WO2024066261A1 - 一种小型容器内块体精确定位安装装置 - Google Patents

一种小型容器内块体精确定位安装装置 Download PDF

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Publication number
WO2024066261A1
WO2024066261A1 PCT/CN2023/084645 CN2023084645W WO2024066261A1 WO 2024066261 A1 WO2024066261 A1 WO 2024066261A1 CN 2023084645 W CN2023084645 W CN 2023084645W WO 2024066261 A1 WO2024066261 A1 WO 2024066261A1
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WO
WIPO (PCT)
Prior art keywords
axis
block
module
rod
suction cup
Prior art date
Application number
PCT/CN2023/084645
Other languages
English (en)
French (fr)
Inventor
汤毅
冯强
倪志海
蔡晓军
蒋激扬
曹晓程
李旻
Original Assignee
上海市安装工程集团有限公司
上海建工集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海市安装工程集团有限公司, 上海建工集团股份有限公司 filed Critical 上海市安装工程集团有限公司
Publication of WO2024066261A1 publication Critical patent/WO2024066261A1/zh

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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • 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

Definitions

  • the invention relates to the field of automation equipment, and in particular to a device for accurately positioning and installing a block in a small container.
  • the present invention provides a device for accurately positioning and installing a block in a small container to solve the above technical problems.
  • the present invention provides a device for accurately positioning and installing blocks in small containers, comprising: a motion module, a stand, a three-way moving module, a support rod, a suction cup module and a protective frame.
  • the motion module includes a rolling wheel installed under the platform and a brake unit matched with the rolling wheel; the three-way moving module is installed on the platform, the output end of the three-way moving module is fixedly connected to the support rod, the support rod is connected to the suction cup module, and the suction cup module is used to absorb the block;
  • the protection frame includes a hydraulic component, a top plate and at least two grab bars, the output end of the hydraulic component is fixedly connected to the top plate, one end of the grab bar is hinged to the top plate, and the other end can be wrapped around the suction cup module and the block.
  • the brake unit includes a rotating disk, a threaded push rod, a frame-shaped slot plate, a sleeve, a rubber A rotating block, a rubber push rod, a brake block and a brake wheel, the rolling wheel rotates around the axial wheel axle, and the brake wheel is installed on the outside of the rolling wheel;
  • the frame-type slot plate is mounted on both ends of the wheel axle, the upper end of the threaded push rod is fixedly connected to the rotating disk, and the lower end passes through the frame-type slot plate and the sleeve in sequence;
  • the sleeve is a hollow structure, and the lower end of the threaded push rod passes through the top of the sleeve and is fixedly connected to the rubber rotating block in the hollow structure;
  • the rubber rotating block is threadedly connected to the rubber push rod, and the rubber push rod is horizontally limited in the hollow structure of the sleeve, and the lower end is fixedly connected to the brake block, and the position of the brake block corresponds to
  • the three-way moving module includes a base, an X-axis component, a Y-axis component and a Z-axis component
  • the X-axis component includes an X-axis motor, an X-axis rotating shaft and an X-axis slider
  • the Y-axis component includes a Y-axis motor, a Y-axis rotating shaft and a Y-axis slider
  • the Z-axis component includes a Z-axis motor, a Z-axis rotating shaft and a lifting block
  • the X-axis motor and the Y-axis motor are respectively installed on the base
  • the Y-axis slider can slide along the length direction of the X-axis slider
  • the Z-axis motor can slide along the length direction of the Y-axis slider
  • the Z-axis motor controls the lifting block to move along the Z direction through the Z-axis rotating shaft;
  • the base is fixed to the platform, and the lifting block is fixedly connected to the support rod.
  • the X-direction components are in two groups, the two groups of X-direction components are arranged opposite to each other, and the two X-direction sliders in two groups are respectively installed on the X-direction rotating shaft in the other group.
  • the X-axis, Y-axis and Z-axis are respectively provided with corresponding manual adjustment units
  • each of the manual adjustment units includes a rotating wheel, a rotating screw and a gear
  • the rotating wheel is connected to the rotating screw
  • the rotating screw is fixed to the gear
  • the outer circumference of the gear is provided with a texture matching the external thread of the X-axis, Y-axis or Z-axis.
  • a special locking piece is further provided between the rotating wheel and the rotating screw, and the special locking piece comprises a fixed plate, a sliding groove and two slide plates, the fixed plate is provided with a first 1/2 arc and a second 1/2 arc, each of the slide plates is provided with a first 1/4 arc matching the first 1/2 arc and a second 1/4 arc matching the second 1/2 arc, the two slide plates can slide along the sliding groove, and when the two slide plates are spliced together, the first 1/2 arc on the fixed plate and the two first 1/4 arcs on the two slide plates are spliced into a first circular hole, and the second 1/2 arc on the fixed plate and the two second 1/4 arcs on the two slide plates are spliced into a second circular hole, a thread is provided 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 rotating screw comprises a light rod matching the second circular hole, and a threaded rod matching the first circular hole; when the light rod is
  • the two slide plates of the special lock are respectively provided with lock buttons, and the two lock buttons can be fixed by a fixed lock; the fixed lock is hinged to one of the lock buttons and can be buckled with the other lock button.
  • the support rod is connected to the suction cup module through a connecting frame
  • the connecting frame includes an outer frame and an ⁇ -shaped steel sheet
  • the ⁇ -shaped steel sheet includes an elastic ring in the middle and cylindrical rods on both sides, one of the cylindrical rods is fixed to the outer frame through a fixing block, and the other cylindrical rod extends out of the outer frame; a round hole is provided at the bottom of the support rod for the cylindrical rod to be inserted.
  • the suction cup module includes a connecting rod, an outer shell, a rubber pad and a trigger unit, and the connecting rod, the outer shell and the rubber pad are connected in sequence, the connecting rod is fixed to the top plate, and the rubber pad corresponds to the block; the trigger unit is used to turn on and off the adsorption function of the rubber pad, and includes a lifting key, a spring, a ring sleeve and a T-shaped wrench, and continuous through holes are provided in the outer shell and the rubber pad.
  • the lifting key is limited in the through hole by the spring, and the top end passes through the outer shell and is hinged to one end of the T-shaped wrench; the ring sleeve is installed on the outer shell, and the other end of the T-shaped wrench passes through the ring sleeve.
  • a lighting module and an amplifying monitoring module are also installed on the support rod.
  • the device for accurately positioning and installing a block in a small container provided by the present invention has the following advantages:
  • the device provided by the present invention utilizes a three-way moving module to cooperate with the movement of the platform to form a safe and reliable mechanical handling arm, thereby replacing manual operation and solving the problem that the poisonous block in the small container cannot be installed or cannot be accurately positioned;
  • the present invention adds a protective frame to protect the suction cup module and the block, so as to prevent certain poisonous or high-temperature objects from falling during the transportation process and injuring surrounding personnel, thereby achieving high safety;
  • the device of the present invention due to the addition of a manual precision adjustment mechanism, can achieve millimeter-level precision positioning in conjunction with the lighting module and the magnification monitoring module, further improving the installation quality;
  • the device of the present invention adopts an electric method in the three-way moving module, which can save labor
  • the present invention also has the advantages of simple operation, safety, reliability and high efficiency.
  • FIG1 is a schematic structural diagram of a device for accurately positioning and installing a block in a small container in one specific embodiment of the present invention
  • FIG2 is a schematic diagram of the structure of a motion module in a specific embodiment of the present invention.
  • FIG3 is a schematic structural diagram of a brake unit in a specific embodiment of the present invention.
  • FIG4 is a schematic diagram of the three-dimensional structure of a three-way movable module in a specific embodiment of the present invention.
  • FIG5 is a schematic structural diagram of a manual adjustment unit in a specific embodiment of the present invention.
  • 6a and 6b are schematic structural diagrams of a special lock element in a specific embodiment of the present invention.
  • FIG7a is a schematic structural diagram of the bottom of a support rod in a specific embodiment of the present invention.
  • FIG7b is a schematic diagram of the structure of a connection frame in a specific implementation manner of the present invention.
