A mobile helium suction robot

Abstract

The application discloses a movable helium suction robot, which comprises a base, an adjustable mechanical hand mechanism, a suction mechanism and a moving mechanism, wherein the upper end of the base is rotationally connected with a rotating column; the adjustable mechanical hand mechanism comprises a lifting arm, a mounting frame, an adjusting column, a gear one and a rack plate; the lifting arm is slidingly connected in the rotating column; the mounting frame is fixedly connected to the right end of the lifting arm; the adjusting column is slidingly connected to the right side of the mounting frame; the gear one is rotationally connected to the middle part of the mounting frame; the rack plate is fixedly connected to the left middle part of the adjusting column; the suction mechanism is arranged on the upper end of the base; and the moving mechanism is arranged on the lower end of the base. The movable helium suction robot is provided with a movable base, and the mechanical hand and the helium suction system are integrated. The helium in the box can be filled quickly and uniformly through the mechanical hand. After the detection is completed, the waste gas can be quickly collected and stored, and the detection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of helium gas extraction robot technology, specifically a mobile helium gas extraction robot. Background Technology

[0002] Helium, a rare gas with the chemical formula He, is colorless and odorless. It is chemically inert and rarely reacts with other substances under normal conditions. Because helium is a very small molecule with a molecular weight of only 2, it can pass through tiny pores and gaps that many other gases and substances cannot penetrate. This makes helium an ideal leak detection medium. Vacuum chamber helium leak detection is a commonly used leak detection device. Helium is used as a tracer gas; it is filled into the workpiece within a vacuum chamber, and then a helium leak detector is used to determine the leakage status of the workpiece with high precision and speed. However, existing vacuum chamber helium leak detection equipment requires operators to... The workpiece interface is connected to the quick connector in the vacuum chamber, and then the workpiece is pushed into the vacuum chamber. After the vacuum chamber door is closed, helium is manually released for testing. After the detection system completes the large leak detection, the waste gas is manually recovered to complete the detection work. In traditional vacuum chamber helium leak detection equipment, the helium pumping work is usually done manually, which is a heavy workload. Due to the large space inside the chamber and the wide gas distribution, it is not possible to quickly and evenly fill the entire chamber when filling it, nor can it quickly suck out the gas inside the chamber when pumping it, which seriously affects the detection efficiency. Therefore, we propose a mobile helium pumping robot. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a mobile helium suction robot, which is equipped with a mobile base, and integrates a robotic arm and a helium suction system. The robotic arm can quickly and evenly fill the box with helium. After the test is completed, the waste gas can be quickly recovered and stored, which improves the test efficiency and can effectively solve the problems in the background technology.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a mobile helium suction robot, comprising a base, an adjustable robotic arm mechanism, a suction mechanism, and a moving mechanism;

[0005] Base: A rotating column is rotatably connected to the middle of its upper end;

[0006] Adjustable robotic arm mechanism: It includes a lifting arm, a mounting frame, an adjusting column, a gear 1 and a rack plate. The lifting arm is slidably connected to the inside of the rotating column. The mounting frame is fixedly connected to the right end of the lifting arm. The adjusting column is slidably connected to the right side of the mounting frame. The gear 1 is rotatably connected to the middle of the mounting frame. The rack plate is fixedly connected to the middle left side of the adjusting column. The gear 1 and the rack plate are meshed and connected, which can quickly adjust the height of the adjusting column.

[0007] Suction mechanism: It is located at the upper end of the base;

[0008] The mobile mechanism is located at the lower end of the base and has a movable base. It integrates a robotic arm and a helium suction system. The robotic arm can quickly and evenly fill the chamber with helium. After the test is completed, the waste gas can be quickly recovered and stored, which improves the testing efficiency.

[0009] Furthermore, the adjustable manipulator mechanism also includes an adjustment component, which includes an adjustment motor, a worm gear, and a worm wheel. The adjustment motor is fixedly connected to the front side of the mounting frame, and its input end is electrically connected to the output end of the microcontroller. The worm gear is fixedly connected to the right end of the output shaft of the adjustment motor, and the worm wheel is fixedly connected to the front end of gear one. The worm gear and the worm wheel are meshed together to provide a stable drive for adjusting the height of the adjustment column.

