An accurate positioning and installation device for blocks in a small container

Abstract

The present invention relates to a precise positioning and installation device for a block in a small container, comprising: a motion module, a bench, a three-way movement module, a support rod, a suction cup module and a protection frame. The motion module includes rolling wheels installed under the bench and a braking unit matching the rolling wheels; the three-way movement module is installed on the bench, the output end of the three-way movement 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 for adsorbing the block; the protection frame includes a hydraulic component, a top plate and at least two grasping rods. The output end of the hydraulic component is fixedly connected to the top plate, one end of the grasping rod is hinged to the top plate, and the other end can cover the periphery of the suction cup module and the block. The present invention utilizes the three-way movement module and the movement of the bench to form a safe and reliable mechanical handling arm, thereby replacing manual operation and solving the problem that the block in the small container cannot be installed or precisely positioned; at the same time, the protection frame is adopted to protect the suction cup module and the block, avoiding potential safety hazards caused by the block falling during the movement process.

Description

Technical Field

[0001] The present invention relates to the field of automated equipment, and particularly to a precise positioning and installation device for blocks in a small container. Background Art

[0002] Currently, in some special industrial projects, certain toxic or high-temperature blocks also need to be placed in small containers as catalytic or production raw materials. However, due to space limitations in narrow containers, installation difficulties may occur, or the installation efficiency and quality may be low. For example, graphite blocks are ideal neutron moderating materials in nuclear reactors and have the advantage of low cost. However, for the test reactor of a small nuclear reaction container, since the test reactor is small, it is very difficult for personnel to enter the small enclosed space around for installation. Moreover, such reactors often require extremely high installation accuracy for graphite blocks, and any small deviation may cause serious consequences. Therefore, how to reduce the installation difficulty of blocks in small containers and improve the positioning and installation accuracy of blocks in small containers is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0003] The present invention provides a precise positioning and installation device for blocks in a small container to solve the above technical problems.

[0004] To solve the above technical problems, the present invention provides a precise positioning and installation device for blocks in a small container, including: a motion module, a bench, a three-way moving module, a support rod, a suction cup module, and a protection frame.

[0005] The motion module includes rolling wheels installed below the bench and a braking unit matching the rolling wheels; the three-way moving module is installed on the bench, 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 for adsorbing blocks.

[0006] The protection frame includes a hydraulic component, a top plate, and at least two grasping rods. The output end of the hydraulic component is fixedly connected to the top plate, one end of the grasping rod is hinged to the top plate, and the other end can wrap around the suction cup module and the block.

[0007] Preferably, the braking unit includes a rotating disk, a threaded propulsion rod, a frame-shaped groove plate, a sleeve, a rubber rotating block, a rubber propulsion rod, a brake block, and a brake wheel. The rolling wheel rotates around the axial wheel shaft, and the brake wheel is installed on the outer side of the rolling wheel. The frame-shaped groove plate is erected at both ends of the wheel shaft. The upper end of the threaded propulsion rod is fixedly connected to the rotating disk, and the lower end sequentially passes through the frame-shaped groove plate and the sleeve. The sleeve is a hollow structure, and the lower end of the threaded propulsion rod passes through the top of the sleeve and is fixedly connected to the rubber rotating block within the hollow structure. The rubber rotating block is threadedly connected to the rubber propulsion rod. The rubber propulsion rod is horizontally limited within the hollow structure of the sleeve, and the lower end is fixedly connected to the brake block. The position of the brake block corresponds to the position of the brake wheel.

[0008] Preferably, the three-way movement module includes a base, an X-direction component, a Y-direction component, and a Z-direction component. The X-direction component includes an X-direction motor, an X-direction rotating shaft, and an X-direction slider. The Y-direction component includes a Y-direction motor, a Y-direction rotating shaft, and a Y-direction slider. The Z-direction component includes a Z-direction motor, a Z-direction rotating shaft, and a lifting block. The X-direction motor and the Y-direction motor are respectively installed on the base. The Y-direction slider can slide along the length direction of the X-direction slider. The Z-direction motor can slide along the length direction of the Y-direction slider. The Z-direction motor controls the lifting block to move in the Z direction through the Z-direction rotating shaft. The base is fixed to the bench, and the lifting block is fixedly connected to the support rod.

[0009] Preferably, there are two groups of X-direction components. The two groups of X-direction components are arranged oppositely, and the two X-direction sliders in the two groups are respectively installed on the X-direction rotating shafts in the other group.

