate counterclockwise, and planetary gear 108 rotates clockwise, and internal messing gear wheel 104 rotates counterclockwise, and corresponds Nut rotate clockwise, after nut is tightened, nutting motor 101 is stopped, and I-shaped board motor 303 starts, I-shaped Plate 305 is moved backward, and then planetary gear train structure 1 is moved backward, is completed nut and is tightened.

The pusher dog structure 2 (referring to Fig. 7) includes pusher dog 201, pull bar 202, sleeve 203, pusher dog folding motor 204, tooth Wheel 206, rack 207 and stretch rod 205, the sleeve 203 are fixed on the bottom of I-shaped plate 305, and pusher dog folding motor 204 is logical Cross motor base and motor bent plate is fixed on I-shaped plate 305；The front end of stretch rod 208 passes through sleeve 203, and a number of Pusher dog 201 connect, the rear portion of stretch rod 208 is provided with rack 207, the output shaft connection gear of the pusher dog folding motor 204 206, gear 206 is meshed with the rack 207 on stretch rod 208；The outside of the sleeve 203 be uniformly connected with by bearing pin with The pull bar 202 that planetary gear quantity matches, the other end of each pull bar 202 connect the middle part of corresponding pusher dog 201 by bearing pin, dial The quantity of pawl 201 is consistent with pull bar quantity；

Pusher dog folding motor 204 starts, and the rack 207 engaged with gear 206 moves forward, and stretch rod 208 moves forward, pull bar 202 rotate, and pusher dog 201 opens, so as to which the nut of respective numbers is pushed aside simultaneously；When pusher dog folding motor 204 reversely turns When dynamic, the rack 207 engaged with gear 206 is moved rearwards, and is moved after stretch rod 208, and pull bar 202 rotates, and pusher dog 201 shrinks, can So that the nut of respective numbers to be reversed simultaneously.

The lower floor 5 (referring to Fig. 8) includes clamping motor 501 and lower plywood 502；Four corners of lower plywood 502 It is connected with outer framework 6, lower plywood 502 can move up and down along the short transverse of outer framework；In the upper surface of lower plywood 502 along I-shaped In the direction of motion of plate 305, parallel arrangement has two ball-screws, and the two ball-screws are connected with one by shaft coupling Motor 501 is clamped, motor 501 is clamped and lower plywood 502 is fixed on by motor bent plate；

Two clamping structures 4 are installed, a ball-screw drives one and clamped on two ball-screws in lower floor 5 Structure 4 acts, and clamping structure 4 moves forward and backward under the driving of corresponding ball-screw；Each clamping structure 4 includes (referring to Fig. 9) Clamp motor 401, axle 402, first clamp 403, second clamp 404 and holder 405；The both ends of the holder 405 pass through lower floor 5 On two ball-screws, and be connected with the nut seat of one of ball-screw；It is left and right symmetrically arranged at the middle part of holder 405 Have first clamp 403 and second clamp 404, the second clamp 404 is connected by bearing pin with holder 405, first clamp 403 with Axle 402 is connected, and the gear for clamping the output end of motor 401 is meshed with the gear on axle 402；The motor 401 that clamps passes through Motor base is fixed on holder 405；Clamp motor 401 to act, drive first clamp 403 to clamp and loosen；First clamp 403 It can step up to treat gripper components just with the opening and closing of second clamp 404.

On two sides in the left and right for being further characterized by the outer framework 6 of the present utility model, difference Parallel Symmetric cloth Two ball-screw guide rails (referring to Figure 11) are equipped with, four corners of upper strata top plate 301, upper strata bottom plate 306 and lower plywood 502 are equal It is connected with four ball-screw guide rails on outer framework 6；And two ball-screws in the diagonal positions of upper strata top plate 301 Guide rail drives whole upper strata 3 to move up and down simultaneously, and the ball-screw guide rail in two other diagonal positions drives whole simultaneously Lower floor 5 moves up and down.Using two ball-screw guide rails control upper strata 3 in diagonal positions or lower floor 5 on the whole Lower movement, it is good to significantly improve structural stability, and structure is unlikely to deform.Outer framework is truss, and truss Rotating fields refer to upper strata 3rd, the structure that lower floor 5 is formed.