  • FIG 8a and 8b are schematic diagrams of the structure of a protection frame in a specific embodiment of the present invention, wherein FIG8a shows the grab bar in an open state ready for work, and FIG8b shows the grab bar in a closed state when carrying goods;
  • FIG. 9a and 9b are schematic structural diagrams of a suction cup module in a specific embodiment of the present invention, wherein FIG. 9a is a front view of a released state, and FIG. 9b is a side view of a suction state;
  • FIG. 10 is a schematic diagram of the installation of a lighting module and an amplifying monitoring module in a specific embodiment of the present invention.
  • 001-block 100-motion module, 110-rolling wheel, 111-axle, 120-brake unit, 121-rotating disk, 122-threaded push rod, 123-frame slot plate, 124-sleeve, 125-rubber rotating block, 126-rubber push rod, 127-brake block, 128-brake wheel, 200-stand, 300-three-way moving module, 310-base, 320-X-axis assembly, 321-X-axis motor, 322-X-axis rotating shaft, 323-X slider, 324-X shaft seat, 330-Y assembly, 331-Y motor, 332-Y shaft, 333-Y slider, 334-Y shaft seat, 335-Y slide seat, 336-connecting rod, 340-Z assembly, 341-Z motor, 342-Z shaft, 343-lifting block, 344-Z slide seat, 345-C hoop, 350-manual adjustment unit, 351-rotating wheel, 352-rotating screw, 35
  • the device for accurately positioning and installing a block in a small container provided by the present invention, as shown in FIGS. 1 to 10 , comprises: a motion module 100 , a stand 200 , a three-way moving module 300 , a support rod 400 , a suction cup module 500 and a protection frame 600 .
  • the motion module 100 includes a rolling wheel 110 installed under the platform 200 and a braking unit 120 matched with the rolling wheel 110.
  • the motion module 100 can drive the platform 200 to move and fix it after positioning; the three-way movement module 300 is installed on the platform 200, and the output end of the three-way movement module 300 is fixedly connected to the support rod 400.
  • the three-way movement module 300 can accurately move the support rod 400 to a specified position in a three-dimensional space; the support rod 400 is connected to the suction cup module 500, and the suction cup module 500 is used to adsorb the block 001 to complete the adsorption and displacement of the block 001.
  • the protection frame 600 includes a hydraulic component 610, a top plate 620 and at least two grab bars 630.
  • the output end of the hydraulic component 610 is fixedly connected to the top plate 620.
  • One end of the grab bar 630 is hinged to the top plate 620, and the other end can be wrapped around the suction cup module 500 and the block 001.
  • the device provided by the present invention utilizes a three-way moving module 300 and cooperates with the movement of a stand 200 to form a safe and reliable mechanical transport arm, thereby replacing manual operation and solving the problem that blocks in small containers cannot be installed or cannot be accurately positioned; at the same time, a protective frame 600 is added to protect the suction cup module 500 and the block 001, thereby preventing certain poisonous or high-temperature blocks from falling during the transportation process and injuring surrounding personnel, thereby achieving high safety.
  • the brake unit 120 includes a rotating disk 121, a threaded push rod 122, a frame-shaped slot plate 123, a sleeve 124, a rubber rotating block 125, a rubber push rod 126, a brake block 127 and a brake wheel 128.
  • the rolling wheel 110 rotates around the axial wheel shaft 111 to achieve forward and backward movement; the brake wheel 128 is installed on the outside of the rolling wheel 110 to complete the braking.
  • the frame-shaped slot plate 123 is mounted on both ends of the wheel shaft 111.
  • the upper end of the threaded push rod 122 is fixedly connected to the rotating disk 121, and the lower end passes through the frame-shaped slot plate 123 and the sleeve 124 in sequence; the sleeve 124 is hollow.
  • the structure is as follows: the lower end of the threaded push rod 122 passes through the top of the sleeve 124 and is fixedly connected to the rubber rotating block 125 in the hollow structure of the sleeve 124; the rubber rotating block 125 is threadedly connected to the rubber push rod 126, and the rubber push rod 126 is horizontally limited in the hollow structure in the sleeve 124.
  • the hollow structure is a rectangular column, and the rubber push rod 126 is a column matched therewith, so that after the rubber push rod 126 extends into the hollow structure, the two cannot achieve horizontal displacement and relative rotation; the lower end of the rubber push rod 126 is fixedly connected to the brake block 127, and the position of the brake block 127 corresponds to the position of the brake wheel 128.
  • the brake block 127 can be C-shaped to match the outer diameter profile of the brake wheel 128.
  • the rubber push rod 126 Due to the hollow structure inside the sleeve 124 and the structural limitations of the rubber push rod 126 (square cross-section), the rubber push rod 126 cannot rotate inside the sleeve 124 and can only move up and down. Therefore, the lower brake block 127 can be raised and lowered, and then braking is achieved through the contact friction between the brake block 127 and the brake wheel 128.
  • the threaded push rod 122 can at least push the hard rubber brake block 127 to a distance of 5 cm and make the brake block 127 reach the position of the brake wheel 128, thereby playing a braking or braking role.
  • the rotating disk 121 can be manually pushed, but is not limited to this. Its pushing structure can be hydraulic, pneumatic or electric, as long as the rubber push rod 126 can be freely extended and retracted in the sleeve 124.
  • the stand 100 may adopt a table-like structure, with four legs welded and fixed to the frame-shaped channel plate 123.
  • the legs may be made of different types of steel, which can meet the weight of the device itself and 1.5 times the total weight of the maximum weight of the transported object (about 100 kg).
  • the legs may be channel steel, C-shaped steel or I-shaped steel, etc., and the legs are welded and fixed to the stand 100.
  • the stand 100 may be made of a steel plate with a thickness of not less than 3 mm.
  • the three-axis moving module 300 includes a base 310, an X-axis component 320, a Y-axis component 330 and a Z-axis component 340.
  • the X-axis component 320 includes an X-axis motor 321, an X-axis rotating shaft 322 and an X-axis slider 323.
  • the Y-axis component 330 includes a Y-axis motor 331, a Y-axis rotating shaft 332 and a Y-axis slider 333.
  • the Z-axis component 340 includes a Z-axis motor 341, a Z-axis rotating shaft 342 and a lifting block 343.
  • the X-axis motor 321 and the Y-axis motor 331 are respectively installed on the base 310.
  • the Y-axis slider 333 can slide along the length direction of the X-axis slider 323.
  • the Z-axis motor 341 can slide along the length direction of the Y-axis slider 333.
  • the Z-axis motor 341 is connected to the base 310.
  • the lifting block 343 i.e., the output end of the three-way moving module 200 ) is controlled to move along the Z direction through the Z-axis rotating shaft 342 ; the base 310 is fixed on the stand 200 , and the lifting block 343 is fixedly connected to the support rod 400 , thereby adjusting the three-dimensional position of the support rod 400 .
  • the X-axis seat 324 provides support for the other end of the X-axis rotating shaft 322; the Y-axis seat 334 provides support for the other end of the Y-axis rotating shaft 332, so that the movement of the slider driven by each rotating shaft is more stable.
  • the Y-axis slider 333 slides in the slide rail of the X-axis slider 323 through the Y-axis slide seat 335 at the bottom; the Y-axis slider 333 is also a hollow structure in the middle, and the length of its internal slide rail is at least 100 cm.
  • the width of the slide rail of the X-axis slider 323 and the slide rail of the Y-axis slider 333 can be set to 3 to 5 cm, as long as the internal Y-axis slide seat 335 and the Z-axis slide seat 344 can be smoothly installed and slide in the hollow slide rail.
  • the C-shaped hoop 345 and the Z-axis motor 341 are installed on the Z-axis slide seat 344, and the Z-axis rotating shaft 342 of the Z-axis motor 341 extends out of the C-shaped hoop 345 and is connected to the lifting block 343, and the C-shaped hoop 345 can play a supporting and guiding role.
  • the lifting block 343 By rotating the Z-axis motor 341 in different directions, the lifting block 343 can be lifted and lowered in the vertical direction. It is worth noting that the lifting block 343 should be able to maintain a lifting distance of at least 200 cm, and the X-axis motor 321 and the Y-axis motor 331 can also satisfy forward and reverse rotation, thereby realizing movement to different positions in various directions.