[0010] Preferably, the X-direction rotating shaft, the Y-direction rotating shaft, and the Z-direction rotating shaft are respectively provided with corresponding manual adjustment units. Each manual adjustment unit includes a rotating wheel, a rotating screw, and a gear. The rotating wheel is connected to the rotating screw, the rotating screw is fixedly connected to the gear, and the outer circumference of the gear is provided with threads matching the external threads of the X-direction rotating shaft, the Y-direction rotating shaft, or the Z-direction rotating shaft.

[0011] Preferably, a special locking member is further provided between the rotating wheel and the rotating screw. The special locking member includes a fixing plate, a sliding groove, and two sliding plates. The fixing plate is provided with a first 1 / 2 arc and a second 1 / 2 arc. Each sliding plate 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 sliding plates can slide along the sliding groove. When the two sliding plates are joined together, the first 1 / 2 arc on the fixing plate and the two first 1 / 4 arcs on the two sliding plates are joined together to form a first round hole. The second 1 / 2 arc on the fixing plate and the two second 1 / 4 arcs on the two sliding plates are joined together to form a second round hole. The first round hole is provided with threads, and the inner diameter of the first round hole is greater than the inner diameter of the second round hole. The rotating screw includes a smooth rod matching the second round hole and a threaded rod matching the first round hole. When the smooth rod is placed in the second round hole, the gear contacts the rotating shaft. When the threaded rod is placed in the first round hole, the gear disengages from the rotating shaft.

[0012] Preferably, locking buttons are further respectively provided on the two sliding plates of the special locking member. The two locking buttons can be fixed by a fixing lock. The fixing lock is hinged to one of the locking buttons and can be buckled with the other locking button.

[0013] Preferably, the support rod is connected to the suction cup module through a connecting frame. The connecting frame includes an outer frame and a Ω-shaped steel sheet. The Ω-shaped steel sheet includes an elastic ring in the middle and cylindrical rods on both sides. One of the cylindrical rods is fixedly connected to the outer frame through a fixing block, and the other cylindrical rod extends out of the outer frame. A round hole for inserting the cylindrical rod is provided at the bottom of the support rod.

[0014] Preferably, the suction cup module includes a connecting rod, a housing, a rubber pad, and a trigger unit. The connecting rod, the housing, and the rubber pad are connected in sequence. The connecting rod is fixedly connected 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. Continuous through holes are provided in the housing and the rubber pad. The lifting key is limited in the through hole by the spring and the top end passes through the housing and is hinged to one end of the T-shaped wrench. The ring sleeve is installed on the housing, and the other end of the T-shaped wrench passes through the ring sleeve.

[0015] Preferably, a lighting module and a magnifying monitoring module are further installed on the support rod.

[0016] Compared with the prior art, the small container internal block precise positioning and installation device provided by the present invention has the following advantages:

[0017] 1. The device provided by the present invention utilizes a three-way movement module and the movement of the bench to form a safe and reliable mechanical handling arm, thus replacing manual operation and solving the problem that the poisonous blocks in small containers cannot be installed or accurately positioned.

[0018] 2. The present invention adds a protective frame to protect the suction cup module and the blocks, avoiding injury to surrounding personnel in case some poisonous or high-temperature blocks fall during handling, with high safety.

[0019] 3. For the device of the present invention, due to the addition of a manual precise adjustment mechanism and in cooperation with the lighting module and the magnifying monitoring module, millimeter-level precise positioning can be achieved, further improving the installation quality.

[0020] 4. For the device of the present invention, an electric method is adopted in the three-way movement module, which can save labor.

[0021] 5. The present invention also has the advantages of simple operation, safety and reliability, and high use efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the device for precise positioning and installation of blocks in a small container in a specific embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of the movement module in a specific embodiment of the present invention;

[0024] Figure 3 is a schematic structural diagram of the braking unit in a specific embodiment of the present invention;

[0025] Figure 4 is a three-dimensional structural diagram of the three-way movement module in a specific embodiment of the present invention;

[0026] Figure 5 is a schematic structural diagram of the manual adjustment unit in a specific embodiment of the present invention;

[0027] Figure 6a and 6b are respectively schematic structural diagrams of the special lock in a specific embodiment of the present invention;

[0028] Figure 7a is a schematic structural diagram of the bottom of the support rod in a specific embodiment of the present invention;

[0029] Figure 7b is a schematic structural diagram of the connection frame in a specific embodiment of the present invention;

[0030] Figure 8a and 8b are respectively schematic structural diagrams of the protective frame in a specific embodiment of the present invention, wherein Figure 8aIt is the open state of the gripper bar in the to-be-operated state. Figure 8b It is the closed state of the gripper bar during cargo handling.

[0031] Figure 9a and 9b They are respectively the structural schematic diagrams of the suction cup module in a specific embodiment of the present invention, where Figure 9a is the front view in the released state, Figure 9b is the side view in the adsorbed state;

[0032] Figure 10 is the installation schematic diagram of the lighting module and the magnifying monitoring module in a specific embodiment of the present invention.