The outer framework 6 (referring to Figure 10) include left plate, right plate 601, back side panel, front side board 602, upper plate, under Bottom plate 603 and frame motor 604；Left plate, right plate 601, back side panel, front side board 602, upper plate, lower shoe 603 are assembled into Outer frame structure, be arranged in parallel two ball-screw guide rails respectively on left plate and right plate 601 along in short transverse, often Individual ball-screw guide rail connects a frame motor 604 by shaft coupling, under frame motor 604 is fixed on by motor base On bottom plate；Frame motor 604 can drive ball screw turns, so that upper strata 3, lower floor 5 move up and down.

The height of the height and filter core mobile platform of the present utility model for being further characterized by the outer framework front side board Unanimously.

The quantity of the present utility model for being further characterized by the planetary gear is 2-6.It is preferred that the quantity of planetary gear is Four.

It is of the present utility model to be further characterized by being respectively provided with a wedge on two pusher dogs of upper and lower position, Filter enclosing cover is blocked with this structure in the moving process of filter enclosing cover, further improves operating efficiency.

The overall work process of truss manipulator of the utility model based on planetary gear train is as follows：

Extracting filter core process out is：Frame motor 604 drives the ball screw turns that control upper strata 3 is moved, and upper strata 3 moves down, When the center of driving gear 105 and filter core enclosing cover center superposition, the stopping of frame motor 604 action, then complete nut and unscrew；Frame Frame motor 604 drives the ball screw turns that control upper strata 3 is moved, and upper strata 3 moves up, when the center of pusher dog stretch rod 205 and filter core During enclosing cover center superposition, frame motor 604 is stopped, and now I-shaped board motor 303 drives the ball being connected with I-shaped plate 305 Leading screw rotates, and I-shaped plate 305 travels forward, and to correct position, the stop motion of I-shaped board motor 303, then shells nut, upper strata 3 Move up, pushed aside filter core lid with the wedge structure on pusher dog 201, I-shaped board motor 303 drives the ball being connected with I-shaped plate 305 Leading screw rotates, and I-shaped plate 305 moves backward.Frame motor 604 drive control upper strata 3 move ball screw turns, upper strata 3 after It is continuous to move up, then pull motor 307 and drive the ball screw turns being connected with drag hook 304, drag hook 304 travels forward, this When drag hook 304 should be located at filter core annulus lower section, frame motor 604 drive control upper strata 3 move ball screw turns, upper strata 3 continue up, and when the front end circle ring center of drag hook 304 is concordant with filter core annulus, frame motor 604 is stopped, and pulls Motor 307 drives the ball screw turns being connected with drag hook 304, and filter core is drawn out.When drag hook 304 moves to limit, pull Motor 307 is stopped, and lower floor 5 moves up, and when second clamp 404 contacts with filter core, lower floor 5 stops moving up.Clamp motor 401 Action, first clamp 403 is driven to be clamped, drag hook 304 moves forward, and after drag hook 304 contacts with filter core collar extension, stops reach, Upper strata 3 moves down, while is moved after drag hook, then moves on to specified location on upper strata 3.Motor 501 is clamped to drive and clamping structure 4 The ball screw turns of connection, clamping structure 4 drive filter core movement, and when clamping structure 4 arrives end points, lower floor 5 moves down into specified Position, clamp motor 401 and act, first clamp 403 is unclamped, and then another clamping structure does same movement, and filter core is continued to take out Go out.So far, filter core extraction is completed.

Load filter core process：Upper strata 3 moves down, and when handle is positioned at the lower section of filter core annulus, stopping action, then pulls electricity Machine 307 drives the ball screw turns being connected with drag hook 304, and drag hook 304 moves backward, and now upper strata 3 moves up, when drag hook 304 When front end circle ring center is concordant with filter core annulus, stop moving up, pull motor 307 and drive the ball-screw being connected with drag hook 304 Rotate, filter core is drawn into；When drag hook 304 moves to limit, clamp motor 401 and act, drive first clamp 403 to be pressed from both sides Tightly, to move after drag hook 304, after drag hook 304 contacts with filter core annulus, moved after stopping, upper strata 3 moves down, while drag hook 304 moves forward, Then specified location is moved on on upper strata 3.It is concordant with filter core hole center that filter core center is moved on in lower floor 5, clamps the band of motor 501 The dynamic ball screw turns being connected with clamping structure 4, clamping structure 4 drive filter core movement, when clamping structure 4 arrives end points, folder Dress motor 401 acts, and first clamp 403 unclamps, and another clamping structure does identical process, after this clamping structure 4 is to limit, folder Dress motor 401 acts, and first clamp 403 unclamps, and upper strata 3 moves down, and drag hook 304 is directed at filter core and pushed it into, and upper strata 3 moves down, and uses The wedge structure of pusher dog 201 closes enclosing cover, and then upper strata 3 moves up, when the center of pusher dog stretch rod 208 and filter core enclosing cover center pair Stop motion when neat, frame motor 604 are stopped, and now I-shaped board motor 303 drives the ball wire being connected with I-shaped plate 305 Thick stick rotates, and I-shaped plate 305 travels forward, the stop motion of I-shaped board motor 303, nut reversed, and frame motor 604 drives control The ball screw turns that upper strata 3 is moved, upper strata 3 moves down, when the center of driving gear 105 is concordant with filter core center, frame motor 604 stoppings act, and then complete nut and tighten, then upper strata 3, lower floor 5 return to home position.