  • the X-axis components 320 are divided into two groups, and the two groups of X-axis components 320 are arranged opposite to each other.
  • One end of the two X-axis sliders 323 in the two groups away from the X-axis rotating shaft 322 is respectively installed on the X-axis rotating shaft 322 in the other group, that is, the arrangement directions of the X-axis motors 321, the X-axis rotating shaft 322 and the X-axis shaft seats 324 in the two groups of X-axis components 320 are opposite, and the two ends of the two X-axis sliders 323 are respectively mounted on the two X-axis rotating shafts 322.
  • two X-direction sliders 323 are placed under the Y-direction slider 333, and the Y-direction slider 333 is fixedly connected to one of the X-direction sliders 323 through a Y-direction slide seat 335, which can not only realize the support and guiding effect of the two X-direction sliders 323 on the Y-direction slider 333, but also adjust the X-direction motor 321 according to the position of the Z-direction component 340 on the Y-direction slider 333, and then adjust the positions of the two X-direction sliders 323, so as to better provide support for the entire three-direction mobile module 300 and ensure the stability of the device.
  • the distance between the two X-direction sliders 323 is at least 100 cm, and the distance between the two X-direction rotating shafts 322 is at least 120 cm.
  • the Y-direction motor 331 and the Y-direction rotating shaft 332 are installed on the same base bar, and the base bar is connected to the side of one of the X-direction sliders 323 through a connecting rod 336.
  • the lifting block 343 has a thread in the middle, and is installed on the Z-direction motor 341 In the threaded shaft (Z-axis shaft 342) (of course, the X-axis, Y-axis and Z-axis shafts 322, 332, 342 all have threads), when the Z-axis motor 341 rotates in different directions, since the lifting block 343 is embedded in the slide rail, the horizontal movement is limited, so it can only be lifted and lowered in the vertical direction. Combined with the movement of the X-axis component 320 and the Y-axis component 330, the lifting block 343 can be moved to different positions in various directions.
  • the X-axis rotating shaft 322 , the Y-axis rotating shaft 332 , and the Z-axis rotating shaft 342 are respectively provided with corresponding manual adjustment units 350 .
  • the manual adjustment units 350 can be used to further manually adjust the precision of the rotating shafts in each direction to avoid the situation where the precision is difficult to control due to the motor (X-axis motor 321 , Y-axis motor 331 , or Z-axis motor 341 ) rotating slightly more or less.
  • each of the manual adjustment units 350 may include a rotating wheel 351 , a rotating screw 352 , and a gear 353 .
  • the rotating wheel 351 is connected to the rotating screw 352
  • the rotating screw 352 is fixedly connected to the gear 353 .
  • the outer circumference of the gear 353 is provided with a pattern matching the outer thread of the X-axis rotating shaft 322 , the Y-axis rotating shaft 332 , or the Z-axis rotating shaft 342 . Taking the X-axis rotating shaft 322 in FIG.
  • the X-axis motor 321 is used to adjust the position of the lifting block 343, the X-axis motor 321 is turned off, and the gear 353 is driven to rotate by the rotating wheel 351.
  • the rotational motion of the rotating wheel 351 is converted into the rotational motion of the X-axis rotating shaft 322 by the matching between the texture on the gear 353 and the external thread of the X-axis rotating shaft 322, and then the position of the Y-axis slider 333 on the X-axis rotating shaft 322 is precisely adjusted.
  • the manual adjustment unit 350 adjusts the Y-axis rotating shaft 332 and the Z-axis rotating shaft 342 in the same principle, which will not be described in detail here.
  • a special lock 360 is further provided between the rotating wheel 351 and the rotating screw 352, and the special lock 360 includes a fixed plate 361, a slide groove 362 and two slide plates 363, the fixed plate 361 is provided with a first 1/2 arc 371 and a second 1/2 arc 372, each of the slide plates 363 is provided with a first 1/4 arc 373 matching the first 1/2 arc 371 and a second 1/4 arc 374 matching the second 1/2 arc 372, the two slide plates 363 can slide along the slide groove 362, and when the two slide plates 363 When assembled, the first 1/2 arc 371 on the fixed plate 361 and the two first 1/4 arcs 373 on the two slide plates 363 are assembled into a first circular hole 364, and the second 1/2 arc 372 on the fixed plate 361 and the two second 1/4 arcs 374 on the two slide plates 363 are assembled into a second circular hole 365.
  • the first circular hole 364 is provided with a thread, and the inner diameter of the first circular hole 364 is larger than the inner diameter of the second circular hole 365 (for example, the inner diameter of the first circular hole 364 is larger than that of the second circular hole 365 by about 0.3 cm to 0.5 cm); the rotating screw 352 includes a threaded portion 374 and a second circular hole 365.
  • the two slides 363 of the special lock 360 are respectively provided with lock buttons 366, and the two lock buttons 366 can be fixed by a fixed lock 367.
  • the two slides 363 can be fixed by the fixed lock 367 to prevent the slides 363 from shifting when the rotating screw 352 rotates.
  • the fixed lock 367 is hinged to one of the lock buttons 366 and can be buckled with the other lock button 366 to prevent the fixed lock 367 from falling or losing.
  • the working principle of the special lock 360 is as follows: Taking the X-axis rotating shaft 322 in Figure 5 as an example, when manual fine-tuning is required, stop the rotation of the X-axis motor 321, slide the two slide plates 363 to both sides respectively, push the threaded rod 355 into the first 1/2 arc 371, and then push the two slide plates 363 inward to make the two slide plates 363 fit together.
  • the threaded rod 355 is engaged in the first circular hole 364, and the rotating wheel 351 can drive the rotating screw 352 to rotate in the first circular hole 364, and then adjust the relative position of the gear 353 and the X-axis rotating shaft 322 so that the gear 353 reaches 0.5 cm above the position of the X-axis rotating shaft 322.
  • the texture of the gear 353 corresponds to the external thread of the X-axis rotating shaft 322, but the two are kept at a small distance without contact
  • the light rod 354 of the rotating screw 352 reaches the first circular hole 364, and the distance adjustment between the gear 353 and the X-axis rotating shaft 322 is completed; after the above steps are completed, open the fixed lock 367, move the slide plate 363 to both sides again, move the light rod 354 to the second 1/2 arc 372, and then assemble and lock the slide plate 363.
  • the gear 353 contacts the X-axis rotating shaft 322.
  • the gear 353 is driven to rotate by the rotating wheel 351 to achieve a small rotation of the X-axis rotating shaft 322 without advancing, so as to achieve fine adjustment.
  • the above steps are reversed to achieve the reset of the rotating screw 352 (so that the gear 353 does not contact the X-axis rotating shaft 322).
  • the adjustment of the Y-axis rotating shaft 332 and the Z-axis rotating shaft 342 is also the same as this principle, which will not be repeated here.
  • the support 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 ⁇ -shaped steel sheet 412.
  • the ⁇ -shaped steel sheet 412 includes an elastic ring in the middle and cylindrical rods 413 on both sides.
  • One of the cylindrical rods 413 is fixedly connected to the outer frame 411 through a fixing block 414, and the other cylindrical rod 413 extends out of the outer frame. 411;
  • a circular hole 401 for inserting the cylindrical rod 413 is provided at the bottom of the support rod 400.
  • the ⁇ -shaped steel sheet 412 can be retracted into the connecting frame 410 by pressing the cylindrical rod 413 exposed outside the outer frame 411.
  • the connecting frame 410 moves to a position corresponding to the circular hole 401 at the end of the support rod 400, the cylindrical rod 413 pops out into the circular hole 401 that matches it, thereby realizing the connection between the connecting frame 410 and the support rod 400. If it needs to be removed, the same principle is used, which will not be described here.
  • the number of the circular holes 401 can be multiple, for example 3 to 5, and the multiple circular holes 401 can be distributed along the Z direction, so that according to specific needs, the circular holes 401 at appropriate positions are selected to install the connecting frame 410.