[0033] In the figure: 001 - block; 100 - motion module, 110 - rolling wheel, 111 - wheel axle, 120 - braking unit, 121 - rotating disk, 122 - threaded push rod, 123 - frame-shaped groove plate, 124 - sleeve, 125 - rubber rotating block, 126 - rubber push rod, 127 - braking block, 128 - braking wheel, 200 - bench, 300 - three-way moving module, 310 - base, 320 - X-direction component, 321 - X-direction motor, 322 - X-direction rotating shaft, 323 - X-direction sliding block, 324 - X-direction shaft seat, 330 - Y-direction component, 331 - Y-direction motor, 332 - Y-direction rotating shaft, 333 - Y-direction sliding block, 334 - Y-direction shaft seat, 335 - Y-direction sliding seat, 336 - connecting rod, 340 - Z-direction component, 341 - Z-direction motor, 342 - Z-direction rotating shaft, 343 - lifting block, 344 - Z-direction sliding seat, 345 - C-shaped hoop, 350 - manual adjustment unit, 351 - rotating wheel, 352 - rotating screw, 353 - gear, 354 - smooth rod, 355 - threaded rod, 360 - special locking piece, 361 - fixing plate, 362 - chute, 363 - sliding plate, 364 - first round hole, 365 - second round hole, 366 - locking button, 367 - fixed lock, 371 - first 1 / 2 arc, 372 - second 1 / 2 arc, 373 - first 1 / 4 arc, 374 - second 1 / 4 arc, 400 - support rod, 410 - connecting frame, 401 - round hole, 411 - outer frame, 412 - Ω-shaped steel sheet, 413 - cylindrical rod, 414 - fixing block, 420 - first sub-rod, 430 - second sub-rod, 500 - suction cup module, 510 - connecting rod, 520 - housing, 530 - rubber pad, 540 - trigger unit, 541 - lifting key, 542 - spring, 543 - collar, 544 - T-shaped wrench, 600 - protection frame, 610 - hydraulic component, 620 - top plate, 630 - gripper bar, 640 - short rod, 650 - push rod, 700 - lighting module, 710 - telescopic component, 800 - magnifying monitoring module. Specific Embodiment

[0034] To describe the technical solution of the above invention in more detail, specific embodiments are listed below to prove the technical effects; it should be emphasized that these embodiments are used to illustrate the present invention and not to limit the scope of the present invention.

[0035] The precise positioning and installation device for a block in a small container provided by the present invention, as Figures 1 to 10 shown, includes: a motion module 100, a bench 200, a three-way movement module 300, a support rod 400, a suction cup module 500, and a protection frame 600.

[0036] The motion module 100 includes rolling wheels 110 installed below the bench 200 and a braking unit 120 matching the rolling wheels 110. The motion module 100 can drive the bench 200 to move and fix it after positioning; the three-way movement module 300 is installed on the bench 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 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.

[0037] The protection frame 600 includes a hydraulic component 610, a top plate 620, and at least two grasping rods 630. The output end of the hydraulic component 610 is fixedly connected to the top plate 620. One end of the grasping rod 630 is hinged to the top plate 620, and the other end can cover the periphery of the suction cup module 500 and the block 001.

[0038] The device provided by the present invention uses the three-way movement module 300 and the movement of the bench 200 to form a safe and reliable mechanical handling arm, thereby replacing manual operation and solving the problem that the block in the small container cannot be installed or accurately positioned; at the same time, the protection frame 600 is added to protect the suction cup module 500 and the block 001, avoiding injury to surrounding personnel in case of falling of some poisonous or high-temperature blocks during the handling process, with high safety.

[0039] In some embodiments, please refer with emphasis to Figure 2 and Figure 3, the braking unit 120 includes a rotating disk 121, a threaded propulsion rod 122, a frame-shaped groove plate 123, a sleeve 124, a rubber rotating block 125, a rubber propulsion 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 outside the rolling wheel 110 to complete braking. The frame-shaped groove plate 123 is erected at both ends of the wheel shaft 111. The upper end of the threaded propulsion rod 122 is fixedly connected to the rotating disk 121, and the lower end sequentially passes through the frame-shaped groove plate 123 and the sleeve 124; the sleeve 124 is a hollow structure, and the lower end of the threaded propulsion rod 122 passes through the top of the sleeve 124 and is fixedly connected to the rubber rotating block 125 inside the hollow structure of the sleeve 124; the rubber rotating block 125 is threadedly connected to the rubber propulsion rod 126, and the rubber propulsion rod 126 is horizontally limited in the hollow structure inside the sleeve 124. For example, the hollow structure is a rectangular column, and the rubber propulsion rod 126 is a column matching it. After the rubber propulsion rod 126 extends into the hollow structure, horizontal displacement and relative rotation between the two cannot be achieved; the lower end of the rubber propulsion 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. In some embodiments, the brake block 127 can be C-shaped and match the outer diameter contour of the brake wheel 128. When the threaded propulsion rod 122 slowly descends under the shaking of the rotating disk 121, the rubber rotating block 125 connected to its lower part is embedded inside the rubber propulsion rod 126. Due to the structural limitations of the hollow structure inside the sleeve 124 and the rubber propulsion rod 126 (with a square cross-section), the rubber propulsion rod 126 cannot rotate inside the sleeve 124 and can only move up and down. Therefore, the lifting of the lower brake block 127 can be achieved, and then braking is realized through the contact friction between the brake block 127 and the brake wheel 128.

