A robot multifunctional end tool for penetration testing

Abstract

The present invention relates to the field of nuclear industry robot technology, and specifically discloses a robot multifunctional end tool for penetration testing. The pressing and motor assembly in the tool is fixedly connected to the clamping and shearing assembly, and the pressing and motor assembly drives the clamping and shearing assembly to clamp the spray bottle and clamping block assembly through a transmission shaft; a pressing block assembly is provided at one end of the pressing and motor assembly, and the spray bottle in the spray bottle and clamping block assembly is pressed by the pressing block assembly; the quick-change connector assembly is connected to the pressing and motor assembly, and the quick connector assembly can be quickly connected and unloaded with an existing industrial robot arm. The tool can cooperate with the movement of the robot arm to realize the multi-process operation and waste shearing function of penetration inspection, meet the multi-process steps of penetration detection, and adopts compact, modular, and easy disassembly and replacement to help improve the efficiency and reliability of the process.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear industry robots, and in particular relates to a robot multifunctional end tool for penetration detection. Background Art

[0002] The normal and safe operation of nuclear power plants is the ultimate guarantee for social stability and economic growth, and the in-service inspection during the overhaul of nuclear power plants is an important part of discovering potential risks that affect the normal and safe operation of nuclear power plants. The main equipment in nuclear power plants are connected by pipelines. The safety and integrity of pipelines during the operation of nuclear power plants are very important. Each pipeline is welded and spliced ​​by short pipelines. The main weak point of the pipeline is the welding seam, which is the top priority of non-destructive testing of pipelines during in-service inspections.

[0003] For penetration testing, different types of penetrants, different methods for removing excess penetrants on the surface and different imaging methods can be combined into a variety of different penetration testing methods. Although there are some differences between these methods, they can be summarized into the following 6 basic operating steps: surface preparation and pre-cleaning: pretreatment and pre-cleaning of the workpiece surface before testing; application of penetrant: application and dripping of penetrant; removal of excess penetrant; drying: natural drying or blow drying or air drying; application of developer; observation and evaluation: observation and evaluation of displayed traces. Weld inspection is a heavy and repetitive operation. In order to reduce the labor intensity of operators and improve the intelligent level of pipeline weld inspection, it is necessary to develop corresponding weld inspection robots to replace manual operations. For robots, the end tool is the main carrier for realizing specific processes. Considering the multiple process steps of penetration testing, the use of compact, modular, and easy disassembly and replacement will help improve the efficiency and reliability of the process. Summary of the invention

[0004] The object of the present invention is to provide a multifunctional end tool of a robot for penetration testing, which can cooperate with the movement of a robotic arm to realize multi-process operations of penetration testing and waste shearing functions.

[0005] The technical solution of the present invention is as follows: a robot multifunctional end tool for penetration testing, the tool comprising a pressing and motor assembly, a clamping and shearing assembly, a quick-change joint assembly, and a spray bottle and clamping block assembly, wherein the pressing and motor assembly is fixedly connected to the clamping and shearing assembly, and the pressing and motor assembly drives the clamping and shearing assembly to clamp the spray bottle and clamping block assembly through a transmission shaft; a pressing block assembly is provided at one end of the pressing and motor assembly, and the spray bottle in the spray bottle and clamping block assembly is pressed by the pressing block assembly; the quick-change joint assembly is connected to the pressing and motor assembly, and the quick joint assembly can be quickly connected to and unloaded from an existing industrial robot arm.

[0006] The pressing and motor assembly includes a pressing motor assembly, a shell and a pressing assembly box. A pressing block assembly is installed at one end of the shell to form a cavity of the pressing assembly box. The pressing motor assembly is arranged in the shell, so that the output end of the pressing motor assembly is connected to the driving gear in the pressing block assembly, and the driving gear is connected to the rack, linear slide rail and pressing head in the pressing block assembly. The pressing motor assembly is used to drive the pressing head to realize a downward pressing action.

[0007] The pressing and motor assembly includes a clamping motor assembly, a shell and a synchronous pulley assembly, wherein a clamping motor assembly is provided in the shell, an output end of the clamping motor assembly is connected to a driving synchronous pulley of the synchronous pulley assembly arranged in the shell, and a driven synchronous pulley in the synchronous pulley assembly is connected to an input end in the clamping and shearing assembly via a transmission shaft.

[0008] The housing is provided with a synchronous belt tensioning assembly, in which an idler wheel is fixed on a mounting seat of a nut structure, and an adjusting rod of a screw structure can drive the nut to move axially, thereby realizing the tension adjustment of the synchronous belt.

[0009] The adjusting rod is a hexagon socket screw structure and is installed on the outside of the shell.