  • the protection frame 600 there is a short rod 640 at the front, rear, left and right of the horizontal position of the hydraulic component 610, the upper part of the short rod 640 is hinged to the hydraulic component 610, and the lower end is hinged to the grab bar 630, the grab bar 630 can be a C-shaped structure, the number can be 4, and the four grab bars 630 form a ring bolted around the end of the hydraulic component 610 (i.e., the top plate 620, the top plate 620 and the hydraulic component 610 are connected by the push rod 650).
  • the working principle of the protection frame 600 is to drive the push rod 650 downward through the lifting force of the hydraulic component 610, so that the disc-shaped top plate 620 at the end of the push rod 650 drives the grab bar 630 bolted thereto, and opens upward with the end hinge point of the short rod 640 as the center, and vice versa, when the push rod 650 rises to the top, the grab bars 630 shrink around the fulcrum at the end of the short rod 640. Therefore, when the suction cup module 500 firmly sucks the block 001, the push rod 650 drives the grab rod 630 upward to contract, and a relatively closed shape is formed between the grab rods 630 to wrap and lift the suction cup module 500 and the block 001.
  • the grab rod 630 needs to be wrapped with corrosion-resistant non-metallic materials, which can not only increase the friction force, but also prevent the block 001 from corroding its structure; of course, for high-temperature objects, fireproof materials can also be coated on the grab rod 630 to increase its service life.
  • the block 001 accurately reaches a position about 5 cm above the installation point, and then the hydraulic part 610 is operated to make the push rod 650 descend, thereby opening the grab rod 630 to facilitate the accurate placement of the block 001.
  • the suction cup module 500 includes a connecting rod 510, a shell 520, a rubber pad 530 and a trigger unit 540, the connecting rod 510, the shell 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 to turn on and off the adsorption function of the rubber pad 530, and includes a lifting key 541, a spring 542, a ring sleeve 543 and a T-shaped wrench 544, the shell 520 and the rubber pad 530 are provided with continuous through holes, the lifting key 541 is limited in the through hole by the spring 542, and the top end passes through the shell 520 and is hinged to one end of the T-shaped wrench 544; the ring sleeve 543 is installed On the housing 520 , the other end of the T-shaped wrench 544 passes through the ring
  • the working principle of the T-type wrench 544 is that the T-type wrench 544 uses the ring sleeve 543 as a fulcrum, and the force-bearing end of the T-type wrench 544 and the lifting key 541 are respectively located at the two ends of the lever structure.
  • the T-type wrench 544 can slide downward under the drive of manpower or micro-hydraulic elements. After sliding to a certain distance, the ring sleeve 543 drives the T-type wrench 544 to rotate downward along a certain arc at the bottom under continuous contraction force.
  • the end of the T-type wrench 544 is bolted to the lifting key 541, it can drive the lifting key 541 to lift up a certain distance (at this time, the outer shell 520 around the lifting key 541 limits it horizontally). Since the rubber pad 530 is fixed to the lifting key 541, driven by the lifting key 541 and the surrounding springs 542, the rubber pad 530 at the bottom position 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 can be generated through the above steps.
  • the T-shaped wrench 544 is upward, so that the lifting key 541 is lowered to release the negative pressure, so that the suction cup (rubber pad 530) and the block 001 can be separated.
  • the vacuum suction cup can realize full-process automatic control and manual non-contact operation through such a design to increase the safety of the device.
  • the bottom of the lifting key 541 can use two hard sheets to clamp the bottom end of the rubber pad 530.
  • the rubber pad 530 can have an internal concave arc so that the hard sheet below exists without affecting the negative pressure generated during adsorption, thereby better forming negative pressure or vacuum.
  • the negative pressure provided by the rubber pad 530 as a suction cup should be able to lift at least 2kg to 10kg of smooth objects.
  • the object 001 should be uniform and have no holes in the middle, otherwise negative pressure cannot be formed.
  • the support rod 400 is also equipped with a lighting module 700 and an amplification monitoring module 800.
  • the side of the support rod 400 has a lighting module 700 connected to the first branch rod 420, and the other side is an amplification monitoring module 800 connected to the second branch rod 430.
  • the first branch rod 420 and the second branch rod 430 can maintain a distance of about 5 cm to 10 cm from the connection frame 410, and hydraulic lifting can be achieved vertically through the telescopic member 710.
  • the first branch rod 420 and the second branch rod 430 can also be designed as a hydraulic transverse telescopic structure to achieve transverse and longitudinal bidirectional telescopic expansion to better expand the viewing angle range.
  • auxiliary modules including the lighting module 700 and the magnification monitoring module 800
  • protection frame 600 The motion module 100 and the three-way movement module 300 can be connected to the core control terminal by wired or wireless means, so as to facilitate operation and control by personnel.
  • the precise positioning and installation device for blocks in small containers comprises: a motion module 100, a stand 200, a three-way movable module 300, a support rod 400, a suction cup module 500 and a protective frame 600, wherein the motion module 100 comprises a rolling wheel 110 installed below the stand 200 and a brake unit 120 matching the rolling wheel 110; the three-way movable module 300 is installed on the stand 200, and the output end of the three-way movable module 300 is fixedly connected to the support rod 400; the support rod 400 is connected to the suction cup module 500, and the suction cup module 500 is used to adsorb the block 001; the protective frame 600 comprises a hydraulic component 610, a top plate 620 and at least two grab bars 630, wherein the output end of the hydraulic component 610 is fixedly connected to the top plate 620, one end of the grab bar 630 is hinged to the top plate 620, and the other end can be wrapped around the suction cup module 500 and the block 001.
  • the motion module 100 comprises a rolling
  • the device provided by the present invention utilizes a three-way moving module 300 and cooperates with the movement of a stand 200 to form a safe and reliable mechanical transport arm, thereby replacing manual operation and solving the problem that blocks in small containers cannot be installed or cannot be accurately positioned; at the same time, a protective frame 600 is added to protect the suction cup module 500 and the block 001, thereby preventing certain poisonous or high-temperature blocks from falling during the transportation process and injuring surrounding personnel, thereby achieving high safety.