[0040] In some embodiments, the threaded propulsion rod 122 can at least push the brake block 127 made of hard rubber for a distance of 5 cm and make the brake block 127 reach the position of the brake wheel 128 to play a role in braking or stopping. In some embodiments, the rotating disk 121 can adopt a manual propulsion form, but it is not limited thereto. Its propulsion structure can be hydraulic, pneumatic, or electric, as long as the free telescopic movement of the rubber propulsion rod 126 inside the sleeve 124 can be achieved.

[0041] In some embodiments, please continue to refer to Figure 1, the gantry 100 can adopt a structure similar to a table, and there are four feet welded and fixed to the frame-shaped groove plate 123 below. The feet can use different types of section steel, and it is sufficient to meet 1.5 times the sum of the weight of the device itself and the maximum weight of the workpiece to be carried (about 100 kg). In some embodiments, the feet can be channel steel, C-shaped steel, or I-shaped steel, etc., and the feet are welded and fixed to the gantry 100. In some embodiments, the gantry 100 can be made of a steel plate with a thickness of not less than 3 mm.

[0042] In some embodiments, please refer with emphasis to Figure 4 , the three-way moving module 300 includes a base 310, an X-direction component 320, a Y-direction component 330, and a Z-direction component 340. The X-direction component 320 includes an X-direction motor 321, an X-direction rotating shaft 322, and an X-direction slider 323. The Y-direction component 330 includes a Y-direction motor 331, a Y-direction rotating shaft 332, and a Y-direction slider 333. The Z-direction component 340 includes a Z-direction motor 341, a Z-direction rotating shaft 342, and a lifting block 343. The X-direction motor 321 and the Y-direction motor 331 are respectively installed on the base 310. The Y-direction slider 333 can slide along the length direction of the X-direction slider 323. The Z-direction motor 341 can slide along the length direction of the Y-direction slider 333. The Z-direction motor 341 controls the lifting block 343 (i.e., the output end of the three-way moving module 200) to move in the Z direction through the Z-direction rotating shaft 342. The base 310 is fixed to the gantry 200, and the lifting block 343 is fixedly connected to the support rod 400, so as to adjust the three-dimensional position of the support rod 400.

[0043] In some embodiments, please continue to refer to Figure 4, 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, making the movement of each rotating shaft driving the slider 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 middle of the Y-axis slider 333 is also a hollow structure, and the length of its internal slide rail is at least 100 cm. The widths of the slide rails of the X-axis slider 323 and the Y-axis slider 333 can both be set to 3 - 5 cm, as long as the internal Y-axis slide seat 335 and Z-axis slide seat 344 can be smoothly installed and slide in the hollow slide rail. The Z-axis slide seat 344 is equipped with a C-shaped hoop 345 and a Z-axis motor 341 on it. 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. The C-shaped hoop 345 can play a role in support and guidance. By rotating the Z-axis motor 341 in different directions, the lifting block 343 is lifted and lowered in the vertical direction. It should be noted that the lifting block 343 should be able to maintain a lift of at least 200 cm, and the X-axis motor 321 and Y-axis motor 331 can also rotate forward and backward, so as to realize the movement of different positions in each direction.

