CN2574852Y - Aloes dicing machine - Google Patents
Aloes dicing machine Download PDFInfo
- Publication number
- CN2574852Y CN2574852Y CN 02261484 CN02261484U CN2574852Y CN 2574852 Y CN2574852 Y CN 2574852Y CN 02261484 CN02261484 CN 02261484 CN 02261484 U CN02261484 U CN 02261484U CN 2574852 Y CN2574852 Y CN 2574852Y
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- crank
- base
- slide bar
- robot
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- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The utility model relates to a positioning and installing mechanism of a robot for detecting tube bundles, which comprises one long and thin base, wherein, one feed screw nut mechanism is installed at one end of the base, and slide bar cranks mechanism and parallelogram mechanisms are respectively installed on both sides of the base. The outer end of a feed screw of the feed screw nut mechanism is connected with a handle, and the inner end of the feed screw nut mechanism is rotationally connected with the end part of the base. A nut of the feed screw nut mechanism is fixedly connected with the outer ends of slide bars of two slide bar crank mechanism. Cranks of the slide bar crank mechanism are hinged with one crank of each of the parallelogram mechanisms. The outer ends of two cranks of the parallelogram mechanisms are provided with positioning blocks. When the handle is rotated, four positioning blocks are driven to move. The position of a detecting maintenance equipment is regulated by the contact and the interaction among the position blocks and four small and thin pipelines which are used for positioning and arranged on both sides. Therefore, that the detecting maintenance equipment is correctly positioned and installed on a tube plate is realized. The positioning and installing mechanism of a robot for detecting tube bundles has the advantages of high precision, simple operation, safety, telescopic performance, etc.
Description
Technical field:
The utility model relates to a kind of location and installation mechanism of robot, the location and installation mechanism of the interbank detection maintaining robot of particularly a kind of pipeline.
Background technology:
Using a large amount of tiny pipelines in modern industrial and agricultural production and the daily life, as the industrial pipeline of the steam generator heat-transfer pipe of nuclear power station, oil, chemical industry, refrigeration industry and gas piping etc., defectives such as burn into crackle, incrustation and mechanical damage can appear after these pipeline long-term works, for guaranteeing safety in production, must carry out periodic inspection to tiny pipeline.Mainly be to adopt artificial maintenance now, working space is narrow and small, inefficiency, and labour intensity is big, and most pipeline installation environment people can not directly arrive or not allow people directly to get involved.For carrying out quality testing and fault diagnosis, must develop pipe robot and solve these practical problems.
At present, the Robotics in the tiny pipeline has obtained very big development, and the robot of operation thereby makes it move and controls all difficulty more owing to do not had the guiding or the supporting role on the pipeline inner sealing face of cylinder between tube bank.The position of robot determines that it detects the basis with other operation.Robot system is to contact with steam generator hand hole end face by its keeper to realize the location between the CECIL pipe of the U.S..Japan Olympus Optical Co., Ltd conduit type Micro-Robot is to determine the position by the surveillance equipment that carries by operating personnel.Robot research all stresses the mobile technology in robot between other some pipes, and the location to robot does not propose simple and practical method.
The utility model content:
The purpose of this utility model is to provide a kind of location and installation mechanism of interbank detection maintaining robot, can realize the robot location and installation by container inside dimensions such as steam generator and all very high tiny pipeline of positional precision, for the upkeep operation of robot provides the prerequisite basis.
For achieving the above object, the utility model adopts following technical proposals:
A kind of location and installation mechanism of interbank detection maintaining robot comprises an elongated base, it is characterized in that an end of base is installed a leading screw and nut mechanism, and a slide bar crank mechanism and parallel-crank mechanism are respectively installed in the both sides of base; The screw mandrel outer end of leading screw and nut mechanism connects handle, and the inner is rotationally connected with base end, and the nut of leading screw and nut mechanism is fixedlyed connected with the slide bar outer end of two slide bar crank mechanisms; A crank of the crank of slide bar crank mechanism and parallel-crank mechanism is hinged; Locating piece is equipped with in the outer end of two cranks of parallel-crank mechanism.
Above-mentioned screw mandrel the inner is rotationally connected by little bearing and the screw mandrel bearing that is fixed on bottom under the base.