[0010] The clamping and shearing assembly includes a clamping device housing, a worm gear assembly, an active rod and a driven rod, wherein the worm gear assembly is installed in the clamping device housing and is matched and connected with the transmission shaft through a D-shaped hole; one end of the active rod is connected to the end of the clamping finger through a supporting pin, and the end of the clamping finger is also fixedly connected to the clamping device housing through a driven rod, and the other end of the active rod is connected to the worm gear assembly, and the active rod is driven to move through the worm gear assembly.

[0011] The clamping and shearing assembly includes a clamping device housing, a worm gear assembly, a palm-shaped block and a shearing assembly, wherein the worm gear assembly is installed in the clamping device housing and is matched and connected with the transmission shaft through a D-shaped hole; the front ends of the two palm-shaped blocks are connected to the shearing assembly, and the rear ends of the palm-shaped blocks are connected to the worm gear assembly, and the shearing assembly is driven to realize shearing movement through the movement of the palm-shaped blocks.

[0012] The quick-change connector assembly includes a quick-change tool and a mounting block, wherein the mounting block is fixedly connected to the side wall of the shell in the pressing and motor assembly, and the quick-change tool connected to the mounting block is quickly matched and connected to the mechanical arm of the oil washing industrial robot.

[0013] The spray bottle and clamping block assembly includes a spray bottle and a clamping block, wherein two clamping blocks with trapezoidal groove structures clamp and fix the spray bottle, and the trapezoidal grooves on both sides of the clamping blocks match the trapezoidal rod structure at the front end of the clamping fingers in the clamping and shearing assembly.

[0014] A sealing groove is provided on the housing, and a sealing member is arranged in the sealing groove.

[0015] The remarkable effect of the present invention is that the multifunctional end tool of a robot for penetration testing described in the present invention has the following advantages: (1) The tool described in the present invention can realize multiple functional actions such as pressing, clamping and shearing, meeting the application requirements of multi-functions and multi-processes. By pressing and clamping actions, it is applied to a spray bottle containing liquids such as detergents, penetrants or developers, and cooperates with the action of the robot mechanical arm to achieve cleaning or liquid application on the surface of the object; the clamping action can also be used to clamp process tools such as brushes and wiping blocks; the shearing action can realize the waste shearing function; (2) The pressing and clamping action drive motor and driver assembly used in the present invention are arranged in a housing, the pressing action in the vertical direction is realized by a gear rack mechanism, and the clamping or shearing action in the horizontal direction is realized by a synchronous belt drive and a worm gear and other transmission mechanism, and the entire device has a compact structure; (3) The drive source components such as the motor and driver in the present invention are accommodated in the housing. , a sealing groove is designed at the part of the shell near the actuator for installing a sealing element, thereby preventing liquid media such as penetrants and developers at the actuator end from entering the shell and causing electrical damage to the charged driving source; (4) The clamping action in the present invention adopts a parallelogram mechanism to ensure that the direction of the clamping force remains unchanged and is always perpendicular to the end face of the clamping block when clamping the clamping block, thereby achieving reliable clamping; (5) The clamping action and shearing action in the present invention share a set of transmission mechanisms, namely, synchronous belt transmission and worm gear transmission mechanisms, and the clamping and shearing actions are respectively achieved by replacing different actuators; (6) 7) The adjustment end of the synchronous belt tensioning mechanism in the synchronous belt transmission mechanism of the present invention is arranged outside the shell, and the tensioning adjustment element is modified from a hexagon socket screw, which is easy to achieve manual adjustment of the tension; (7) The clamping block in the present invention is provided with a trapezoidal groove, which cooperates with the trapezoidal clamping claw to ensure the adaptive positioning of the clamping and the directional accuracy of the spray nozzle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a multifunctional end tool of a penetration detection robot according to the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the middle pressing and motor assembly structure;

[0018] Figure 3 for Figure 1Schematic diagram of the structure of the clamping and shearing components;

[0019] Figure 4 for Figure 1 Schematic diagram of the structure of the quick-change joint assembly;

[0020] Figure 5 for Figure 1 Schematic diagram of the structure of the middle spray bottle and clamping block assembly;

[0021] In the figure: 1. Pressing and motor assembly; 2. Clamping and shearing assembly; 3. Quick-change connector assembly; 4. Spray bottle and clamping block assembly; 101. Pressing motor assembly; 102. Housing; 103. Pressing block assembly; 104. Clamping motor assembly; 105. Pressing assembly box; 106. Seal; 107. Motor driver assembly; 108. Synchronous pulley assembly; 109. Synchronous belt tensioning assembly; 110. Transmission shaft; 201. Clamping device housing; 202. Worm gear assembly; 203. Active rod; 204. Driven rod; 205. Clamping fingers; 206. Clamping pin; 207. Palm block; 208. Shearing assembly; 301. Quick-change tool; 302. Mounting block; 401. Spray bottle; 402. Clamping block. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 5 As shown, a multifunctional end tool of a penetration detection robot includes a pressing and motor component 1, a clamping and shearing component 2, a quick-change joint component 3, and a spray bottle and clamping block component 4, wherein the clamping and shearing component 2 is connected to the lower part of the pressing and motor component 1, and the clamping and shearing component 2 can clamp and fix the spray bottle and clamping block component 4 through the clamping driving force provided by the pressing and motor component 1, and start and stop the nozzle in the spray bottle and clamping block component 4 through the pressing driving force provided by the pressing and motor component 1; the quick joint component 3 is connected to the pressing and motor component 1 to realize the quick connection and unloading of the entire end tool and the robot arm;