[0044] In some embodiments, please continue to refer to Figure 4 , there are two sets of the X-axis components 320. The two sets of X-axis components 320 are arranged oppositely. The ends of the two X-axis sliders 323 in the two sets, which are far from the X-axis rotating shaft 322, are respectively installed on the X-axis rotating shaft 322 in the other set. That is, the arrangement directions of the X-axis motor 321, X-axis rotating shaft 322, and X-axis seat 324 in the two sets of X-axis components 320 are opposite, and the two ends of the two X-axis sliders 323 are respectively supported on the two X-axis rotating shafts 322. In this way, the two X-axis sliders 323 are placed under the Y-axis slider 333. The Y-axis slider 333 is fixedly connected to one of the X-axis sliders 323 through a Y-axis slide seat 335. It can not only realize the support and guiding functions of the two X-axis sliders 323 for the Y-axis slider 333, but also adjust the X-axis motor 321 according to the position of the Z-axis component 340 on the Y-axis slider 333, and then adjust the positions of the two X-axis sliders 323, so as to better provide support for the entire three-axis movement module 300 and ensure the stability of the device. In some embodiments, the distance between the two X-axis sliders 323 is at least 100 cm, and the distance between the two X-axis rotating shafts 322 is at least 120 cm. In some embodiments, the Y-axis motor 331 and Y-axis rotating shaft 332 are installed on the same base strip, and the base strip is connected to the side surface of one of the X-axis sliders 323 through a connecting rod 336.

[0045] During the operation of the three-way movement module 300, after moving the X-direction and Y-direction components 320 and 330 of the Z-direction component 340 into place, since both sides of the lifting block 343 are embedded in the slide rails and there is a thread in the middle of the lifting block 343, which is installed inside the threaded rotating shaft (Z-direction rotating shaft 342) of the Z-direction motor 341 (of course, the X-direction, Y-direction, and Z-direction rotating shafts 322, 332, and 342 all have threads), when the Z-direction motor 341 rotates in different directions, since the lifting block 343 is embedded in the slide rails, the horizontal movement is limited, so it can only move up and down in the vertical direction. Combining with the movements of the X-direction component 320 and the Y-direction component 330, the movement of the lifting block 343 at different positions in each direction is thus achieved.

[0046] In some embodiments, with particular reference to Figure 5 , the X-direction rotating shaft 322, the Y-direction rotating shaft 332, and the Z-direction rotating shaft 342 are respectively provided with corresponding manual adjustment units 350. When higher precision requirements are imposed on the rotating shafts in each direction, for example, when millimeter-level precision is required, the manual adjustment units 350 can be used to further manually adjust the precision of the rotating shafts in each direction, so as to avoid the situation where it is difficult to control the precision caused by the motor (X-direction motor 321, Y-direction motor 331, or Z-direction motor 341) rotating slightly more or less. Specifically, 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, and the outer circumference of the gear 353 is provided with threads matching the external threads of the X-direction rotating shaft 322, the Y-direction rotating shaft 332, or the Z-direction rotating shaft 342. Taking Figure 5 the X-direction rotating shaft 322 as an example, after using the X-direction motor 321 to complete the adjustment of the position of the lifting block 343, the X-direction motor 321 is turned off. By driving the gear 353 to rotate through the rotating wheel 351, and using the cooperation between the threads on the gear 353 and the external threads of the X-direction rotating shaft 322, the rotational movement of the rotating wheel 351 is converted into the rotational movement of the X-direction rotating shaft 322, and then the position of the Y-direction slider 333 on the X-direction rotating shaft 322 is accurately adjusted. The adjustment of the Y-direction rotating shaft 332 and the Z-direction rotating shaft 342 by the manual adjustment unit 350 follows the same principle and will not be elaborated here.

[0047] Preferably, with particular reference to Figure 6a and 6b , and in combination with Figure 5, a special locking member 360 is further provided between the rotating wheel 351 and the rotating screw 352. The special locking member 360 includes a fixing plate 361, a sliding groove 362, and two sliding plates 363. The fixing plate 361 is provided with a first 1 / 2 arc 371 and a second 1 / 2 arc 372. Each sliding plate 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 sliding plates 363 can slide along the sliding groove 362. When the two sliding plates 363 are joined together, the first 1 / 2 arc 371 on the fixing plate 361 and the two first 1 / 4 arcs 373 on the two sliding plates 363 are joined together to form a first round hole 364, and the second 1 / 2 arc 372 on the fixing plate 361 and the two second 1 / 4 arcs 374 on the two sliding plates 363 are joined together to form a second round hole 365. The first round hole 364 is provided with threads, and the inner diameter of the first round hole 364 is larger than the inner diameter of the second round hole 365 (for example, the inner diameter of the first round hole 364 is about 0.3 cm to 0.5 cm larger than that of the second round hole 365); the rotating screw 352 includes a smooth rod 354 matching the second round hole 365 and a threaded rod 355 matching the first round hole 364; when the smooth rod 354 is placed in the second round hole 365, the gear 353 contacts the rotating shaft (X-direction rotating shaft 322, Y-direction rotating shaft 332, or Z-direction rotating shaft 342), and when the threaded rod 355 is placed in the first round hole 364, the gear 353 is separated from the rotating shaft (X-direction rotating shaft 322, Y-direction rotating shaft 332, or Z-direction rotating shaft 342).