The manipulator of the application changes filter core operating condition design for nuclear power station, while is also applied for other and needs to change The operating mode of such column structure；The application robot manipulator structure is more stable, it is possible to achieve once to being positioned while multiple nuts, Pusher dog structure is have also been devised simultaneously, completes to dial nut process with this, clamping structure rotated by motor control clip and clamped Object；Stability is overcome compared to manipulator (patent of Application No. 201511002154.5 as mentioned above) before It is bad, need to position successively for multiple nuts, process is cumbersome, and clamping object specification requires the shortcomings that higher.

For front and rear, upper and lower, left and right described in the utility model are the position of relative filter.

It is emphasized that embodiment described in the utility model is illustrative, rather than it is limited, therefore this reality It is every new according to this practicality by those skilled in the art with the new embodiment including being not limited to described in embodiment The other embodiment that the technical scheme of type is drawn, also belongs to scope of protection of the utility model.

Claims

1. a kind of truss manipulator based on planetary gear train, it is characterised in that the manipulator includes planetary gear train structure, pusher dog knot Structure, upper strata, clamping structure, lower floor and outer framework, the upper and lower can move up and down along the short transverse of outer framework, OK Star-wheel architecture and pusher dog structure are separately fixed on upper strata according to upper-lower position, and clamping structure is installed in lower floor；

The upper strata includes pulling structure, upper strata top plate, upper strata frame, I-shaped board motor, upper strata bottom plate and I-shaped plate；Push up on upper strata Plate is fixedly connected with upper strata bottom plate by upper strata frame, and upper strata top plate and upper strata bottom plate can be along above and below the short transverses of outer framework It is mobile；A guide rail is connected on four corners of the I-shaped plate, four guide rail parallels are set, and the two of four guide rails End is each attached on the frame of upper strata, and it is ball-screw to have a guide rail in four guide rails, and one end of the ball-screw passes through Shaft coupling connects I-shaped board motor, and the I-shaped board motor is fixed on the bottom plate of upper strata by motor base and motor bent plate；Work Letter stencil motor drives the ball screw turns；The lower surface for pulling structure and being fixed on upper strata bottom plate；

The structure that pulls includes drag hook and pulls motor, the lower surface of bottom plate on upper strata, along in the direction of motion of I-shaped plate, puts down Row two guide rails of arrangement, wherein a guide rail is ball-screw, ball-screw is by shaft coupling and pulls motor connection, the drawing Power taking machine is fixed on the lower surface of upper strata bottom plate, the drag hook and the ball-screw of upper strata bottom plate lower surface by motor bent plate Nut seat connects；

The planetary gear train structure include nutting motor, rear baffle, internal messing gear wheel, driving gear, drive shaft, catch, Planetary gear, connecting shaft, big bearing, small bearing and omnipotent disassembly and assembly structure；The nutting motor passes through motor bent plate, motor base Be fixed on the top of I-shaped plate, the output shaft of nutting motor is connected by one end of shaft coupling and drive shaft, drive shaft it is another One end passes through rear baffle, and is fixedly connected with rear baffle with driving gear by big bearing；The internal messing gear wheel and active Gear is coaxially mounted to the front portion of rear baffle, has been evenly arranged in the space between internal messing gear wheel and driving gear some The planetary gear of quantity, a number of planetary gear are meshed with internal messing gear wheel and driving gear, each planetary gear Front end face be equipped with omnipotent disassembly and assembly structure mounting hole, omnipotent disassembly and assembly structure is installed in omnipotent disassembly and assembly structure mounting hole, each Planetary gear is connected by corresponding connecting shaft, small bearing with rear baffle；It is respectively mounted simultaneously on the front end face of each planetary gear Catch；