[0010] Furthermore, the adjustable robotic arm mechanism also includes a lifting motor and a lead screw. The lifting motor is fixedly connected to the lower end of the rotating column, and the input end of the lifting motor is electrically connected to the output end of the microcontroller. The lead screw is threadedly connected inside the lifting arm, and the lower end of the lead screw is fixedly connected to the upper end of the output shaft of the lifting motor, providing a stable drive for the lifting of the lifting arm.

[0011] Furthermore, the adjustable manipulator mechanism also includes a rotating assembly, which includes a rotary motor, a second gear, and an external gear ring. The rotary motor is located at the upper front center of the base. The input end of the rotary motor is electrically connected to the output end of the microcontroller. The second gear is fixedly connected to the upper end of the output shaft of the rotary motor. The external gear ring is fixedly connected to the lower end of the outer surface of the rotating column. The second gear and the external gear ring are meshed to provide stable drive for the rotation of the rotating column.

[0012] Furthermore, the suction mechanism includes a connecting pipe and a nozzle. The adjusting column has an inner cavity. The connecting pipes are all located on the left side of the adjusting column, and the nozzles are evenly located on the right side of the adjusting column. The connecting pipes, the inner cavity, and the nozzles are connected to each other, providing a basis for the gas to be expelled and recovered.

[0013] Furthermore, the suction mechanism also includes a helium storage tank, a waste gas storage tank, a suction pump, and an electromagnetic reversing valve. The helium storage tank is located at the upper left rear end of the base, the waste gas storage tank is located at the upper left front end of the base, the suction pump is fixedly connected to the upper right side of the base, and the electromagnetic reversing valve is fixedly connected to the upper rear side of the base. The input ends of the suction pump and the electromagnetic reversing valve are both electrically connected to the output end of the microcontroller. The outlets of the helium storage tank and the waste gas storage tank are both connected to the inlet of the electromagnetic reversing valve through a first gas pipe. The suction port of the suction pump is connected to the outlet of the electromagnetic reversing valve through a second gas pipe. Both connecting pipes are connected to the exhaust port of the suction pump through a third gas pipe, which allows for rapid gas flushing and recovery.

[0014] Furthermore, the moving mechanism includes drive wheels and tracks. The drive wheels are rotatably connected to the lower end of the base, and the two drive wheels on the same side are connected by track transmission, providing a basis for the movement of the machine body.

[0015] Furthermore, the moving mechanism also includes a drive motor and a reduction gearbox. The drive motor is fixedly connected to the inside of the base in the middle. The input end of the drive motor is electrically connected to the output end of the microcontroller. The reduction gearbox is fixedly connected to the inside of the base on the left side. The left end of the output shaft of the drive motor is fixedly connected to the right end of the reduction shaft of the reduction gearbox. The drive wheel on the left side is fixedly connected to the output shaft of the reduction gearbox, providing stable drive for the movement of the machine body.

[0016] Furthermore, it also includes a microcontroller, which is located on the front side of the base. The input terminal of the microcontroller is electrically connected to an external power supply to provide control for the operation of the machine.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This mobile helium suction robot has the following advantages:

[0018] 1. The microcontroller controls the suction pump to extract helium from the helium storage tank. The helium enters the inner cavity through the third gas pipe and is then evenly discharged through the nozzle. The microcontroller also controls the rotary motor to operate. The output shaft of the rotary motor drives the second gear to rotate. Because the second gear is meshed with the external gear ring, the rotating column rotates along with the rotation of the second gear. At this time, the rotating column rotates the lifting arm, and the adjusting column also makes a circular motion around the rotating column, making the helium distribution faster and more even. After the detection work is completed, the microcontroller controls the electromagnetic reversing valve to operate. The electromagnetic reversing valve switches the valve to connect the waste gas storage tank and the suction pump. The microcontroller controls the suction pump to operate, and the suction pump starts to draw in air. The waste gas around the nozzle is then discharged. The gas is drawn into the suction pump through the inner cavity and trachea, and then enters the waste gas storage tank through the electromagnetic reversing valve. The microcontroller controls the operation of the lifting motor, and the output shaft of the lifting motor drives the lead screw to rotate, thus moving the lifting arm upward. Then, the microcontroller controls the operation of the regulating motor, and the output shaft of the regulating motor drives the worm to rotate. Because the worm and worm wheel are meshed, the worm wheel will rotate with the rotation of the worm, and at the same time drive the first gear to rotate. Because the first gear is meshed with the rack plate, the regulating column will move upward, which can quickly recover the surrounding waste gas. Through the movement and adjustment of the robotic arm, the gas can be released and recovered quickly and evenly, reducing the release and recovery time and improving the detection efficiency.

[0019] 2. The microcontroller controls the operation of the drive motor, and the output shaft of the drive motor drives the gearbox to work. The gearbox transmits power to the drive wheels. Because the two drive wheels on the same side are connected by track transmission, the entire machine will move with the rotation of the drive wheels, which can move quickly and also quickly recover exhaust gas from various areas. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a schematic cross-sectional view of the adjustable robotic arm mechanism and suction mechanism of the present invention;

[0022] Figure 3 This is a schematic diagram of the adjustment component structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the moving mechanism structure of the present invention.

[0024] In the diagram: 1. Base, 2. Rotating column, 3. Electromagnetic reversing valve, 4. Microcontroller, 5. Adjustable robotic arm mechanism, 51. Lifting arm, 52. Mounting frame, 53. Adjusting column, 54. Gear I, 55. Rack plate, 56. Adjusting component, 561. Adjusting motor, 562. Worm gear, 563. Worm wheel, 57. Lifting motor, 58. Lead screw, 59. Rotating component, 591. Rotating motor, 592. Gear II, 593. External gear ring, 6. Suction mechanism, 61. Helium storage tank, 62. Waste gas storage tank, 63. Suction pump, 64. Connecting pipe, 65. Nozzle, 7. Moving mechanism, 71. Drive wheel, 72. Track, 73. Drive motor, 74. Gearbox. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1-4 This embodiment provides a technical solution: a mobile helium suction robot, including a base 1, an adjustable robotic arm mechanism 5, a suction mechanism 6 and a moving mechanism 7;

[0027] Base 1: A rotating column 2 is rotatably connected to the middle of its upper end, and a microcontroller 4 is also included. The microcontroller 4 is located on the front side of the base 1. The input terminal of the microcontroller 4 is electrically connected to an external power supply to provide control for the operation of the machine.

[0028] Adjustable robotic arm mechanism 5: It includes a lifting arm 51, a mounting frame 52, an adjusting column 53, a gear 54, and a rack plate 55. The lifting arm 51 is slidably connected to the inside of the rotating column 2. The mounting frame 52 is fixedly connected to the right end of the lifting arm 51. The adjusting column 53 is slidably connected to the right side of the mounting frame 52. The outer surface of the adjusting column 53 is provided with a limiting protrusion, which is slidably connected to the limiting groove inside the rotating column 2 to form a limiting effect. The gear 54 is rotatably connected to the middle of the mounting frame 52, and the rack plate 55 is fixedly connected to the inside of the rotating column 2. Located on the left side of the adjusting column 53, gear 54 and rack 55 mesh together, allowing for quick adjustment of the height of the adjusting column 53. The adjustable manipulator mechanism 5 also includes an adjusting assembly 56, which comprises an adjusting motor 561, a worm gear 562, and a worm wheel 563. The adjusting motor 561 is fixedly connected to the front of the mounting frame 52, and its input is electrically connected to the output of the microcontroller 4. The worm gear 562 is fixedly connected to the right end of the output shaft of the adjusting motor 561, and the worm wheel 563 is fixedly connected to the gear 561. At the front end of wheel 54, worm gear 562 and worm wheel 563 are meshed and connected, providing a stable drive for adjusting the height of adjusting column 53. The adjustable manipulator mechanism 5 also includes a lifting motor 57 and a lead screw 58. The lifting motor 57 is fixedly connected to the lower end of rotating column 2, and the input end of the lifting motor 57 is electrically connected to the output end of microcontroller 4. The lead screw 58 is threaded into the inside of lifting arm 51, and the lower end of the lead screw 58 is fixedly connected to the upper end of the output shaft of lifting motor 57, providing a stable drive for lifting arm 51. The hand mechanism 5 also includes a rotating component 59, which includes a rotating motor 591, a second gear 592, and an external gear ring 593. The rotating motor 591 is located at the middle of the front side of the upper end of the base 1. The input end of the rotating motor 591 is electrically connected to the output end of the microcontroller 4. The second gear 592 is fixedly connected to the upper end of the output shaft of the rotating motor 591. The external gear ring 593 is fixedly connected to the lower end of the outer surface of the rotating column 2. The second gear 592 and the external gear ring 593 are meshed to provide stable drive for the rotation of the rotating column 2.