[0048] In some embodiments, please continue to refer to Figure 6a and 6b , locking buttons 366 are further respectively provided on the two sliding plates 363 of the special locking member 360. The two locking buttons 366 can be fixed by a fixing lock 367. After the two sliding plates 363 are joined together, the two sliding plates 363 can be fixed by the fixing lock 367 to prevent the sliding plates 363 from shifting when the rotating screw 352 rotates. In some embodiments, the fixing lock 367 is hinged to one of the locking buttons 366 and can be buckled with the other locking button 366 to prevent the fixing lock 367 from falling off or being lost.

[0049] Please continue to refer to Figure 6a and 6b , and in combination with Figure 5 , the working principle of the special locking member 360 is as follows: Similarly, taking Figure 5Taking the X-axis rotating shaft 322 in the figure 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. At this time, 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 (at this time, the texture of the gear 353 and the X-axis rotating shaft 322 are aligned with each other). 364, and the distance between the gear 353 and the X-axis shaft 322 is adjusted; when 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. At this time, the gear 353 contacts the X-axis shaft 322. In this way, the gear 353 is driven to rotate by the rotating wheel 351 to achieve a small rotation of the X-axis shaft 322 without advancing, so as to achieve fine adjustment. After the fine adjustment is completed, the above steps can be reversed to achieve the reset of the rotating screw 352 (so that the gear 353 does not contact the X-axis shaft 322). The adjustment of the Y-axis shaft 332 and the Z-axis shaft 342 is also the same as this principle, which will not be repeated here.

[0050] In some embodiments, please refer to Figure 7a and 7b The support rod 400 is connected to the suction cup module 500 through a connecting frame 410, and the connecting frame 410 includes an outer frame 411 and an Ω-shaped steel sheet 412, and the Ω-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 fixed to the outer frame 411 through a fixing block 414, and the other cylindrical rod 413 extends out of the outer frame 411; a round hole 401 is provided at the bottom of the support rod 400 for the cylindrical rod 413 to be inserted. During installation, the Ω-shaped steel sheet 412 can be retracted into the connection frame 410 by pressing the cylindrical rod 413 exposed outside the outer frame 411. When the connection 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 achieving the connection between the connection frame 410 and the support rod 400. If it needs to be removed, the same principle is used, which will not be described here. In some embodiments, 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 the appropriate position are selected to install the connection frame 410.

[0051] In some embodiments,Figure 8a and 8b As shown in 8b , in the protection frame 600, there is a short rod 640 in front of, behind, to the left, and to the 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 rod 630. The grab rod 630 can be of a C-shaped structure, and the number can be 4. An annular shape is formed inside the 4 grab rods 630 and bolted around the end of the hydraulic component 610 (i.e., the top plate 620, and the top plate 620 is connected to the hydraulic component 610 through a push rod 650). The working principle of the protection frame 600 is that the jacking force of the hydraulic component 610 drives the push rod 650 downward, so that the disc-shaped top plate 620 at the end of the push rod 650 drives the grab rod 630 bolted to it to open upward with the hinge point at the end of the short rod 640 as the center. On the contrary, when the push rod 650 rises to the top, the grab rods 630 contract 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 rods 630 to contract upward, and a relatively closed shape is formed among the grab rods 630 to wrap and lift the suction cup module 500 and the block 001. It should be noted that the grab rod 630 needs to be wrapped with a corrosion-resistant non-metallic material, which can not only increase the friction force but also prevent the block 001 from corroding its structure; of course, for high-temperature objects, a fireproof material can also be coated on the grab rod 630 to improve its service life. Under the action of each moving part and auxiliary part of the device of the present invention, the block 001 accurately reaches a position about 5 cm above the installation point, and then the hydraulic component 610 is operated to lower the push rod 650 to open the grab rod 630 for the accurate placement of the block 001.