Above-mentioned slide bar is by the bearing support that is fixed on the base side, and the inner end with crank of slide bar is hinged, and the nearly outer end of a crank of the crank other end and parallel-crank mechanism is hinged.
The parallel cranks middle part of two of above-mentioned parallel-crank mechanism is hinged with the two ends of a connecting rod respectively, and the inner of two cranks is hinged by pivot pin and the bearing that is fixed on the base side respectively.
Above-mentioned base is gone to the bottom four universal balls is installed.
The utility model compared with prior art, have following conspicuous characteristics and advantage: the utility model is installed leading screw and nut mechanism in the outer end of elongated base, and slide bar crank mechanism and parallel-crank mechanism are installed in both sides, can be by the handle of the screw mandrel that is rotationally connected, and drive slide bar crank mechanism and parallel-crank mechanism by nut, thereby change the fast position, location be installed in parallel-crank mechanism crank outer end, the position of four pipelines that close on aligning and make the robot location.The utlity model has precision height, advantage such as simple to operate, safe and reliable, scalable.Be applicable to the robot of pipeline operations.
Description of drawings:
Fig. 1 is the schematic perspective view of an embodiment of the utility model.
Fig. 2 is the stage casing partial enlarged drawing among Fig. 1.
Fig. 3 is the structural representation (parallelogram be in collapsed state) of Fig. 1 example in interbank arrangement.
Fig. 4 is the structural representation (parallelogram be in deployed condition) of Fig. 1 example in interbank arrangement.
Fig. 5 is the schematic perspective view that Fig. 1 example is loaded onto the pipeline operations robot.
The specific embodiment:
A preferred embodiment of the present utility model is: referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the location and installation mechanism of this interbank detection maintaining robot comprises an elongated base 19, one end of base 19 is installed a leading screw and nut mechanism, and a slide bar crank mechanism and parallel-crank mechanism are respectively installed in the both sides of base 19.Screw mandrel 2 outer ends of leading screw and nut mechanism connect handle 1, and the inner is rotationally connected with base 19 ends.The nut 3 of leading screw and nut mechanism is fixedlyed connected with slide bar 6 outer ends of two slide bar crank mechanisms; The crank 8 of slide bar crank mechanism is hinged with a crank of parallel-crank mechanism 10; Locating piece 9,12 is equipped with in the outer end of two cranks 10,13 of parallel-crank mechanism.Above-mentioned screw mandrel 2 the inners are rotationally connected by little bearing and the screw mandrel bearing 4 that is fixed on 19 times bottoms of base.Above-mentioned slide bar 6 is by bearing 5,7 supportings that are fixed on base 19 sides, and slide bar 6 inner ends with crank 8 are hinged, and the nearly outer end of a crank 10 of crank 8 other ends and parallel-crank mechanism is hinged.Two parallel cranks, 10,13 middle parts of parallel-crank mechanism are hinged with the two ends of a connecting rod 11 respectively, and the inner of two cranks 10,13 is respectively by pivot pin 17,15 and bearing 18,16 hinges that are fixed on base 19 sides.Base 19 is gone to the bottom four universal balls 14 is installed.The operation robot is installed on the base 19 between pipe, and base 19 four following universal balls 14 contact with interbank tube sheet is surperficial, make that like this robot can be easy to move towards any direction on tube sheet, and frictional resistance is very little.By hand hole robot is being extend in the tube bank, and the tram that tentatively is placed on robot on the tube sheet neighbouring back (shown in Figure 3), counter clockwise direction rotary handle 1, driving screw mandrel 2 rotates, because screw mandrel 2 one ends are installed on the screw mandrel bearing 4 by two radial ball bearings, so screw mandrel 2 can only rotate and axial displacement can not take place around himself axis, therefore the nut 3 that causes being mated that rotates counterclockwise of screw mandrel 2 moves inwards, thereby the sliding bar 6 that promotes the left and right sides also moves inwards, cause connecting rod 8 to do plane motion and make crank 10 rotate around its rotating shaft 17, also make simultaneously by crank 10, the parallel-crank mechanism that connecting rod 11 and driven crank 13 are formed produces motion, to be driven crank 13 turn over the angle same with crank 10 around its rotating shaft 15 to the result, is fixed on the locating piece 9 above them, 12 motion also is identical.Parameter (width of middle piping lane, tiny outer diameter tube and tube pitch) according to the particular encapsulated container designs the length of each rod member and the size of locating piece 9,12, then in above-mentioned motion overhanging gradually about the inner cylinder face of two groups of locating pieces 9,12 can contact and produce interaction with four pipeline outer cylinder surfaces that are used to locate.Pipeline can be delivered to robot body to the reaction force of locating piece, therefore, plane motion among a small circle can be done by robot near the tram on the tube sheet surface, until the inner cylinder face of four locating pieces and corresponding heat-transfer pipe outer cylinder surface all fit like a glove (Fig. 4), so just make robot body arrive the tram, realized the centering location of robot in middle piping lane, in addition because leading screw and nut mechanism has self-lock ability, so robot has also realized the function of self installing in the location.Like this, the detection maintenance modules of robot also just can arrive appointed positions along base upper rail relative duct size.