[0024] The pressing and motor assembly 1 includes a pressing motor assembly 101, a clamping motor assembly 104, a housing 102, a pressing assembly box 105, and a synchronous pulley assembly 108, wherein a pressing block assembly 103 is installed at one end of the housing 102 to form a pressing assembly box 105, and a hole-in-hole shoulder is opened on the pressing assembly box. The pressing motor assembly 101 is fixed in the housing 102 through the axial positioning of the shoulder and the installation screw, and the output end of the pressing motor assembly 101 and the driving gear in the pressing block assembly 103 are connected through the shaft. The driving gear is connected to the rack, linear slide and pressing head in the pressing block assembly 103, and the pressing head on the pressing block assembly 103 in the pressing assembly box 105 starts the downward pressing action through the driving of the pressing motor assembly 101; the clamping motor assembly 104 is fixed in the housing 102, and the output end of the clamping motor assembly 104 is fixedly connected to the mounting hole with a shoulder corresponding to the housing 102, and the output end of the clamping motor assembly 104 is connected to the main The driven synchronous pulley in the synchronous pulley assembly 108 is connected to the input end of the clamping and shearing assembly 2 through the transmission shaft 110; the synchronous belt tensioning assembly 109 is fixed in the housing 102 by screws, wherein the idler wheel in the synchronous belt tensioning assembly 109 is fixed on the mounting seat of the nut structure, and the adjusting rod of the screw rod structure matching the nut is installed on the outside of the housing 102, and the nut is driven to move axially by rotating the adjusting rod to adjust the tension of the synchronous belt; the adjusting rod can be a hexagon socket Screw structure; the motor driver assembly 107 is connected to the pressing motor assembly 101 and the clamping motor assembly 104, and the pressing motor and the clamping motor in the pressing motor assembly 101 and the clamping motor assembly 104 are controlled to rotate respectively by the motor driver assembly 107; a sealing groove is provided on the housing 102, and a sealing member 106 is provided in the sealing groove to prevent liquid media such as penetrants and developers at the actuator end outside the housing 102 from entering the interior of the housing 102 and causing electrical damage to the charged driving source;

[0025] The clamping and shearing assembly 2 installed below the pressing and motor assembly 1 includes a clamping device housing 201, a worm gear assembly 202, an active rod 203 and a driven rod 204, wherein a worm gear assembly 202 is installed at one end of the clamping device housing 201, and the worm gear assembly 202 is matched and connected with the transmission shaft 110 through a D-shaped hole; one end of the active rod 203 is connected to the end of the clamping finger 205 through a supporting pin 206, and the end of the clamping finger 205 is also fixedly connected to the clamping device housing 201 through the driven rod 204, and the other end of the active rod 203 is connected to the worm gear assembly 202, and the active rod 203 is driven to move by the worm gear assembly 202, thereby driving the clamping finger 205 to move along the clamping pin axis of the driven rod 204 and the end of the clamping finger 205, thereby realizing the two clamping fingers 205 to move towards each other and realize the clamping movement;

[0026] The clamping and shearing assembly 2 also includes a shearing assembly 208. The front ends of the two palm-shaped blocks 207 are connected to the shearing assembly 208. The rear ends of the palm-shaped blocks 207 are connected to the worm gear assembly 202. The movement of the palm-shaped blocks 207 drives the shearing assembly 208 to achieve shearing movement.

[0027] The quick-change connector assembly 3 includes a quick-change tool 301 and a mounting block 302, wherein the mounting block 302 is fixedly connected to the side wall of the housing 102 in the pressing and motor assembly 1, and the quick-change tool 301 connected to the mounting block 302 can be quickly matched and connected with the mechanical arm of the industrial robot;

[0028] The spray bottle and clamping block assembly 4 includes a spray bottle 401 and a clamping block 402, wherein two clamping blocks 402 with trapezoidal groove structures clamp and fix the spray bottle 401, and the trapezoidal grooves on both sides of the clamping block 402 match the trapezoidal rod structure at the front end of the clamping finger 205, thereby ensuring the adaptive positioning of the clamping finger 205 during the clamping process of the spray bottle 401 and ensuring the directional accuracy of the spray head of the spray bottle 401.