[0052] In some embodiments, such as Figure 9a and 9bAs shown, the suction cup module 500 includes a connecting rod 510, a housing 520, a rubber pad 530, and a trigger unit 540. The connecting rod 510, the housing 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 collar 543, and a T-shaped wrench 544. A continuous through hole is provided in the housing 520 and the rubber pad 530. The lifting key 541 is limited in the through hole by the spring 542, and the top end passes through the housing 520 and is hinged to one end of the T-shaped wrench 544. The collar 543 is installed on the housing 520, and the other end of the T-shaped wrench 544 passes through the collar 543. The bottom of the T-shaped wrench 544 has a certain arc and can rotate at a certain angle. The working principle of the T-shaped wrench 544 is that the T-shaped wrench 544 takes the collar 543 as a fulcrum, and the force-receiving end of the T-shaped wrench 544 and the lifting key 541 are respectively located at both ends of the lever structure. The T-shaped wrench 544 can slide downward under the drive of human force or a micro hydraulic component. When sliding a certain distance, under the continuous contraction force, the collar 543 drives the T-shaped wrench 544 to rotate downward along a certain arc at the lower part. Since the end of the T-shaped wrench 544 is bolted to the lifting key 541, the lifting key 541 can be driven to lift a certain distance upward (at this time, the housing 520 around the lifting key 541 limits it horizontally). Since the rubber pad 530 is fixed to the lifting key 541, under the drive of the lifting key 541 and the surrounding spring 542, the rubber pad 530 at the bottom of the lifting key 541 is recessed upward by a certain distance. In this way, when the rubber pad 530 smoothly contacts the smooth and flat block 001, a certain vacuum suction force can be generated through the above steps. On the contrary, when the T-shaped wrench 544 moves upward, the lifting key 541 descends to release the negative pressure, so that the suction cup (rubber pad 530) can be separated from the block 001. Through such a design, the vacuum suction cup can achieve full-automatic control and non-contact operation by humans, so as to increase the safety of the device.

[0053] In some embodiments, the bottom end of the rubber pad 530 can be clamped by two rigid thin sheets at the bottom of the lifting key 541. The rubber pad 530 can have an internal concave arc so that the following rigid thin sheet exists without affecting the generation of negative pressure during adsorption, thereby better forming negative pressure or vacuum.

[0054] Of course, since this application uses the negative pressure principle to suck the object block 001, the rubber pad 530 as a suction cup needs to provide a negative pressure that can lift at least a 2 kg - 10 kg smooth object block. The object block 001 should be uniform and have no holes in the middle, otherwise negative pressure cannot be formed.

[0055] In some embodiments, please refer to Figure 10 and combine withFigure 1 Moreover, an illumination module 700 and a magnification monitoring module 800 are also installed on the support rod 400. Specifically, the illumination module 700 is connected to the first sub-rod 420 on the side of the support rod 400, and the magnification monitoring module 800 is connected to the second sub-rod 430 on the other side. Through a probe and a light source with magnification function, the auxiliary functions of monitoring, magnification and illumination are realized. Of course, in some large containers with good viewing angles and low installation accuracy requirements, these auxiliary parts may not be needed. In some embodiments, the first sub-rod 420 and the second sub-rod 430 can be kept at a distance of about 5 cm to 10 cm from the connection frame 410, and the hydraulic lifting can be realized vertically through the telescopic member 710. Of course, if necessary, the first sub-rod 420 and the second sub-rod 430 can also be designed as a hydraulic lateral telescopic structure to realize two-way telescoping in the horizontal and vertical directions to better expand the viewing angle range.

[0056] In addition, all auxiliary modules (including the illumination module 700 and the magnification monitoring module 800), the protection frame 600, as well as the motion module 100 and the three-way moving module 300 can be connected to the core control terminal in a wired and wireless manner, facilitating personnel operation and control.

[0057] In summary, the small container internal block precise positioning and installation device provided by the present invention includes: a motion module 100, a bench 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 below the bench 200 and a braking unit 120 matching the rolling wheel 110; the three-way moving module 300 is installed on the bench 200, and the output end of the three-way moving 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 protection frame 600 includes a hydraulic member 610, a top plate 620, and at least two grasping rods 630. The output end of the hydraulic member 610 is fixedly connected to the top plate 620, and one end of the grasping rod 630 is hinged to the top plate 620, and the other end can cover the surrounding of the suction cup module 500 and the block 001. The device provided by the present invention uses the three-way moving module 300 and the movement of the bench 200 to form a safe and reliable mechanical handling arm, replacing manual operation, and solving the problem that the block in the small container cannot be installed or cannot be precisely positioned; at the same time, the protection frame 600 is added to protect the suction cup module 500 and the block 001, avoiding injury to surrounding personnel when some poisonous or high-temperature object blocks fall during the handling process, with high safety.