[0029] Suction mechanism 6: Located at the upper end of base 1, suction mechanism 6 includes connecting pipes 64 and nozzles 65. The adjusting column 53 has an internal cavity. The connecting pipes 64 are all located on the left side of the adjusting column 53, and the nozzles 65 are evenly distributed on the right side of the adjusting column 53. The connecting pipes 64, the internal cavity, and the nozzles 65 are connected to each other, providing a basis for gas flushing and recovery. Suction mechanism 6 also includes a helium storage tank 61, a waste gas storage tank 62, a suction pump 63, and an electromagnetic reversing valve 3. The helium storage tank 61 is located at the upper left rear end of base 1, and the waste gas storage tank 62 is located at the lower end of base 1. At the upper left front end of the base 1, the suction pump 63 is fixedly connected to the upper right side of the base 1. The electromagnetic reversing valve 3 is fixedly connected to the upper rear side of the base 1. The input ends of the suction pump 63 and the electromagnetic reversing valve 3 are electrically connected to the output end of the microcontroller 4. The outlets of the helium storage tank 61 and the waste gas storage tank 62 are connected to the inlet of the electromagnetic reversing valve 3 through the first gas pipe. The suction port of the suction pump 63 is connected to the outlet of the electromagnetic reversing valve 3 through the second gas pipe. The two connecting pipes 64 are connected to the exhaust port of the suction pump 63 through the third gas pipe, which can quickly flush out and recover the gas.

[0030] The moving mechanism 7 is located at the lower end of the base 1. It includes drive wheels 71 and tracks 72. The drive wheels 71 are rotatably connected to the lower end of the base 1. Two drive wheels 71 on the same side are connected via the tracks 72, providing a basis for the movement of the machine. The moving mechanism 7 also includes a drive motor 73 and a reduction gearbox 74. The drive motor 73 is fixedly connected to the center of the interior of the base 1. The input end of the drive motor 73 is electrically connected to the output end of the microcontroller 4. The reduction gearbox 74 is fixedly connected to the left side of the interior of the base 1. The left end of the output shaft of the drive motor 73 is fixedly connected to the right end of the reduction shaft of the reduction gearbox 74. The left-side drive wheel 71 is fixedly connected to the output shaft of the reduction gearbox 74, providing stable drive for the movement of the machine. It features a movable base, an integrated robotic arm, and a helium suction system. The robotic arm can quickly and evenly fill the chamber with helium. After testing, the waste gas can be quickly recovered and stored, improving testing efficiency.