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Abstract

本发明涉及一种小型容器内块体精确定位安装装置，包括：运动模块、台架、三向移动模块、支杆、吸盘模块及保护框，运动模块包括安装于台架下方的滚动轮及与滚动轮匹配的制动单元；三向移动模块安装于台架上，三向移动模块的输出端与支杆固接，支杆与吸盘模块连接，吸盘模块用于吸附块体；保护框包括液压件、顶盘和至少两个抓杆，液压件的输出端与顶盘固接，抓杆的一端与顶盘铰接，另一端能够包覆在吸盘模块以及块体的周围。本发明利用三向移动模块，配合台架的移动构成安全可靠的机械搬运臂，以此代替人工操作，解决了小型容器内块体无法安装或无法精确定位的问题；同时采用保护框对吸盘模块和块体进行保护，避免移动过程中块体掉落造成安全隐患。

Description

一种小型容器内块体精确定位安装装置 技术领域
本发明涉及自动化设备领域，尤其涉及一种小型容器内块体精确定位安装装置。
背景技术
目前，在某些特种的工业项目中，小型容器内也需放置一定的毒害或高温块体作为催化或生产原料，而狭小容器因空间限制会导致安装困难或者安装效率和质量低的问题。例如，石墨块是核反应堆中理想的中子减速材料，且具有成本低的优势。但是对于小型核反应容器的试验堆来说，由于试验堆较小，人员进入四周封闭的小型空间进行安装非常困难，且这类的反应堆往往对于石墨块的安装精度极高，任何细小的偏差往往造成严重的后果。因此，如何降低小型容器内块体安装难度，提高小型容器内块体定位安装精度是本领域技术人员亟待解决的一个技术问题。
发明内容
本发明提供一种小型容器内块体精确定位安装装置，以解决上述技术问题。
为解决上述技术问题，本发明提供一种小型容器内块体精确定位安装装置，包括：运动模块、台架、三向移动模块、支杆、吸盘模块以及保护框。
所述运动模块包括安装于所述台架下方的滚动轮以及与所述滚动轮匹配的制动单元；所述三向移动模块安装于所述台架上，所述三向移动模块的输出端与所述支杆固接，所述支杆与所述吸盘模块连接，所述吸盘模块用于吸附块体；
所述保护框包括液压件、顶盘和至少两个抓杆，所述液压件的输出端与所述顶盘固接，所述抓杆的一端与所述顶盘铰接，另一端能够包覆在所述吸盘模块以及块体的周围。
较佳地，所述制动单元包括旋转盘、螺纹推进杆、框型槽板、套筒、橡胶 转块、橡胶推进杆、制动块以及制动轮，所述滚动轮绕轴向的轮轴旋转，所述制动轮安装于所述滚动轮的外侧；所述框型槽板架设于所述轮轴的两端，所述螺纹推进杆的上端与所述旋转盘固接，下端依次穿过所述框型槽板和套筒；所述套筒为中空结构，所述螺纹推进杆的下端穿过所述套筒的顶部在所述中空结构内与所述橡胶转块固接连接；所述橡胶转块与所述橡胶推进杆螺纹连接，所述橡胶推进杆水平向限位于所述套筒的中空结构内，下端与所述制动块固接，所述制动块的位置与所述制动轮的位置对应。
较佳地，所述三向移动模块包括底座、X向组件、Y向组件和Z向组件，所述X向组件包括X向电机、X向转轴以及X向滑块，所述Y向组件包括Y向电机、Y向转轴以及Y向滑块，所述Z向组件包括Z向电机、Z向转轴以及提升块，所述X向电机和Y向电机分别安装于所述底座上，所述Y向滑块能够沿所述X向滑块的长度方向滑动，所述Z向电机能够沿所述Y向滑块的长度方向滑动，所述Z向电机通过所述Z向转轴控制所述提升块沿Z向移动；所述底座固定于所述台架，所述提升块与所述支杆固接。
较佳地，所述X向组件为两组，两组X向组件相对设置，且两组中的两个所述X向滑块分别安装于另一组中的所述X向转轴上。
较佳地，所述X向转轴、Y向转轴以及Z向转轴分别设有对应的手动调节单元，每个所述手动调节单元包括转动轮、旋转螺杆以及齿轮，所述转动轮与所述旋转螺杆连接，所述旋转螺杆与所述齿轮固接，所述齿轮的外圆周上设有与所述X向转轴、Y向转轴或Z向转轴的外螺纹匹配的纹路。
较佳地，所述转动轮与所述旋转螺杆之间还设有专用锁件，所述专用锁件包括固定板、滑槽以及两个滑板，所述固定板上设有第一1/2圆弧和第二1/2圆弧，每个所述滑板上均设有与所述第一1/2圆弧匹配的第一1/4圆弧和与所述第二1/2圆弧匹配的第二1/4圆弧，两个所述滑板能够沿所述滑槽滑动，当两个所述滑板拼合时，所述固定板上的第一1/2圆弧与两个所述滑板上的两个所述第一1/4圆弧拼合为第一圆孔，所述固定板上的第二1/2圆弧与两个所述滑板上的两个所述第二1/4圆弧拼合为第二圆孔，所述第一圆孔内设有螺纹，所述第一圆孔的内径大于所述第二圆孔的内径；所述旋转螺杆包括与所述第二圆孔匹配的光杆，和与所述第一圆孔匹配的螺纹杆；所述光杆置于所述第二圆孔内时，所述 齿轮与所述转轴接触，所述螺纹杆置于所述第一圆孔内时，所述齿轮与所述转轴脱离。
较佳地，所述专用锁件的两个所述滑板上还分别设有锁钮，两个所述锁钮能够由一个固定锁固定；所述固定锁与其中一个所述锁钮铰接，并能够与另一个所述锁钮扣合。
较佳地，所述支杆通过一连接框与所述吸盘模块连接，所述连接框包括外框和Ω型钢片，所述Ω型钢片包括中部的弹性环和两侧的圆柱杆，其中一个所述圆柱杆通过一固定块与所述外框固接，另一个所述圆柱杆伸出所述外框；所述支杆的底部设有供所述圆柱杆插入的圆孔。
较佳地，所述吸盘模块包括连杆、外壳、橡胶垫以及触发单元，所述连杆、外壳、橡胶垫依次连接，所述连杆与所述顶盘固接，所述橡胶垫与所述块体对应；所述触发单元用于开启和关闭所述橡胶垫的吸附功能，包括提升键、弹簧、环套以及T型扳手，所述外壳和橡胶垫内设有连续的通孔，所述提升键通过弹簧限位于所述通孔内，且顶端从所述外壳中穿出并与所述T型扳手的一端铰接；所述环套安装于所述外壳上，所述T型扳手的另一端从所述环套中穿出。
较佳地，所述支杆上还安装有照明模块和放大监控模块。
与现有技术相比，本发明提供的小型容器内块体精确定位安装装置具有如下优点：
1、本发明提供的装置，利用三向移动模块，配合台架的移动构成安全可靠的机械搬运臂，以此代替人工操作，解决了小型容器内毒害块体无法安装或无法精确定位的问题；
2、本发明增加了保护框，对吸盘模块和块体进行保护，避免某些毒害或高温物块在搬运过程中发生坠落后，伤及周围人员，安全性高；
3、本发明所述装置，由于增加了手动的精准调节机构，配合照明模块和放大监控模块，能够实现毫米级的精确定位，进一步提高安装质量；
4、本发明所述装置，在三向移动模块中采用了电动的方式，可以节省劳动力；
5、本发明还具有操作简单、安全可靠、使用效率高等优点。
附图说明
图1为本发明一具体实施方式中小型容器内块体精确定位安装装置的结构示意图；
图2为本发明一具体实施方式中运动模块的结构示意图；
图3为本发明一具体实施方式中制动单元的结构示意图；
图4为本发明一具体实施方式中三向移动模块的立体结构示意图；
图5为本发明一具体实施方式中手动调节单元的结构示意图；
图6a和6b分别为本发明一具体实施方式中专用锁件的结构示意图；
图7a为本发明一具体实施方式中支杆底部的结构示意图；
图7b为本发明一具体实施方式中连接框的结构示意图；
图8a和8b分别为本发明一具体实施方式中保护框的结构示意图，其中图8a为待工作状态的抓杆张开状态，图8b为货物搬运时的抓杆封闭状态；
图9a和9b分别为本发明一具体实施方式中吸盘模块的结构示意图，其中图9a为松开状态主视图，图9b为吸附状态侧视图；
图10为本发明一具体实施方式中照明模块和放大监控模块的安装示意图。