Referring to Fig. 5, the location and installation mechanism of this interbank detection maintaining robot is used for robot between a kind of pipe that carries out the automated video detection towards tube bank of nuclear power station steam generator heat-transfer pipe and tube sheet intersecting area.The roughly course of work of robot is as follows between pipe: before starting working, make the hand hole of robot by steam generator tube sheet top enter steam generator earlier and be placed in the middle of on the piping lane; Adjust detent mechanism 20, by the contacting and interact and adjust the position of robot of four heat-transfer pipe outer surfaces of locating piece and both sides, thus the correct location and installation of realization robot on tube sheet; Vertically move platform 21 with the motion of detection module 22 on guide rail 23, arrive certain comb interfascicular of appointment; The camera of detection module 22 is deep into every discharge pipe gap video check is carried out in the relevant range.
Claims (5)
1. the location and installation mechanism of an interbank detection maintaining robot, comprise an elongated base (19), an end that it is characterized in that base (19) is installed a leading screw and nut mechanism, and a slide bar crank mechanism and parallel-crank mechanism are respectively installed in the both sides of base (19); The screw mandrel of leading screw and nut mechanism (2) outer end connects handle (1), and the inner is rotationally connected with base (19) end, and the nut of leading screw and nut mechanism (3) is fixedlyed connected with slide bar (6) outer end of two slide bar crank mechanisms; The crank of slide bar crank mechanism (8) is hinged with a crank (10) of parallel-crank mechanism; Locating piece (9,12) is equipped with in the outer end of two cranks (10,13) of parallel-crank mechanism.
2. the location and installation mechanism of interbank detection maintaining robot according to claim 1 is characterized in that screw mandrel (2) the inner is rotationally connected by little bearing and the screw mandrel bearing (4) that is fixed on bottom under the base (19).
3. the location and installation mechanism of interbank detection maintaining robot according to claim 1, it is characterized in that slide bar (6) is by the bearing (5 that is fixed on base (19) side, 7) supporting, the inner end with crank (8) of slide bar (6) is hinged, and the nearly outer end strand of a crank (10) of crank (8) other end and parallel-crank mechanism connects.
4. the location and installation mechanism of interbank detection maintaining robot according to claim 1, two parallel cranks (10 that it is characterized in that parallel-crank mechanism, 13) middle part is hinged with the two ends of a connecting rod (11) respectively, and two cranks (10,13) the inner is respectively by pivot pin (17,15) be hinged with the bearing (18,16) that is fixed on base (19) side.
5. the location and installation mechanism of interbank detection maintaining robot according to claim 1 is characterized in that base (19) is gone to the bottom four universal balls (14) are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02261484 CN2574852Y (en) | 2002-11-12 | 2002-11-12 | Aloes dicing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02261484 CN2574852Y (en) | 2002-11-12 | 2002-11-12 | Aloes dicing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2574852Y true CN2574852Y (en) | 2003-09-24 |
Family
ID=33728259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02261484 Expired - Fee Related CN2574852Y (en) | 2002-11-12 | 2002-11-12 | Aloes dicing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2574852Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454624A (en) * | 2018-12-04 | 2019-03-12 | 陕西西驱电子科技有限公司 | A kind of piping lane robot system |
-
2002
- 2002-11-12 CN CN 02261484 patent/CN2574852Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454624A (en) * | 2018-12-04 | 2019-03-12 | 陕西西驱电子科技有限公司 | A kind of piping lane robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |