Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom

A technology of manipulators and degrees of freedom, applied in the field of manipulators, can solve the problems of manual operation, not an automatic tool, and the inability to complete bolt loading and unloading tasks, and achieve the effects of reducing the placement position, compact structure, increasing work space and independence

Inactive Publication Date: 2011-04-06
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

[0008] In the existing disclosed technology, searched by keywords "bolt loading and unloading" and "automatic manipulator", only the patent publication number CN1185199 "fast loading and unloading bolts and its manufacturing method and disassembly tool" (public date 1998.06.17, Application No. 96193859.5), which mainly solves t

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  • Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom
  • Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom
  • Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom

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[0032] The implementation of the present invention will be further explained below in conjunction with the drawings:

[0033] figure 1 A three-dimensional diagram showing the overall model of the manipulator in use. in figure 1 Middle: 1 is the hydraulic rotary motor, 2 is the manipulator base, 3 is the manipulator body part, 4 is the manipulator shoulder part, 5 is the manipulator arm part, and 6 is the socket wrench head.

[0034] The base, torso, shoulder, and arm parts of the manipulator are all connected by a combination of slider and guide rails. On the one hand, unnecessary movement between the parts is restricted, and on the other hand, it can be flexibly moved in the specified direction. The motor of each component is fixed on the motor support with four bolts, the screw rod is supported by the bearings at both ends, and the nut and slider are used to transmit the movement of the motor.

[0035] figure 2 It is a three-dimensional composition diagram of the base and torso p...

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Abstract

The invention discloses a bolt assembly and disassembly manipulator capable of moving with three degrees of freedom. Moving elements of body, shoulders and arms are connected one another through guide rail sliding blocks, the movement of each element in a specified direction is limited, and the movement of a motor is transferred through a lead screw nut. A spring of a spanner head and a baffle plate are used for limiting the position of a bolt, a pressure sensor is used for measuring the axial force of the bolt, and the measured axial force is a basis for next operation. During disassembling or assembling the bolt, the pressure value detected by the pressure sensor arranged in the spanner head is used as the basis, the three moving elements are driven to ensure the precise positioning of the spanner head, and an elastic coupling for connecting the motor and a lead screw can ensure that the arms successfully realize flexible guide and positioning under the condition of certain butting error. The manipulator has the characteristics of compact structure and wide application range; and the manipulator has low positioning requirement of the bolt position so as to reduce the complexity of equipment and broaden the space of automatic application.

Description

[0001] Field [0002] The invention belongs to the field of robot application, and in particular relates to a manipulator capable of realizing three-degree-of-freedom movement and high-torque bolt loading and unloading. technical background [0003] Nuclear energy is currently the only energy that has achieved industrial application and can replace fossil fuels on a large scale, and it is also one of the important means to achieve sustainable energy development. However, the fatal harm of nuclear radiation to the human body makes automatic machinery that can be controlled remotely an indispensable tool for nuclear power plants. The invention and design of various automated machinery with certain autonomy has been highly valued by the nuclear industry in various countries, and it is also of great benefit to the development of my country's nuclear environment robots. [0004] Some nuclear robots successfully developed by foreign developed countries have been verified in local n...

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Application Information

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IPC IPC(8): B23P19/06
Inventor 孙恒辉骆敏舟朱德泉
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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