图中：001-块体；100-运动模块、110-滚动轮、111-轮轴、120-制动单元、121-旋转盘、122-螺纹推进杆、123-框型槽板、124-套筒、125-橡胶转块、126-橡胶推进杆、127-制动块、128-制动轮、200-台架、300-三向移动模块、310-底座、320-X向组件、321-X向电机、322-X向转轴、323-X向滑块、324-X向轴座、330-Y向组件、331-Y向电机、332-Y向转轴、333-Y向滑块、334-Y向轴座、335-Y向滑座、336-连杆、340-Z向组件、341-Z向电机、342-Z向转轴、343-提升块、344-Z向滑座、345-C型箍、350-手动调节单元、351-转动轮、352-旋转螺杆、353-齿轮、354-光杆、355-螺纹杆、360-专用锁件、361-固定板、362-滑槽、363-滑板、364-第一圆孔、365-第二圆孔、366-锁钮、367-固定锁、371-第一1/2圆弧、372-第二1/2圆弧、373-第一1/4圆弧、374-第二1/4圆弧、400-支杆、410-连接框、401-圆孔、411-外框、412-Ω型钢片、413-圆柱杆、414-固定块、420-第一分杆、430-第二分杆、500-吸盘模块、510-连杆、520-外壳、530-橡胶垫、540-触发单元、541-提升键、542-弹簧、543-环套、544-T型扳手、600-保护框、610-液压件、620-顶盘、630-抓杆、640-短杆、650-推杆、700-照明模 块、710-伸缩件、800-放大监控模块。
具体实施方式
为了更详尽的表述上述发明的技术方案，以下列举出具体的实施例来证明技术效果；需要强调的是，这些实施例用于说明本发明而不限于限制本发明的范围。
本发明提供的小型容器内块体精确定位安装装置，如图1至图10所示，包括：运动模块100、台架200、三向移动模块300、支杆400、吸盘模块500以及保护框600。
所述运动模块100包括安装于所述台架200下方的滚动轮110以及与所述滚动轮110匹配的制动单元120，所述运动模块100可以带动台架200移动，并在定位后固定；所述三向移动模块300安装于所述台架200上，所述三向移动模块300的输出端与所述支杆400固接，所述三向移动模块300可以精确地将支杆400移动至三维空间内的指定位置；所述支杆400与所述吸盘模块500连接，所述吸盘模块500用于吸附块体001，完成块体001的吸附移位。
所述保护框600包括液压件610、顶盘620和至少两个抓杆630，所述液压件610的输出端与所述顶盘620固接，所述抓杆630的一端与所述顶盘620铰接，另一端能够包覆在所述吸盘模块500以及块体001的周围。
本发明提供的装置，利用三向移动模块300，配合台架200的移动构成安全可靠的机械搬运臂，以此代替人工操作，解决了小型容器内块体无法安装或无法精确定位的问题；同时增加了保护框600，对吸盘模块500和块体001进行保护，避免某些毒害或高温物块在搬运过程中发生坠落后，伤及周围人员，安全性高。
在一些实施例中，请重点参考图2和图3，所述制动单元120包括旋转盘121、螺纹推进杆122、框型槽板123、套筒124、橡胶转块125、橡胶推进杆126、制动块127以及制动轮128，所述滚动轮110绕轴向的轮轴111旋转，实现前进和后退；所述制动轮128安装于所述滚动轮110的外侧，完成制动。所述框型槽板123架设于所述轮轴111的两端，所述螺纹推进杆122的上端与所述旋转盘121固接，下端依次穿过所述框型槽板123和套筒124；所述套筒124为中空 结构，所述螺纹推进杆122的下端穿过所述套筒124的顶部，在所述套筒124的中空结构内与所述橡胶转块125固接连接；所述橡胶转块125与所述橡胶推进杆126螺纹连接，所述橡胶推进杆126水平向限位于所述套筒124内的中空结构中，例如，中空结构为矩形柱，橡胶推进杆126为与之相匹配的柱体，这样橡胶推进杆126伸入中空结构后，二者无法实现水平向的位移以及相对的旋转；所述橡胶推进杆126的下端与所述制动块127固接，所述制动块127的位置与所述制动轮128的位置对应。在一些实施例中，制动块127可以呈C型，与制动轮128的外径轮廓相匹配。当螺纹推进杆122在旋转盘121的摇动下缓慢下降，其下部连接的橡胶转块125嵌入橡胶推进杆126内部，由于套筒124内部中空结构和橡胶推进杆126(截面为正方形)的结构限制，橡胶推进杆126无法在套筒124内部转动，只能上下移动，因此即可实现下部的制动块127的升降，继而通过制动块127与制动轮128的接触摩擦实现制动。
在一些实施例中，螺纹推进杆122至少能将硬橡胶材质的制动块127推进5cm距离，并使制动块127到达制动轮128的位置，以此起到制动或刹车的作用。在一些实施例中，所述旋转盘121可以采用手动推进的形式，但并不局限于此，其推进结构可以为液压、气压或电动，只要能实现橡胶推进杆126在套筒124内的自由伸缩即可。
在一些实施例中，请继续参考图1，所述台架100可以采用类似桌子的结构，下面有四个撑脚焊接固定于框型槽板123上。撑脚可以使用不同类型的型钢，能够满足装置本身的重量和最大待搬运件重量总和的1.5倍(约100kg)即可，在一些实施例中，撑脚可以是槽钢、C型钢或者工字型钢等，撑脚与台架100焊接固定。在一些实施例中，台架100可以使用厚度不少于3mm的钢板制成。
在一些实施例中，请重点参考图4，所述三向移动模块300包括底座310、X向组件320、Y向组件330和Z向组件340，所述X向组件320包括X向电机321、X向转轴322以及X向滑块323，所述Y向组件330包括Y向电机331、Y向转轴332以及Y向滑块333，所述Z向组件340包括Z向电机341、Z向转轴342以及提升块343，所述X向电机321和Y向电机331分别安装于所述底座310上，所述Y向滑块333能够沿所述X向滑块323的长度方向滑动，所述Z向电机341能够沿所述Y向滑块333的长度方向滑动，所述Z向电机341通 过所述Z向转轴342控制所述提升块343(即所述三向移动模块200的输出端)沿Z向移动；所述底座310固定于所述台架200上，所述提升块343与所述支杆400固接，从而对支杆400进行三维位置调节。
在一些实施例中，请继续参考图4，X向轴座324为X向转轴322的另一端提供支撑；Y向轴座334为Y向转轴332的另一端提供支撑，使各转轴带动滑块的运动更加稳定。Y向滑块333通过底部的Y向滑座335在X向滑块323的滑轨内滑动；Y向滑块333中间也是中空结构，其内部滑轨的长度至少为100cm，X向滑块323的滑轨和Y向滑块333的滑轨的宽度均可设置为3～5cm，只要满足内部的Y向滑座335和Z向滑座344能顺利安装，并在中空的滑轨内滑动即可。Z向滑座344上面安装C型箍345和Z向电机341，Z向电机341的Z向转轴342伸出C型箍345与提升块343相连，C型箍345可以起到支撑和导向的作用。通过Z向电机341的不同向转动，实现提升块343在垂直方向上升降，值得注意的是，提升块343应能保持至少200cm升降，且X向电机321、Y向电机331也同样能满足正转和反转，以此实现各方向不同位置的移动。
在一些实施例中，请继续参考图4，所述X向组件320为两组，两组X向组件320相对设置，两组中的两个所述X向滑块323远离所述X向转轴322的一端分别安装于另一组中的所述X向转轴322上，即两组X向组件320中X向电机321、X向转轴322以及X向轴座324的排布方向相反，且两个所述X向滑块323的两端分别架设在两个X向转轴322上，这样，两个X向滑块323垫设在Y向滑块333下方，Y向滑块333通过一个Y向滑座335与其中一个X向滑块323固接，既能够实现两个X向滑块323对Y向滑块333的支撑和导向作用，又可以根据Z向组件340在Y向滑块333上的位置调节X向电机321，继而调节两个X向滑块323的位置，更好地为整个三向移动模块300提供支撑，确保装置的稳定性。在一些实施例中，两个X向滑块323之间距离至少为100cm，两X向转轴322之间的距离至少为120cm。在一些实施例中，Y向电机331及Y向转轴332安装在同一底座条块上，该底座条块与其中一个X向滑块323的侧面通过连杆336连接。
三向移动模块300工作过程中，将Z向组件340的X向和Y向移动到位后，由于提升块343两侧嵌入滑轨中，提升块343中间有螺纹，安装在Z向电机341 的带螺纹转轴(Z向转轴342)内(当然，X向、Y向和Z向转轴322、332、342都有螺纹)，Z向电机341向不同方向转动时，由于提升块343被嵌入滑轨内，水平向的移动被限位，因此只能在垂直方向升降，结合X向组件320和Y向组件330的运动，从而实现提升块343在各方向不同位置的移动。
在一些实施例中，请重点参考图5，所述X向转轴322、Y向转轴332以及Z向转轴342分别设有对应的手动调节单元350，当对各方向转轴的精度要求较高时，例如要求毫米级精度时，可以利用手动调节单元350对各方向转轴的精度进行进一步的手动调节，避免电机(X向电机321、Y向电机331或Z向电机341)旋转稍多或者不足带来的精度难控的情况。具体的，每个所述手动调节单元350可以包括转动轮351、旋转螺杆352以及齿轮353，所述转动轮351与所述旋转螺杆352连接，所述旋转螺杆352与所述齿轮353固接，所述齿轮353的外圆周上设有与所述X向转轴322、Y向转轴332或Z向转轴342的外螺纹匹配的纹路。以图5中的X向转轴322为例，利用X向电机321完成对提升块343位置的调节后，关闭X向电机321，通过转动轮351带动齿轮353旋转，利用齿轮353上的纹路与X向转轴322的外螺纹之间的配合，将转动轮351的旋转运动转化为X向转轴322的旋转运动，继而对Y向滑块333的在X向转轴322上的位置进行精准调节。手动调节单元350对Y向转轴332和Z向转轴342的调节与此原理相同，此处不予赘述。
较佳地，请重点参考图6a和6b，并结合图5，所述转动轮351与所述旋转螺杆352之间还设有专用锁件360，所述专用锁件360包括固定板361、滑槽362以及两个滑板363，所述固定板361上设有第一1/2圆弧371和第二1/2圆弧372，每个所述滑板363上均设有与所述第一1/2圆弧371匹配的第一1/4圆弧373和与所述第二1/2圆弧372匹配的第二1/4圆弧374，两个所述滑板363能够沿所述滑槽362滑动，当两个所述滑板363拼合时，所述固定板361上的第一1/2圆弧371与两个所述滑板363上的两个所述第一1/4圆弧373拼合为第一圆孔364，所述固定板361上的第二1/2圆弧372与两个所述滑板363上的两个所述第二1/4圆弧374拼合为第二圆孔365，所述第一圆孔364内设有螺纹，所述第一圆孔364的内径大于所述第二圆孔365的内径(例如，第一圆孔364的内径较第二圆孔365大0.3cm至0.5cm左右)；所述旋转螺杆352包括与所述第二圆孔365 匹配的光杆354，和与所述第一圆孔364匹配的螺纹杆355；所述光杆354置于所述第二圆孔365内时，所述齿轮353与所述转轴(X向转轴322、Y向转轴332或Z向转轴342)接触，所述螺纹杆355置于所述第一圆孔364内时，所述齿轮353与所述转轴(X向转轴322、Y向转轴332或Z向转轴342)脱离。
在一些实施例中，请继续参考图6a和6b，所述专用锁件360的两个所述滑板363上还分别设有锁钮366，两个所述锁钮366能够由一个固定锁367固定，当两个所述滑板363拼合后，可以通过固定锁367将两个滑板363固定，避免旋转螺杆352转动时滑板363发生移位。在一些实施例中，所述固定锁367与其中一个所述锁钮366铰接，并能够与另一个所述锁钮366扣合，避免固定锁367掉落或遗失。
请继续参考图6a和6b，并结合图5，所述专用锁件360的工作原理如下：同样以图5中的X向转轴322为例，当需要手动微调时，停止X向电机321转动，将两个滑板363分别向两侧滑动，将螺纹杆355推入第一1/2圆弧371内，然后将两个滑板363向内推，令两个所述滑板363拼合，此时，螺纹杆355卡合在第一圆孔364内，转动轮351可以带动旋转螺杆352在第一圆孔364中旋转，继而调节齿轮353与X向转轴322的相对位置，使齿轮353到达X向转轴322位置上方0.5cm(此时，齿轮353的纹路和X向转轴322的外螺纹相对应，但保持细小距离两者不接触)，此时旋转螺杆352的光杆354到达第一圆孔364处，齿轮353与X向转轴322之间的距离调节完成；当上述步骤完成后，打开固定锁367，再次将滑板363向两侧移动，将光杆354移至第二1/2圆弧372中，然后将滑板363拼合并锁紧，此时，齿轮353接触X向转轴322，如此，通过转动轮351带动齿轮353旋转实现齿轮353在不推进的情况下带动X向转轴322进行细小的转动，以此实现微调。微调结束后，上述步骤进行倒置操作即可实现旋转螺杆352的复位(使得齿轮353不接触X向转轴322)。Y向转轴332和Z向转轴342的调节也与此原理相同，此处不再赘述。
在一些实施例中，请重点参考图7a和7b，所述支杆400通过一连接框410与所述吸盘模块500连接，所述连接框410包括外框411和Ω型钢片412，所述Ω型钢片412包括中部的弹性环和两侧的圆柱杆413，其中一个所述圆柱杆413通过一固定块414与所述外框411固接，另一个所述圆柱杆413伸出所述外框 411；所述支杆400的底部设有供所述圆柱杆413插入的圆孔401。安装时，通过按压露在外框411外侧的圆柱杆413即可将Ω型钢片412缩进连接框410内，待连接框410移动至与支杆400端部的圆孔401相对应的位置时，圆柱杆413弹出至与其相匹配的圆孔401中，从而实现连接框410与支杆400的连接，如需取下则利用同样的原理，此处不作赘述。在一些实施例中，所述圆孔401的数量可以为多个，例如3～5个，多个所述圆孔401可以沿Z向分布，从而根据具体需求，选择合适位置的圆孔401安装连接框410。
在一些实施例中，如图8a和8b所示，所述保护框600中，所述液压件610的水平位置前、后、左、右各有一根短杆640，短杆640上部和液压件610铰接，下端与抓杆630铰接，所述抓杆630可以为C型结构，数量可以为4个，4个抓杆630内部形成一个环形栓接在液压件610的端部(即顶盘620，所述顶盘620与液压件610之间通过推杆650连接)的四周。保护框600的工作原理是通过液压件610的顶升作用力带动推杆650往下，使推杆650端部圆盘状的顶盘620带动与之栓接的抓杆630，以短杆640的端部铰接点为中心向上张开，反之当推杆650上升至顶部时，抓杆630之间则绕着短杆640端部支点收缩。故当吸盘模块500牢固吸住块体001时，推杆650向上带动抓杆630收缩，各抓杆630间形成相对封闭的形状将吸盘模块500和块体001包住提升，值得注意的是，抓杆630上需包裹耐腐蚀的非金属材料，不但可加大摩擦力，也可防止块体001对其结构的腐蚀；当然，对应高温物块，还可在抓杆630上涂覆防火材料，提高其使用寿命。在本发明所述装置的各运动件和辅助件的作用下，块体001精确到达安装点位上方约5cm的位置，再操作液压件610使推杆650下降，以此张开抓杆630以便于块体001的精确放置。
在一些实施例中，如图9a和9b所示，所述吸盘模块500包括连杆510、外壳520、橡胶垫530以及触发单元540，所述连杆510、外壳520、橡胶垫530依次连接，所述连杆510与所述顶盘620固接，所述橡胶垫530与所述块体001对应；所述触发单元540用于开启和关闭所述橡胶垫530的吸附功能，包括提升键541、弹簧542、环套543以及T型扳手544，所述外壳520和橡胶垫530内设有连续的通孔，所述提升键541通过弹簧542限位于所述通孔内，且顶端从所述外壳520中穿出并与所述T型扳手544的一端铰接；所述环套543安装 于所述外壳520上，所述T型扳手544的另一端从所述环套543中穿出，所述T型扳手544底部具有一定弧度，可实现一定角度的转动。T型扳手544的工作原理是，T型扳手544以环套543作为支点，而T型扳手544受力端和提升键541分别位于该杠杆结构的两端，T型扳手544可在人力或微型液压元件的带动下往下滑动，当滑动至一定距离后在持续的收缩力下由环套543带动T型扳手544沿着下部一定的弧度向下转动，T型扳手544端部由于和提升键541相栓接，因此可带动提升键541往上提升一定距离(此时提升键541周围的外壳520将其水平向限位)，橡胶垫530由于和提升键541固定，在提升键541和周围弹簧542的带动下，处于提升键541底部位置的橡胶垫530往上凹进一定距离，以此在橡胶垫530平稳接触光滑平整的块体001时，能通过上述步骤产生一定的真空吸力。反之，T型扳手544向上，使得提升键541下降释放负压，以此可实现吸盘(橡胶垫530)和块体001的脱离。真空吸盘通过这样的设计，能够实现全程自动控制和人工无接触作业，以增加本装置的安全性。
在一些实施例中，提升键541底部可以用两个硬性薄片夹住橡胶垫530底端，橡胶垫530可带有内部凹进弧度，以便下面的硬性薄片存在而不影响吸附时产生负压，从而更好形成负压或真空。
当然，由于本申请是利用负压原理吸住物块001的，橡胶垫530作为吸盘需要提供的负压至少能提升2kg～10kg的光滑物块，物块001应该均匀，中间无孔洞，否则无法形成负压。
在一些实施例中，请重点参考图10，并结合图1，所述支杆400上还安装有照明模块700和放大监控模块800，具体的，支杆400侧部有第一分杆420连接的照明模块700，另一侧为第二分杆430连接的放大监控模块800，通过带有放大功能的探头和光源，实现监控、放大和照明的辅助功能。当然，在某些视角好，同时安装精度要求不高的大型容器内可以不用到这些辅助件。在一些实施例中，第一分杆420和第二分杆430可以与连接框410保持约5cm～10cm的距离，垂直向可通过伸缩件710实现液压顶升，当然，如需要的话，第一分杆420和第二分杆430也可以设计成液压横向伸缩结构，实现横向和纵向双向伸缩以更好的扩大视角范围。
另外，所有辅助模块(包括照明模块700和放大监控模块800)、保护框600 以及运动模块100和三向移动模块300均可通过有线和无线的方式连接核心控制端，便于人员操作控制。
综上所述，本发明提供的小型容器内块体精确定位安装装置，包括：运动模块100、台架200、三向移动模块300、支杆400、吸盘模块500以及保护框600，所述运动模块100包括安装于所述台架200下方的滚动轮110以及与所述滚动轮110匹配的制动单元120；所述三向移动模块300安装于所述台架200上，所述三向移动模块300的输出端与所述支杆400固接；所述支杆400与所述吸盘模块500连接，所述吸盘模块500用于吸附块体001；所述保护框600包括液压件610、顶盘620和至少两个抓杆630，所述液压件610的输出端与所述顶盘620固接，所述抓杆630的一端与所述顶盘620铰接，另一端能够包覆在所述吸盘模块500以及块体001的周围。本发明提供的装置，利用三向移动模块300，配合台架200的移动构成安全可靠的机械搬运臂，以此代替人工操作，解决了小型容器内块体无法安装或无法精确定位的问题；同时增加了保护框600，对吸盘模块500和块体001进行保护，避免某些毒害或高温物块在搬运过程中发生坠落后，伤及周围人员，安全性高。
显然，本领域的技术人员可以对发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包括这些改动和变型在内。

Claims (10)

  1. 一种小型容器内块体精确定位安装装置，其特征在于，包括：运动模块、台架、三向移动模块、支杆、吸盘模块以及保护框，
    所述运动模块包括安装于所述台架下方的滚动轮以及与所述滚动轮匹配的制动单元；所述三向移动模块安装于所述台架上，所述三向移动模块的输出端与所述支杆固接，所述支杆与所述吸盘模块连接，所述吸盘模块用于吸附块体；
    所述保护框包括液压件、顶盘和至少两个抓杆，所述液压件的输出端与所述顶盘固接，所述抓杆的一端与所述顶盘铰接，另一端能够包覆在所述吸盘模块以及块体的周围。
  2. 如权利要求1所述的小型容器内块体精确定位安装装置，其特征在于，所述制动单元包括旋转盘、螺纹推进杆、框型槽板、套筒、橡胶转块、橡胶推进杆、制动块以及制动轮，所述滚动轮绕轴向的轮轴旋转，所述制动轮安装于所述滚动轮的外侧；所述框型槽板架设于所述轮轴的两端，所述螺纹推进杆的上端与所述旋转盘固接，下端依次穿过所述框型槽板和套筒；所述套筒为中空结构，所述螺纹推进杆的下端穿过所述套筒的顶部在所述中空结构内与所述橡胶转块固接连接；所述橡胶转块与所述橡胶推进杆螺纹连接，所述橡胶推进杆水平向限位于所述套筒的中空结构内，下端与所述制动块固接，所述制动块的位置与所述制动轮的位置对应。
  3. 如权利要求1所述的小型容器内块体精确定位安装装置，其特征在于，所述三向移动模块包括底座、X向组件、Y向组件和Z向组件，所述X向组件包括X向电机、X向转轴以及X向滑块，所述Y向组件包括Y向电机、Y向转轴以及Y向滑块，所述Z向组件包括Z向电机、Z向转轴以及提升块，所述X向电机和Y向电机分别安装于所述底座上，所述Y向滑块能够沿所述X向滑块的长度方向滑动，所述Z向电机能够沿所述Y向滑块的长度方向滑动，所述Z向电机通过所述Z向转轴控制所述提升块沿Z向移动；所述底座固定于所述台架，所述提升块与所述支杆固接。
  4. 如权利要求3所述的小型容器内块体精确定位安装装置，其特征在于，所述X向组件为两组，两组X向组件相对设置，且两组中的两个所述X向滑块分别安装于另一组中的所述X向转轴上。
  5. 如权利要求3所述的小型容器内块体精确定位安装装置，其特征在于，所述X向转轴、Y向转轴以及Z向转轴分别设有对应的手动调节单元，每个所述手动调节单元包括转动轮、旋转螺杆以及齿轮，所述转动轮与所述旋转螺杆连接，所述旋转螺杆与所述齿轮固接，所述齿轮的外圆周上设有与所述X向转轴、Y向转轴或Z向转轴的外螺纹匹配的纹路。
  6. 如权利要求5所述的小型容器内块体精确定位安装装置，其特征在于，所述转动轮与所述旋转螺杆之间还设有专用锁件，所述专用锁件包括固定板、滑槽以及两个滑板，所述固定板上设有第一1/2圆弧和第二1/2圆弧，每个所述滑板上均设有与所述第一1/2圆弧匹配的第一1/4圆弧和与所述第二1/2圆弧匹配的第二1/4圆弧，两个所述滑板能够沿所述滑槽滑动，当两个所述滑板拼合时，所述固定板上的第一1/2圆弧与两个所述滑板上的两个所述第一1/4圆弧拼合为第一圆孔，所述固定板上的第二1/2圆弧与两个所述滑板上的两个所述第二1/4圆弧拼合为第二圆孔，所述第一圆孔内设有螺纹，所述第一圆孔的内径大于所述第二圆孔的内径；所述旋转螺杆包括与所述第二圆孔匹配的光杆，和与所述第一圆孔匹配的螺纹杆；所述光杆置于所述第二圆孔内时，所述齿轮与所述转轴接触，所述螺纹杆置于所述第一圆孔内时，所述齿轮与所述转轴脱离。
  7. 如权利要求6所述的小型容器内块体精确定位安装装置，其特征在于，所述专用锁件的两个所述滑板上还分别设有锁钮，两个所述锁钮能够由一个固定锁固定；所述固定锁与其中一个所述锁钮铰接，并能够与另一个所述锁钮扣合。
  8. 如权利要求1所述的小型容器内块体精确定位安装装置，其特征在于，所述支杆通过一连接框与所述吸盘模块连接，所述连接框包括外框和Ω型钢片，所述Ω型钢片包括中部的弹性环和两侧的圆柱杆，其中一个所述圆柱杆通过一固定块与所述外框固接，另一个所述圆柱杆伸出所述外框；所述支杆的底部设有供所述圆柱杆插入的圆孔。
  9. 如权利要求1所述的小型容器内块体精确定位安装装置，其特征在于，所述吸盘模块包括连杆、外壳、橡胶垫以及触发单元，所述连杆、外壳、橡胶垫依次连接，所述连杆与所述顶盘固接，所述橡胶垫与所述块体对应；所述触发单元用于开启和关闭所述橡胶垫的吸附功能，包括提升键、弹簧、环套以及T 型扳手，所述外壳和橡胶垫内设有连续的通孔，所述提升键通过弹簧限位于所述通孔内，且顶端从所述外壳中穿出并与所述T型扳手的一端铰接；所述环套安装于所述外壳上，所述T型扳手的另一端从所述环套中穿出。
  10. 如权利要求1所述的管道提升装置，其特征在于，所述支杆上还安装有照明模块和放大监控模块。
PCT/CN2023/084645 2022-09-28 2023-03-29 一种小型容器内块体精确定位安装装置 WO2024066261A1 (zh)

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