[0058] Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A precise positioning and installation device for blocks in a small container, characterized in that Including: A motion module, a bench, a three-way moving module, a support rod, a suction cup module, and a protection frame. The motion module includes rolling wheels installed below the bench and a braking unit matching the rolling wheels; the three-way moving module is installed on the bench, 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 for adsorbing a block; the three-way moving module includes a base, an X-direction component, a Y-direction component, and a Z-direction component. The X-direction component includes an X-direction motor, an X-direction rotating shaft, and an X-direction slider. The Y-direction component includes a Y-direction motor, a Y-direction rotating shaft, and a Y-direction slider. The Z-direction component includes a Z-direction motor, a Z-direction rotating shaft, and a lifting block. The X-direction motor and the Y-direction motor are respectively installed on the base. The Y-direction slider can slide along the length direction of the X-direction slider. The Z-direction motor can slide along the length direction of the Y-direction slider. The Z-direction motor controls the lifting block to move in the Z-direction through the Z-direction rotating shaft; the base is fixed to the bench, and the lifting block is fixedly connected to the support rod; the X-direction rotating shaft, the Y-direction rotating shaft, and the Z-direction rotating shaft are respectively provided with corresponding manual adjustment units. Each manual adjustment unit includes a rotating wheel, a rotating screw, and a gear. The rotating wheel is connected to the rotating screw, the rotating screw is fixedly connected to the gear, and the outer circumference of the gear is provided with threads matching the external threads of the X-direction rotating shaft, the Y-direction rotating shaft, or the Z-direction rotating shaft; a special locking piece is further provided between the rotating wheel and the rotating screw. The special locking piece includes a fixing plate, a sliding groove, and two sliding plates. The fixing plate is provided with a first 1 / 2 arc and a second 1 / 2 arc. Each sliding plate 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 sliding plates can slide along the sliding groove. When the two sliding plates are joined together, the first 1 / 2 arc on the fixing plate and the two first 1 / 4 arcs on the two sliding plates are joined together to form a first round hole. The second 1 / 2 arc on the fixing plate and the two second 1 / 4 arcs on the two sliding plates are joined together to form a second round hole. The first round hole is provided with threads, and the inner diameter of the first round hole is larger than the inner diameter of the second round hole; the rotating screw includes a smooth rod matching the second round hole and a threaded rod matching the first round hole; when the smooth rod is placed in the second round hole, the gear contacts the X-direction rotating shaft, the Y-direction rotating shaft, or the Z-direction rotating shaft. When the threaded rod is placed in the first round hole, the gear is separated from the X-direction rotating shaft, the Y-direction rotating shaft, or the Z-direction rotating shaft. The protection frame includes a hydraulic component, a top plate, and at least two grasping rods. The output end of the hydraulic component is fixedly connected to the top plate. One end of the grasping rod is hinged to the top plate, and the other end can wrap around the suction cup module and the block.

2. The small container internal block precise positioning and installation device according to claim 1, characterized in that The braking unit includes a rotating disk, a threaded push rod, a frame-shaped groove plate, a sleeve, a rubber rotating block, a rubber push rod, a brake block and a brake wheel. The rolling wheel rotates around the axle in the axial direction, and the brake wheel is installed on the outside of the rolling wheel. The frame-shaped groove plate is erected at both ends of the axle. The upper end of the threaded push rod is fixedly connected to the rotating disk, and the lower end sequentially passes through the frame-shaped groove plate and the sleeve. The sleeve is of 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 inside the hollow structure. The rubber rotating block is threadedly connected to the rubber push rod. The rubber push rod is horizontally limited inside the hollow structure of the sleeve, and the lower end is fixedly connected to the brake block. The position of the brake block corresponds to the position of the brake wheel.

3. The precise positioning and installation device for a block inside a small container according to claim 1, wherein There are two sets of X-direction components, which are arranged oppositely, and the two X-direction sliders in the two sets are respectively installed on the X-direction rotating shafts in the other set.

4. The precise positioning and installation device for the block in the small container according to claim 1, characterized in that, Lock buttons are respectively provided on the two sliding plates of the special lock, 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 latched with the other lock button.

5. The precise positioning and installation device for a block inside a small container according to claim 1, characterized in that, The support rod is connected to the suction cup module through a connecting frame. The connecting frame includes an outer frame and a Ω-shaped steel sheet. The Ω-shaped steel sheet includes an elastic ring in the middle and cylindrical rods on both sides. One of the cylindrical rods is fixedly connected to the outer frame through a fixing block, and the other cylindrical rod extends out of the outer frame. A round hole for inserting the cylindrical rod is provided at the bottom of the support rod.

6. The precise positioning and installation device for the block in the small container according to claim 1, characterized in that, The suction cup module includes a connecting rod, a housing, a rubber pad and a trigger unit. The connecting rod, the housing and the rubber pad are connected in sequence. The connecting rod is fixedly connected 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. Continuous through holes are provided in the housing and the rubber pad. The lifting key is limited in the through hole by the spring, and the top end passes through the housing and is hinged to one end of the T-shaped wrench. The ring sleeve is installed on the housing, and the other end of the T-shaped wrench passes through the ring sleeve.

7. The precise positioning and installation device for the block in the small container according to claim 1, characterized in that, A lighting module and a magnifying monitoring module are also installed on the support rod.

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