The pusher dog structure includes pusher dog, pull bar, sleeve, pusher dog folding motor, gear, rack and stretch rod, the sleeve and consolidated Due on the bottom of I-shaped plate, pusher dog folding motor is fixed on I-shaped plate by motor base and motor bent plate；The stretching Bar front end passes through sleeve, is connected with a number of pusher dog, and stretch rod rear portion is provided with rack, the output of the pusher dog folding motor Axis connection gear, gear are meshed with the rack on stretch rod；The outside of the sleeve is uniformly connected with by bearing pin and planet The pull bar that wheel quantity matches, the other end of each pull bar connect the middle part of corresponding pusher dog, pusher dog quantity and pull bar by bearing pin Quantity is consistent；

The lower floor includes clamping motor and lower plywood；Four corners of lower plywood are connected with outer framework, lower plywood energy edge The short transverse of outer framework moves up and down；In the direction of motion of the upper surface of lower plywood along I-shaped plate, parallel arrangement has two Ball-screw, the two ball-screws are connected with one by shaft coupling and clamp motor, clamp motor and pass through electricity Machine bent plate is fixed on lower plywood；Two clamping structures are installed, a ball-screw drives on two ball-screws in lower floor Dynamic clamping structure action, clamping structure move forward and backward under the driving of corresponding ball-screw.

2. the truss manipulator according to claim 1 based on planetary gear train, it is characterised in that the omnipotent disassembly and assembly structure Mounting hole is hexagon, and the omnipotent disassembly and assembly structure includes inner cylinder, cylinder, spring and hexagon bottom plate；Hexagon bottom plate is consolidated It is scheduled in the omnipotent disassembly and assembly structure mounting hole of planetary gear, inner cylinder is installed at the front end face center of hexagon bottom plate；With inner cylinder Centered on, a number of spring is installed on the front end face of hexagon bottom plate, the other end of each spring is all connected with a post Body；The cylinder is divided into hollow-core construction with spring contacts, and discontiguous part is solid construction, and spring is inserted into cylinder In hollow-core construction, and the height sum of spring and cylinder is more than the height of inner cylinder, and difference in height is a height of nut.

3. the truss manipulator according to claim 1 based on planetary gear train, it is characterised in that each clamping structure includes Clamp motor, axle, first clamp, second clamp and holder；The both ends of the holder pass through two ball-screws in lower floor, and It is connected with the nut seat of one of ball-screw；First clamp and second clamp have been left and right symmetrically arranged in the middle part of holder, The second clamp is connected by bearing pin with holder, and first clamp is connected with axle, on the gear and axle of the output end for clamping motor Gear be meshed；The motor that clamps is fixed on holder by motor base；First clamp and second clamp opening and closing are lucky It can step up to treat gripper components.

4. the truss manipulator according to claim 1 based on planetary gear train, it is characterised in that the left and right of the outer framework On two sides, Parallel Symmetric is disposed with two ball-screw guide rails respectively, upper strata top plate, four of upper strata bottom plate and lower plywood Corner is connected with four ball-screw guide rails on outer framework；And two ball wires in the top plate diagonal positions of upper strata Thick stick guide rail drives whole upper strata to move up and down simultaneously, and the ball-screw guide rail in two other diagonal positions drives whole simultaneously Lower floor moves up and down.

5. the truss manipulator according to claim 4 based on planetary gear train, it is characterised in that the outer framework includes a left side Side plate, right plate, back side panel, front side board, upper plate, lower shoe and frame motor；Left plate, right plate, back side panel, front side Plate, upper plate, lower shoe are assembled into outer frame structure, are arranged in parallel respectively along in short transverse on left plate and right plate Two ball-screw guide rails, each ball-screw guide rail connect a frame motor by shaft coupling, and frame motor passes through electricity Machine pedestal is fixed on lower shoe.

6. the truss manipulator according to claim 1 based on planetary gear train, it is characterised in that the quantity of the planetary gear For 2-6.

7. the truss manipulator according to claim 1 based on planetary gear train, it is characterised in that two positioned at upper and lower position A wedge is respectively provided with individual pusher dog.