Claims

1. A multifunctional end tool for penetration testing, characterized in that: The tool comprises a pressing and motor assembly (1), a clamping and shearing assembly (2), a quick-change joint assembly (3), and a spray bottle and clamping block assembly (4), wherein the pressing and motor assembly (1) is fixedly connected to the clamping and shearing assembly (2), and the pressing and motor assembly (1) drives the clamping and shearing assembly (2) to clamp the spray bottle and clamping block assembly (4) via a transmission shaft (110); a pressing block assembly (103) is provided at one end of the pressing and motor assembly (1), and a pressing action is performed on the spray bottle in the spray bottle and clamping block assembly (4) via the pressing block assembly (103); and the quick-change joint assembly (3) is connected to the pressing and motor assembly (1). The quick-change joint assembly (3) can be quickly connected to and unloaded from an existing industrial robot arm; the pressing and motor assembly (1) comprises a pressing motor assembly (101), a shell (102) and a pressing assembly box (105); a pressing block assembly (103) is installed at one end of the shell (102) to form a cavity of the pressing assembly box (105); the pressing motor assembly (101) is arranged in the shell (102), so that the output end of the pressing motor assembly (101) is connected to the driving gear in the pressing block assembly (103), and the driving gear is connected to the rack, linear slide rail and pressing head in the pressing block assembly (103), and the pressing motor assembly (101) is connected to the driving gear in the pressing block assembly (103). The pressing motor assembly (101) drives the pressing head to realize a downward pressing action; the pressing and motor assembly (1) comprises a clamping motor assembly (104), a housing (102) and a synchronous pulley assembly (108), wherein the clamping motor assembly (104) is provided in the housing (102), the output end of the clamping motor assembly (104) is connected to the driving synchronous pulley of the synchronous pulley assembly (108) provided in the housing (102), and the driven synchronous pulley in the synchronous pulley assembly (108) is connected to the input end of the clamping and shearing assembly (2) via a transmission shaft (110); the clamping and shearing assembly (2) comprises a clamping device housing (201), a worm gear assembly (202), an active rod (203) and a driven rod (204), wherein the worm gear assembly (202) is installed in the clamping device housing (201) and is matched and connected to the transmission shaft (110) through a D-shaped hole; one end of the active rod (203) is connected to the end of the clamping finger (205) through a supporting pin (206), and the end of the clamping finger (205) is also fixedly connected to the clamping device housing (201) through a driven rod (204); the other end of the active rod (203) is connected to the worm gear assembly (202), and the active rod (203) is driven to move through the worm gear assembly (202);The clamping and shearing assembly (2) comprises a clamping device housing (201), a worm gear assembly (202), a palm-shaped block (207), and a shearing assembly (208), wherein the worm gear assembly (202) is installed in the clamping device housing (201) and is matched and connected to the transmission shaft (110) through a D-shaped hole; the front ends of the two palm-shaped blocks (207) are connected to the shearing assembly (208), and the rear ends of the palm-shaped blocks (207) are connected to the worm gear assembly (202), and the movement of the palm-shaped blocks (207) drives the shearing assembly (208) to achieve shearing movement. ; 2. The multifunctional end tool of a penetration detection robot according to claim 1, characterized in that: The housing (102) is provided with a synchronous belt tensioning assembly (109), wherein an idler wheel in the synchronous belt tensioning assembly is fixed on a mounting seat of a nut structure, and an adjustment rod of a screw structure can drive the nut to move axially, thereby achieving tension adjustment of the synchronous belt.

3. The multifunctional end tool of a penetration detection robot according to claim 2, characterized in that: The adjusting rod is a hexagon socket screw structure and is installed on the outside of the housing (102).

4. The multifunctional end tool of a penetration detection robot according to claim 1, characterized in that: The quick-change joint assembly (3) comprises a quick-change tool (301) and a mounting block (302), wherein the mounting block (302) is fixedly connected to the side wall of the housing (102) in the pressing and motor assembly (1), and the quick-change tool (301) connected to the mounting block (302) is quickly matched and connected to the mechanical arm of the oil washing industrial robot.

5. The multifunctional end tool of a penetration testing robot according to claim 1, characterized in that: The spray bottle and clamping block assembly (4) comprises a spray bottle (401) and a clamping block (402), wherein two clamping blocks (402) having trapezoidal groove structures clamp and fix the spray bottle (401), and the trapezoidal grooves on both sides of the clamping blocks (402) match the trapezoidal rod-shaped structure at the front end of the clamping fingers (205) in the clamping and shearing assembly (2).

6. A multifunctional end tool for penetration testing according to any one of claims 1 to 5, characterized in that: A sealing groove is provided on the housing (102), and a sealing member (106) is arranged in the sealing groove.

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