[0031] The working principle of the mobile helium suction robot provided by this invention is as follows: When performing leak detection, the operator connects the workpiece interface to the quick connector in the vacuum chamber, then pushes the workpiece into the vacuum chamber. After the vacuum chamber door is closed, the microcontroller 4 controls the suction pump 63 to work, which extracts helium from the helium storage tank 61. The helium enters the inner cavity through the gas pipe 3 and is then evenly discharged through the nozzle 65. At the same time, the microcontroller 4 controls the rotary motor 591 to operate. The output shaft of the rotary motor 591 drives the gear 2 592 to rotate. Because the gear 2 592 is meshed with the external gear ring 593, the rotating column 2 will rotate along with the rotation of the gear 2 592. At this time, the rotating column 2 rotates the lifting arm 51. The adjusting column 53 also rotates in a circle around the rotating column 2, making the helium gas disperse faster and more evenly. After the chamber is filled with helium, the external detection mechanism performs the detection. After the detection is completed, the waste gas in the chamber needs to be recovered. The microcontroller 4 controls the electromagnetic reversing valve 3 to work, and the electromagnetic reversing valve 3 reverses the valve to connect the waste gas storage tank 62 with the suction pump 63. The microcontroller 4 controls the suction pump 63 to work, and the suction pump 63 starts to draw in air. The waste gas around the nozzle 65 is drawn into the suction pump 63 through the inner cavity and the air pipe 3, and then enters the waste gas storage tank 62 through the electromagnetic reversing valve 3. At this time, other areas in the chamber are still filled with waste gas. The microcontroller 4 controls the rotary motor 591 to run. The rotary motor 591... The output shaft drives gear 592 to rotate, which in turn drives rotating column 2 to rotate. Rotating column 2 drives lifting arm 51 and adjusting column 53 to rotate, thus recovering all the exhaust gas around the machine. At this time, the top of the box is still full of exhaust gas. Microcontroller 4 controls lifting motor 57 to operate. The output shaft of lifting motor 57 drives lead screw 58 to rotate, and lifting arm 51 moves upward accordingly, completing the upward movement of lifting arm 51. Then, microcontroller 4 controls adjusting motor 561 to operate. The output shaft of adjusting motor 561 drives worm 562 to rotate. Because worm 562 and worm wheel 563 are meshed, worm wheel 563 will rotate with the rotation of worm 562, and at the same time drive gear 54 to rotate. Because gear 54 is meshed with rack plate 55, Therefore, the adjusting column 53 will move upward until it approaches the top wall of the vacuum chamber, recovering all the surrounding exhaust gas. At the same time, the microcontroller 4 controls the drive motor 73 to operate, and the output shaft of the drive motor 73 drives the reduction gearbox 74 to work. The reduction gearbox 74 transmits power to the drive wheel 71. Because the two drive wheels 71 on the same side are connected by the track 72, the entire machine will move with the rotation of the drive wheel 71. It can move quickly and recover exhaust gas from various areas at the same time. It is equipped with a movable base, and the robotic arm and helium suction system are integrated. The robotic arm can quickly and evenly fill the chamber with helium. After the test is completed, the exhaust gas can be quickly recovered and stored, improving the test efficiency.

[0032] It is worth noting that the microcontroller 4 disclosed in the above embodiments is an S7-200 microcontroller, the regulating motor 561 is an SPS42E234-1.27-151 motor, the lifting motor 57 is a YVF-112M-4 motor, the rotary motor 591 is a YBX3-112M-2 motor, the suction pump 63 is an SK-30 suction pump, and the drive motor 73 is an ST-M62017 motor. The microcontroller 4 controls the operation of the regulating motor 561, the lifting motor 57, the rotary motor 591, the suction pump 63, and the drive motor 73 using methods commonly used in the prior art.

[0033] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A mobile helium suction robot, characterized by: It includes a base (1), an adjustable robotic arm mechanism (5), a suction mechanism (6), and a moving mechanism (7); Base (1): A rotating column (2) is rotatably connected to the middle of its upper end; Adjustable robotic arm mechanism (5): It includes a lifting arm (51), a mounting frame (52), an adjusting column (53), a gear (54), and a rack plate (55). The lifting arm (51) is slidably connected to the inside of the rotating column (2). The mounting frame (52) is fixedly connected to the right end of the lifting arm (51). The adjusting column (53) is slidably connected to the right side of the mounting frame (52). The gear (54) is rotatably connected to the middle of the mounting frame (52). The rack plate (55) is fixedly connected to the middle left side of the adjusting column (53). The gear (54) and the rack plate (55) are meshed together. Suction mechanism (6): It is located at the upper end of the base (1); The moving mechanism (7) is located at the lower end of the base (1); It also includes a microcontroller (4), which is located on the front side of the base (1), and the input terminal of the microcontroller (4) is electrically connected to an external power supply; The adjustable manipulator mechanism (5) also includes an adjustment component (56), which includes an adjustment motor (561), a worm (562) and a worm wheel (563). The adjustment motor (561) is fixedly connected to the front side of the mounting frame (52). The input end of the adjustment motor (561) is electrically connected to the output end of the microcontroller (4). The worm (562) is fixedly connected to the right end of the output shaft of the adjustment motor (561). The worm wheel (563) is fixedly connected to the front end of the gear (54). The worm (562) and the worm wheel (563) are meshed together. The adjustable manipulator mechanism (5) also includes a rotating component (59), which includes a rotary motor (591), a second gear (592), and an external gear ring (593). The rotary motor (591) is located at the middle of the front side of the upper end of the base (1). The input end of the rotary motor (591) is electrically connected to the output end of the microcontroller (4). The second gear (592) is fixedly connected to the upper end of the output shaft of the rotary motor (591). The external gear ring (593) is fixedly connected to the lower end of the outer surface of the rotating column (2). The second gear (592) and the external gear ring (593) are meshed together. The suction mechanism (6) includes a connecting pipe (64) and a nozzle (65). The adjusting column (53) has an inner cavity. The connecting pipes (64) are all located on the left side of the adjusting column (53), and the nozzles (65) are evenly located on the right side of the adjusting column (53). The connecting pipes (64), the inner cavity and the nozzles (65) are connected. The suction mechanism (6) also includes a helium storage tank (61), a waste gas storage tank (62), a suction pump (63), and an electromagnetic reversing valve (3). The helium storage tank (61) is located at the upper left rear end of the base (1), the waste gas storage tank (62) is located at the upper left front end of the base (1), the suction pump (63) is fixedly connected to the upper right side of the base (1), and the electromagnetic reversing valve (3) is fixedly connected to the upper rear side of the base (1). The input ends of the suction pump (63) and the electromagnetic reversing valve (3) are electrically connected to the output end of the microcontroller (4). The outlets of the helium storage tank (61) and the waste gas storage tank (62) are connected to the inlet of the electromagnetic reversing valve (3) through a first air pipe. The suction port of the suction pump (63) is connected to the outlet of the electromagnetic reversing valve (3) through a second air pipe. The two connecting pipes (64) are connected to the exhaust port of the suction pump (63) through a third air pipe.

2. The mobile helium suction robot according to claim 1, characterized in that: The adjustable manipulator mechanism (5) also includes a lifting motor (57) and a lead screw (58). The lifting motor (57) is fixedly connected to the lower end of the rotating column (2). The input end of the lifting motor (57) is electrically connected to the output end of the microcontroller (4). The lead screw (58) is threadedly connected to the inside of the lifting arm (51). The lower end of the lead screw (58) is fixedly connected to the upper end of the output shaft of the lifting motor (57).

3. The mobile helium suction robot according to claim 1, characterized in that: The moving mechanism (7) includes a drive wheel (71) and a track (72). The drive wheel (71) is rotatably connected to the lower end of the base (1), and the two drive wheels (71) on the same side are connected by the track (72).

4. The mobile helium suction robot according to claim 1, characterized in that: The moving mechanism (7) also includes a drive motor (73) and a gearbox (74). The drive motor (73) is fixedly connected to the middle of the interior of the base (1). The input end of the drive motor (73) is electrically connected to the output end of the microcontroller (4). The gearbox (74) is fixedly connected to the left side of the interior of the base (1). The left end of the output shaft of the drive motor (73) is fixedly connected to the right end of the reduction shaft of the gearbox (74). The drive wheel (71) on the left side is fixedly connected to the output shaft of the gearbox (74).

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