Threaded hole maintenance and detection robot suitable for multi-specification valve bodies and working method

Abstract

The invention discloses a threaded hole maintenance and detection robot suitable for multi-specification valve bodies and a working method, and relates to the technical field of maintenance of all threaded holes in the valve bodies, the threaded hole maintenance and detection robot comprises an expansion positioning mechanism and a rotating mechanism arranged on the expansion positioning mechanism, and a protective cover is fixedly arranged on a rotating table of the rotating mechanism; a moving seat is fixedly arranged outside a radial nut of the radial lead screw moving mechanism, and an executing mechanism is arranged at the bottom of the moving seat; the executing mechanism comprises a driving assembly fixedly arranged at the bottom of the moving base, an output shaft of the driving assembly is connected with a main shaft extending downwards, and a threaded hole positioning tool, a washing and polishing tool, a suction and blow-drying tool and a view screen detecting assembly are evenly arranged on the outer edge of the rotary disc in the circumferential direction of the rotary disc. The device has the beneficial effects that the working intensity of workers is greatly reduced, the maintenance efficiency of the threaded hole is greatly improved, and the threaded hole can be detected.

Description

Technical Field

[0001] The invention relates to the technical field of maintaining various threaded holes in a valve body, and in particular to a threaded hole maintenance and detection robot and a working method suitable for valve bodies with multiple specifications. Background Art

[0002] The structure of the valve body 1 used in a high-dose valve in a nuclear island is as follows: Figure 1-2 As shown, the center of the valve body 1 is provided with a center hole 2 arranged along its axial direction, and a plurality of threaded holes 3 are provided on the top surface of the valve body 1 at intervals around the center hole 2 in the circumferential direction, and the threaded holes 3 do not penetrate the bottom surface of the valve body 1. After such a valve body 1 has been used for a long time, a large amount of burrs and dirt are attached to the inner walls of each threaded hole 3 of the valve body 1. These burrs and dirt in the threaded holes 3 affect the normal use of the valve body 1. In order to enable the valve body 1 to be used normally, the worker maintains each threaded hole 3 of the valve body 1 in the following way:

[0003] S1. The worker first inserts the grinding head of the grinder into the threaded hole 3 and starts the grinder. The grinding head of the grinder grinds off the burrs in the first threaded hole 3. By repeating the above operation, the burrs in each threaded hole 3 on the valve body 1 can be grinded off; S2. After the burrs in each threaded hole 3 are ground off, the worker inserts the cleaning head of the cleaning machine into the first threaded hole 3, and then starts the cleaning machine. The cleaning liquid sprayed from the cleaning head flushes away the dirt attached to the threaded hole 3. By repeating the above operation, the dirt in each threaded hole 3 can be cleaned off, thereby achieving the purpose of maintaining the threaded hole 3 and ensuring that the valve body 1 can be used normally.

[0004] However, although this method can maintain the valve body 1, it still has the following technical defects:

[0005] I. Manual operation of a grinder and a cleaning machine is required to maintain the threaded holes 3 of the valve body 1. The entire operation is completed manually, which undoubtedly increases the work intensity of the workers. In addition, there are many threaded holes 3 on the valve body 1, which requires a long time to maintain all the threaded holes 3, thereby reducing the maintenance efficiency of the threaded holes 3.

[0006] II. After the valve body 1 is maintained, it is impossible to detect whether there are any residual burrs and dirt that have not been removed in the valve body 1.

[0007] Therefore, there is an urgent need for a threaded hole maintenance and detection robot and working method that can greatly reduce the workload of workers, greatly improve the efficiency of threaded hole maintenance, and detect threaded holes, which is suitable for valve bodies of multiple specifications. Summary of the invention

[0008] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a threaded hole maintenance and detection robot and working method suitable for valve bodies of multiple specifications, which can greatly reduce the workload of workers, greatly improve the efficiency of threaded hole maintenance, and detect threaded holes.

[0009] The object of the present invention is achieved through the following technical solutions: a threaded hole maintenance and detection robot suitable for valve bodies of multiple specifications, comprising an expansion positioning mechanism, a rotating mechanism arranged on the expansion positioning mechanism, a protective cover fixedly arranged on the rotating table of the rotating mechanism, an axial screw movement mechanism arranged inside the protective cover, a connecting seat fixedly arranged on the axial nut of the axial screw movement mechanism and penetrating the protective cover to the left, a radial screw movement mechanism arranged on the connecting seat, a moving seat fixedly arranged on the outside of the radial nut of the radial screw movement mechanism, and an actuator arranged at the bottom of the moving seat;

[0010] The actuator includes a driving assembly fixedly mounted at the bottom of the moving seat, the output shaft of the driving assembly is connected to a main shaft extending downward, the bottom end of the main shaft is connected to a turntable, and threaded hole positioning tools, washing and polishing tools, suction and drying tools and a video screen detection assembly are evenly arranged on the outer edge of the turntable and along its circumferential direction;

[0011] The threaded hole positioning tool comprises a mounting rod fixedly connected to the turntable, and an adapter sleeve fixedly connected to the bottom of the mounting rod, and a diffuse reflection photoelectric switch is connected to the bottom of the adapter sleeve;

[0012] The scrubbing and polishing tool comprises a hollow shaft motor fixed on the top surface of the turntable, the lower end of the hollow shaft of the hollow shaft motor passes through the turntable downward, and a pipe is connected to the extended end, a plurality of liquid outlet holes connected to the outer cylindrical surface of the pipe are distributed, and a plurality of silicon carbide brushes are fixed on the outer cylindrical surface of the pipe; the upper end of the hollow shaft of the hollow shaft motor is connected to the liquid supply port of the cleaning machine;

[0013] The suction and drying tool comprises an outer tube fixedly mounted on a rotating disk and an inner tube arranged inside the outer tube, a joint is fixedly mounted on the upper end of the outer tube, the joint is connected to the working port of the air compressor, a plurality of air outlet holes connected to the outer tube are opened on the cylindrical surface of the outer tube, and the bottom end of the outer tube is closed; the bottom end of the inner tube is fixedly mounted on the closed end of the outer tube, and the bottom end of the inner tube passes through the closed end of the outer tube, and the top end of the inner tube is connected to the wet and dry vacuum cleaner;

[0014] The video screen detection component comprises a mounting component fixed on the bottom surface of the turntable and a lens fixed on the bottom of the mounting component.

[0015] The expansion positioning mechanism includes a self-centering three-jaw chuck and a positioning plate fixed on the top surface of the self-centering three-jaw chuck. The outer ends of the three jaws of the self-centering three-jaw chuck are fixed with positioning claws, and the bottom surfaces of the three positioning claws are fixed with polyurethane pads.

[0016] The rotating mechanism includes a column base fixed on the top surface of the positioning plate, a gear ring fixed on the outer cylindrical surface of the column base, a rotating shaft rotatably installed in the column base, and a rotating table fixed on the top of the rotating shaft. A driving motor is fixed on the top surface of the rotating table. The output shaft of the driving motor passes through the rotating table downward, and a driving gear is connected to the extending end, and the driving gear is meshed with the gear ring.

[0017] The shield is fixed on the top surface of the rotating platform of the rotating mechanism, and the driving motor is located in the shield.

[0018] The axial screw movement mechanism includes an axial motor fixed on the top surface of the shield, an axial screw rotatably installed between the upper and lower ends of the shield, and an axial nut threadedly connected to the axial screw. The output shaft of the axial motor is connected to the top end of the axial screw. The axial screw movement mechanism also includes an axial guide rail fixed in the shield and vertically arranged.

[0019] The connecting seat is slidably mounted on the axial guide rail.

[0020] The radial screw motion mechanism includes a platform fixed on the connecting seat, a radial screw rotatably installed on the top surface of the platform, a radial motor fixed on the top surface of the platform, and a radial nut threadedly connected to the radial screw, and the output shaft of the radial motor is connected to the right end of the radial screw; the radial screw motion mechanism also includes a radial guide rail fixed on the top surface of the platform.

[0021] The moving seat is slidably mounted on the radial guide rail.

[0022] The robot also includes a controller, which is electrically connected with the diffuse reflection photoelectric switch, the hollow shaft motor, the axial motor, the radial motor and the driving motor.

[0023] A working method of a threaded hole maintenance and detection robot applicable to valve bodies of multiple specifications, comprising the following steps:

[0024] S1. Position and install the robot on the valve body. The specific operation steps are as follows:

[0025] S11. The worker places three polyurethane pads of the expansion positioning mechanism into the central hole of the valve body, and ensures that the three positioning claws of the expansion positioning mechanism are supported on the top surface of the valve body;

[0026] S12. The worker pulls one of the positioning claws outward, and the positioning claw drives the polyurethane pad to move toward the inner wall of the center hole of the valve body. At the same time, the other two positioning claws also synchronously drive the polyurethane pad to move toward the inner wall of the center hole of the valve body. When the three polyurethane pads are all against the inner wall of the center hole of the valve body, the robot is positioned and installed on the valve body. At this time, the central axis of the self-centering three-jaw chuck of the expansion positioning mechanism, the central axis of the rotating table of the rotating mechanism, and the central axis of the valve body are just coaxial.

[0027] S2. Maintain the first threaded hole in the valve body. The specific steps are as follows:

[0028] S21. The driving motor of the control rotating mechanism is started, and the driving motor drives the driving gear to rotate, and the driving gear rotates around the gear ring in a stationary state. When the driving gear rotates around the gear ring, the rotating table rotates around its own axis, and the rotating table drives the shield to rotate synchronously. The shield drives the axial screw motion mechanism, radial screw motion mechanism and actuator thereon to rotate synchronously. The actuator drives the threaded hole positioning tool, the washing and polishing tool, the suction and drying tool and the video detection component thereon to move synchronously. When the diffuse reflection photoelectric switch of the threaded hole positioning tool detects that its own center line is aligned with the center line of the first threaded hole, the diffuse reflection photoelectric switch sends an electrical signal to the controller. After the controller receives the electrical signal, the controller immediately controls the driving motor to turn off, thereby completing the positioning of the actuator and the threaded hole;

[0029] S22, control the drive assembly to start, the drive assembly drives the main shaft to rotate, the main shaft drives the turntable to rotate, the turntable drives the threaded hole positioning tool, the cleaning and polishing tool, the suction and drying tool and the video detection assembly thereon to rotate synchronously, when the turntable rotates to the set angle, the controller immediately controls the drive assembly to close, at this time, the cleaning and polishing tool is just above the threaded hole;

[0030] S23, controlling the axial motor of the axial screw motion mechanism to rotate forward, the axial motor drives the axial screw to rotate, the axial nut moves downward along the axial screw, the axial nut drives the connecting seat to move downward, the connecting seat drives the radial screw motion mechanism and the actuator to move downward synchronously, the actuator drives the washing and polishing tool to move downward synchronously, and the pipe of the washing and polishing tool and the silicon carbide brush enter the threaded hole;

[0031] S24, control the hollow shaft motor of the cleaning and polishing tool to start, the hollow shaft motor drives the hollow shaft to rotate around its own axis, the hollow shaft drives the pipeline to rotate synchronously, the pipeline drives the silicon carbide brush to rotate in the threaded hole, and during the rotation process, the silicon carbide brush removes the burrs attached to the threaded hole; at the same time, control the cleaning machine to start, the cleaning machine pumps the cleaning agent into the upper port of the hollow shaft through its liquid supply port, the cleaning agent sequentially passes through the inner cavity of the hollow shaft, the pipeline, the liquid outlet hole, and finally sprays onto the inner wall of the threaded hole, thereby washing away the dirt attached to the threaded hole, and the washed waste liquid remains in the threaded hole;

[0032] S25, controlling the axial motor of the axial screw motion mechanism to reverse, the axial nut drives the connecting seat to move upward, the connecting seat drives the radial screw motion mechanism and the actuator to move upward, the actuator drives the cleaning and polishing tool to move upward synchronously, thereby causing the pipe and the silicon carbide brush of the cleaning and polishing tool to be disengaged from the threaded hole;

[0033] S26, control the drive assembly to start, the drive assembly drives the main shaft to rotate, the main shaft drives the turntable to rotate, the turntable drives the threaded hole positioning tool, the cleaning and polishing tool, the suction and drying tool and the video detection assembly thereon to rotate synchronously, when the turntable rotates to the set angle, the controller immediately controls the drive assembly to close, at this time, the suction and drying tool is just above the threaded hole;

[0034] S27, controlling the axial motor of the axial screw motion mechanism to rotate forward, the axial nut drives the connecting seat to move downward, the connecting seat drives the radial screw motion mechanism and the actuator to move downward, the actuator drives the suction and drying tool to move downward synchronously, and the outer tube and the inner tube of the suction and drying tool both enter the threaded hole;

[0035] S28, control the wet and dry vacuum cleaner to start, and the waste liquid in the threaded hole is sequentially sucked into the wet and dry vacuum cleaner through the bottom port of the inner tube, the inner cavity of the inner tube, and the top port of the inner tube, so that the waste liquid in the threaded hole is sucked out; then start the air compressor, and the air compressor produces pressurized air, which sequentially passes through the joint, the inner cavity of the outer tube, and the air outlet on the outer tube, and finally sprays onto the inner wall of the threaded hole, so that the threaded hole is blown dry. After the threaded hole is blown dry, the maintenance of the first threaded hole in the valve body can be finally completed;

[0036] S3. After the first threaded hole is maintained, the threaded hole is inspected. The specific operation steps are as follows:

[0037] S31, controlling the axial motor of the axial screw motion mechanism to reverse, the axial nut drives the connecting seat to move upward, the connecting seat drives the radial screw motion mechanism and the actuator to move upward, the actuator drives the suction and drying tool to move upward synchronously, and thus the outer tube and the inner tube of the suction and drying tool are disengaged from the threaded hole;

[0038] S32, control the drive assembly to start, the drive assembly drives the main shaft to rotate, the main shaft drives the turntable to rotate, the turntable drives the threaded hole positioning tool, the cleaning and polishing tool, the suction and drying tool and the video detection assembly thereon to rotate synchronously, when the turntable rotates to the set angle, the controller immediately controls the drive assembly to close, at this time, the video detection assembly is just above the threaded hole;

[0039] S33, controlling the axial motor of the axial screw motion mechanism to rotate forward, the axial nut drives the connecting seat to move downward, the connecting seat drives the radial screw motion mechanism and the actuator to move downward, the actuator drives the video detection component to move downward synchronously, the lens of the video detection component enters the threaded hole, the lens captures the image of the threaded hole, and sends the image to the controller, so that the worker can check on the controller whether there are any residual burrs and dirt in the threaded hole;

[0040] S4. The worker repeats the operations of steps S2 to S3 to continuously maintain the threaded holes 3 in the valve body 1.

[0041] The invention has the following advantages: greatly reducing the work intensity of workers, greatly improving the maintenance efficiency of threaded holes, and being able to detect threaded holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of the valve body;

[0043] Figure 2 for Figure 1 A top view of

[0044] Figure 3 It is a structural schematic diagram of the present invention;

[0045] Figure 4 It is a structural schematic diagram of the expansion positioning mechanism;

[0046] Figure 5 It is a structural schematic diagram of the rotating mechanism;

[0047] Figure 6 It is a connection diagram of the protective cover, the axial screw motion mechanism and the radial screw motion mechanism;

[0048] Figure 7 for Figure 6 The main view;

[0049] Figure 8 It is the structural diagram of the actuator;

[0050] Fig. 9 It is a structural schematic diagram of a threaded hole positioning tool;

[0051] Fig.10 It is a schematic diagram of the structure of the washing and polishing tool;

[0052] Fig.11 for Fig.10 A partial enlarged view of part A;

[0053] Fig.12 It is a schematic diagram of the structure of the suction and drying tool;

[0054] Fig.13 for Fig.12 The main cross-sectional diagram of

[0055] Fig.14 for Fig.13 A partial enlarged view of part B;

[0056] Fig.15 It is a structural schematic diagram of the video screen detection component;

[0057] Fig.16 A schematic diagram for positioning and installing the robot on the valve body;

[0058] In the figure:

[0059] 1-valve body, 2-center hole, 3-threaded hole;

[0060] 4-expansion positioning mechanism, 5-rotation mechanism, 6-shield, 7-axial screw movement mechanism, 8-connecting seat, 9-radial screw movement mechanism, 10-moving seat, 11-actuator;

[0061] 12-driving assembly, 13-spindle, 14-turntable, 15-threaded hole positioning tool, 16-washing and polishing tool, 17-suction and drying tool, 18-screen detection assembly;

[0062] 19-mounting rod, 20-adapter sleeve, 21-diffuse reflection photoelectric switch, 22-hollow shaft motor, 23-hollow shaft, 24-pipeline, 25-liquid outlet, 26-silicon carbide brush, 27-outer tube, 28-inner tube, 29-connector, 30-air outlet, 31-lens;

[0063] 32-self-centering three-jaw chuck, 33-positioning plate, 34-positioning claw, 35-polyurethane pad;

[0064] 36-column, 37-gear ring, 38-rotating table, 39-driving motor, 40-driving gear;

[0065] 41-axial motor, 42-axial screw rod, 43-axial nut, 44-platform, 45-radial screw rod, 46-radial motor, 47-radial nut. DETAILED DESCRIPTION

[0066] The present invention is further described below in conjunction with the accompanying drawings, and the protection scope of the present invention is not limited to the following:

[0067] like Figure 3 to Figure 15 As shown, a threaded hole maintenance and detection robot suitable for valve bodies of multiple specifications comprises an expansion positioning mechanism 4, a rotating mechanism 5 arranged on the expansion positioning mechanism 4, a protective cover 6 is fixedly arranged on the rotating table 38 of the rotating mechanism 5, an axial screw movement mechanism 7 is arranged inside the protective cover 6, a connecting seat 8 which passes through the protective cover 6 to the left is fixedly arranged on the axial nut 43 of the axial screw movement mechanism 7, a radial screw movement mechanism 9 is arranged on the connecting seat 8, a moving seat 10 is fixedly arranged on the outside of the radial nut 47 of the radial screw movement mechanism 9, and an actuator 11 is arranged at the bottom of the moving seat 10; the actuator 11 comprises a driving assembly 12 fixedly arranged at the bottom of the moving seat 10, a main shaft 13 extending downward is connected to the output shaft of the driving assembly 12, a turntable 14 is connected to the bottom end of the main shaft 13, and a threaded hole positioning tool 15, a washing and polishing tool 16, a suction and drying tool 17 and a video detection assembly 18 are evenly arranged on the outer edge of the turntable 14 and along its circumferential direction.

[0068] The threaded hole positioning tool 15 includes a mounting rod 19 fixedly connected to the turntable 14 and an adapter sleeve 20 fixedly connected to the bottom of the mounting rod 19 . A diffuse reflection photoelectric switch 21 is connected to the bottom of the adapter sleeve 20 .

[0069] The scrubbing and polishing tool 16 includes a hollow shaft motor 22 fixedly mounted on the top surface of the turntable 14, the lower end of the hollow shaft 23 of the hollow shaft motor 22 passes through the turntable 14 downward, and a pipe 24 is connected to the extended end, a plurality of liquid outlet holes 25 connected to the outer cylindrical surface of the pipe 24 are distributed, and a plurality of silicon carbide brushes 26 are fixedly mounted on the outer cylindrical surface of the pipe 24; the upper end of the hollow shaft 23 of the hollow shaft motor 22 is connected to the liquid supply port of the cleaning machine;

[0070] The suction and drying tool 17 includes an outer tube 27 fixedly mounted on the turntable 14 and an inner tube 28 arranged inside the outer tube 27. A joint 29 is fixedly mounted on the upper end of the outer tube 27, and the joint 29 is connected to the working port of the air compressor. A plurality of air outlet holes 30 connected to the cylindrical surface of the outer tube 27 are provided, and the bottom port of the outer tube 27 is closed. The bottom end of the inner tube 28 is fixedly mounted on the closed end of the outer tube 27, and the bottom port of the inner tube 28 passes through the closed end of the outer tube 27, and the top port of the inner tube 28 is connected to the wet and dry vacuum cleaner. The video detection component 18 includes a mounting component fixedly mounted on the bottom surface of the turntable 14, and a lens 31 fixedly mounted at the bottom of the mounting component.

[0071] The expansion positioning mechanism 4 includes a self-centering three-jaw chuck 32 and a positioning plate 33 fixed on the top surface of the self-centering three-jaw chuck 32. The outer ends of the three jaws of the self-centering three-jaw chuck 32 are fixed with positioning claws 34, and the bottom surfaces of the three positioning claws 34 are fixed with polyurethane pads 35.

[0072] The rotating mechanism 5 includes a column base 36 fixed on the top surface of the positioning plate 33, a gear ring 37 fixed on the outer cylindrical surface of the column base 36, a rotating shaft rotatably installed in the column base 36, and a rotating table 38 fixed on the top of the rotating shaft. A driving motor 39 is fixed on the top surface of the rotating table 38. The output shaft of the driving motor 39 passes through the rotating table 38 downward, and a driving gear 40 is connected to the extending end, and the driving gear 40 is meshed with the gear ring 37; the shield 6 is fixed on the top surface of the rotating table 38 of the rotating mechanism 5, and the driving motor 39 is located in the shield 6.

[0073] The axial screw movement mechanism 7 includes an axial motor 41 fixed on the top surface of the shield 6, an axial screw 42 rotatably installed between the upper and lower ends of the shield 6, and an axial nut 43 threadedly connected to the axial screw 42. The output shaft of the axial motor 41 is connected to the top end of the axial screw 42; the axial screw movement mechanism 7 also includes an axial guide rail fixed in the shield 6 and vertically arranged; the connecting seat 8 is slidably installed on the axial guide rail.

[0074] The radial screw motion mechanism 9 includes a platform 44 fixed on the connecting seat 8, a radial screw 45 rotatably mounted on the top surface of the platform 44, a radial motor 46 fixed on the top surface of the platform 44, and a radial nut 47 threadedly connected to the radial screw 45, wherein the output shaft of the radial motor 46 is connected to the right end of the radial screw 45; the radial screw motion mechanism 9 also includes a radial guide rail fixed on the top surface of the platform 44; the moving seat 10 is slidably mounted on the radial guide rail.

[0075] The robot also includes a controller, which is electrically connected to the diffuse reflection photoelectric switch 21, the hollow shaft motor 22, the axial motor 41, the radial motor 46 and the drive motor 39. Workers can control the start or stop of the hollow shaft motor 22, the axial motor 41, the radial motor 46 and the drive motor 39 through the controller, thereby facilitating the workers' operation.

[0076] A working method of a threaded hole maintenance and detection robot applicable to valve bodies of multiple specifications, comprising the following steps:

[0077] S1. Install the robot in the following position: Figure 1-2 On the valve body 1 shown, the specific operating steps are:

[0078] S11, the worker places the three polyurethane pads 35 of the expansion positioning mechanism 4 into the central hole 2 of the valve body 1, and ensures that the three positioning claws 34 of the expansion positioning mechanism 4 are all supported on the top surface of the valve body 1;

[0079] S12, the worker pulls one of the positioning claws 34 outward, and the positioning claw 34 drives the polyurethane pad 35 to move toward the inner wall of the center hole 2 of the valve body 1. At the same time, the other two positioning claws 34 also synchronously drive the polyurethane pad 35 to move toward the inner wall of the center hole 2 of the valve body 1. When the three polyurethane pads 35 are against the inner wall of the center hole 2 of the valve body 1, the robot is positioned and installed on the valve body 1. Fig.16 As shown, at this time, the central axis of the self-centering three-jaw chuck 32 of the expansion positioning mechanism 4, the central axis of the rotating table 38 of the rotating mechanism 5, and the central axis of the valve body 1 are exactly coaxial;

[0080] If the specifications of the valve body 1 change, that is, the size of the center hole 2 changes, the radial motor 46 can be controlled to rotate forward or reverse, the radial motor 46 drives the radial screw 45 to rotate forward or reverse, the radial nut 47 moves outward or inward along the radial screw 45, the radial nut 47 drives the moving seat 10 to move synchronously, and the moving seat 10 drives the driving assembly 12 of the actuator 11 to move synchronously, thereby ensuring that the actuator 11 can move to the inspection position of the valve body 1. It can be seen that the robot can maintain the threaded holes 3 of valve bodies 1 with different specifications.

[0081] S2. Maintain the first threaded hole 3 in the valve body 1. The specific operation steps are as follows:

[0082] S21, the driving motor 39 of the control rotating mechanism 5 is started, the driving motor 39 drives the driving gear 40 to rotate, the driving gear 40 rotates around the gear ring 37 which is in a stationary state, when the driving gear 40 rotates around the gear ring 37, the rotating table 38 rotates around its own axis, the rotating table 38 drives the shield 6 to rotate synchronously, the shield 6 drives the axial screw motion mechanism 7, the radial screw motion mechanism 9 and the actuator 11 thereon to rotate synchronously, the actuator 11 drives the threaded hole positioning tool 15, the washing and polishing tool 16, the suction and drying tool 17 and the video screen detection component 18 thereon to move synchronously, when the diffuse reflection photoelectric switch 21 of the threaded hole positioning tool 15 detects that its own center line is aligned with the center line of the first threaded hole 3, the diffuse reflection photoelectric switch 21 sends an electrical signal to the controller, after the controller receives the electrical signal, the controller immediately controls the driving motor 39 to turn off, thereby completing the positioning of the actuator 11 and the threaded hole 3;

[0083] S22, control the drive assembly 12 to start, the drive assembly 12 drives the main shaft 13 to rotate, the main shaft 13 drives the turntable 14 to rotate, the turntable 14 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17 and the video detection assembly 18 thereon to rotate synchronously, when the turntable 14 rotates to the set angle, the controller immediately controls the drive assembly 12 to close, at this time, the cleaning and polishing tool 16 is just above the threaded hole 3;

[0084] S23, control the axial motor 41 of the axial screw movement mechanism 7 to rotate forward, the axial motor 41 drives the axial screw 42 to rotate, the axial nut 43 moves downward along the axial screw 42, the axial nut 43 drives the connecting seat 8 to move downward, the connecting seat 8 drives the radial screw movement mechanism 9 and the actuator 11 to move downward synchronously, the actuator 11 drives the cleaning and polishing tool 16 to move downward synchronously, and the pipe 24 and the silicon carbide brush 26 of the cleaning and polishing tool 16 enter the threaded hole 3;

[0085] S24, control the hollow shaft motor 22 of the cleaning and polishing tool 16 to start, the hollow shaft motor 22 drives the hollow shaft 23 to rotate around its own axis, the hollow shaft 23 drives the pipe 24 to rotate synchronously, the pipe 24 drives the silicon carbide brush 26 to rotate in the threaded hole 3, and during the rotation process, the silicon carbide brush 26 removes the burrs attached to the threaded hole 3; at the same time, control the cleaning machine to start, and the cleaning machine pumps the cleaning agent into the upper port of the hollow shaft 23 through its liquid supply port, and the cleaning agent passes through the inner cavity of the hollow shaft 23, the pipe 24, the liquid outlet 25 in sequence, and finally sprays onto the inner wall of the threaded hole 3, thereby washing away the dirt attached to the threaded hole 3, and the washed waste liquid remains in the threaded hole 3;

[0086] S25, controlling the axial motor 41 of the axial screw motion mechanism 7 to reverse, the axial nut 43 drives the connecting seat 8 to move upward, the connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move upward, the actuator 11 drives the cleaning and polishing tool 16 to move upward synchronously, and then the pipe 24 and the silicon carbide brush 26 of the cleaning and polishing tool 16 are disengaged from the threaded hole 3;

[0087] S26, control the drive assembly 12 to start, the drive assembly 12 drives the main shaft 13 to rotate, the main shaft 13 drives the turntable 14 to rotate, the turntable 14 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17 and the video detection assembly 18 thereon to rotate synchronously, when the turntable 14 rotates to the set angle, the controller immediately controls the drive assembly 12 to close, at this time, the suction and drying tool 17 is just above the threaded hole 3;

[0088] S27, control the axial motor 41 of the axial screw motion mechanism 7 to rotate forward, the axial nut 43 drives the connecting seat 8 to move downward, the connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move downward, the actuator 11 drives the suction and drying tool 17 to move downward synchronously, and the outer layer tube 27 and the inner layer tube 28 of the suction and drying tool 17 both enter the threaded hole 3;

[0089] S28, control the wet and dry vacuum cleaner to start, the waste liquid in the threaded hole 3 is sequentially sucked into the wet and dry vacuum cleaner through the bottom port of the inner tube 28, the inner cavity of the inner tube 28, the top port of the inner tube 28, so that the waste liquid in the threaded hole 3 is sucked out; then start the air compressor, the air compressor produces pressurized air, the pressurized air sequentially passes through the joint 29, the inner cavity of the outer tube 27, the air outlet 30 on the outer tube 27, and finally sprayed onto the inner wall of the threaded hole 3, so that the threaded hole 3 is blown dry. After drying, the maintenance of the first threaded hole 3 in the valve body 1 can be finally completed;

[0090] S3. After the first threaded hole 3 is maintained, the threaded hole 3 is inspected. The specific operation steps are as follows:

[0091] S31, controlling the axial motor 41 of the axial screw motion mechanism 7 to reverse, the axial nut 43 drives the connecting seat 8 to move upward, the connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move upward, the actuator 11 drives the suction and drying tool 17 to move upward synchronously, and then the outer layer tube 27 and the inner layer tube 28 of the suction and drying tool 17 are disengaged from the threaded hole 3;

[0092] S32, control the drive assembly 12 to start, the drive assembly 12 drives the main shaft 13 to rotate, the main shaft 13 drives the turntable 14 to rotate, the turntable 14 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17 and the video detection assembly 18 thereon to rotate synchronously, when the turntable 14 rotates to the set angle, the controller immediately controls the drive assembly 12 to close, at this time, the video detection assembly 18 is just above the threaded hole 3;

[0093] S33, control the axial motor 41 of the axial screw motion mechanism 7 to rotate forward, the axial nut 43 drives the connecting seat 8 to move downward, the connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move downward, the actuator 11 drives the video detection component 18 to move downward synchronously, the lens 31 of the video detection component 18 enters the threaded hole 3, the lens 31 captures the image of the threaded hole 3, and sends the image to the controller, so that the worker can check on the controller whether there are any residual burrs and dirt in the threaded hole 3;

[0094] S4. The worker repeats the operations of steps S2 to S3 to continuously maintain the threaded holes 3 in the valve body 1.

[0095] Among them, it can be known from steps S2 to S4 that the robot can remove the burrs and dirt in each threaded hole 3 on the valve body 1 only through the linkage cooperation of the expansion positioning mechanism 4, the rotation mechanism 5, the axial screw movement mechanism 7, and the actuator 11, and then complete the maintenance of each threaded hole 3 on the valve body 1, without the need for manual maintenance of each threaded hole 3 of the valve body 1 using a grinder and a cleaning machine, thereby greatly reducing the work intensity of the workers. In addition, the robot can maintain each threaded hole 3 on the valve body 1 only through the linkage cooperation of the expansion positioning mechanism 4, the rotation mechanism 5, the axial screw movement mechanism 7, and the actuator 11, which greatly improves the maintenance efficiency of the threaded holes compared to manual maintenance by workers.

[0096] In addition, it can be seen from step S3 that after maintaining a threaded hole 3, the video detection component 18 of the actuator 11 also detects whether there are any residual burrs and dirt in the threaded hole 3. If there are any, the maintenance work on the threaded hole 3 continues, thereby ensuring that there are no residual burrs and dirt in each threaded hole 3 of the valve body 1, thereby ensuring that the valve body 1 can be used normally.

[0097] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A threaded hole maintenance and inspection robot suitable for valve bodies of various specifications, characterized by: It comprises an expansion positioning mechanism (4), a rotating mechanism (5) arranged on the expansion positioning mechanism (4), a protective cover (6) fixedly arranged on the rotating platform (38) of the rotating mechanism (5), an axial screw movement mechanism (7) arranged inside the protective cover (6), a connecting seat (8) fixedly arranged on the axial nut (43) of the axial screw movement mechanism (7) and penetrating the protective cover (6) to the left, a radial screw movement mechanism (9) arranged on the connecting seat (8), a moving seat (10) fixedly arranged outside the radial nut (47) of the radial screw movement mechanism (9), and an actuator (11) arranged at the bottom of the moving seat (10); The actuator (11) comprises a driving assembly (12) fixedly mounted on the bottom of the moving seat (10); the output shaft of the driving assembly (12) is connected to a main shaft (13) extending downward; the bottom end of the main shaft (13) is connected to a turntable (14); a threaded hole positioning tool (15), a cleaning and polishing tool (16), a suction and drying tool (17) and a video screen detection assembly (18) are evenly arranged on the outer edge of the turntable (14) and along its circumferential direction; The threaded hole positioning tool (15) comprises a mounting rod (19) fixedly connected to the rotating disk (14), and an adapter sleeve (20) fixedly connected to the bottom of the mounting rod (19), and the bottom of the adapter sleeve (20) is connected to a diffuse reflection photoelectric switch (21); The scrubbing and polishing tool (16) comprises a hollow shaft motor (22) fixedly mounted on the top surface of the turntable (14); the lower end of the hollow shaft (23) of the hollow shaft motor (22) passes through the turntable (14) downward, and a pipe (24) is connected to the extended end; a plurality of liquid outlet holes (25) connected to the pipe (24) are distributed on the outer cylindrical surface of the pipe (24); a plurality of silicon carbide brushes (26) are also fixedly mounted on the outer cylindrical surface of the pipe (24); the upper end of the hollow shaft (23) of the hollow shaft motor (22) is connected to the liquid supply port of the cleaning machine; The suction and drying tool (17) comprises an outer tube (27) fixedly mounted on a turntable (14) and an inner tube (28) arranged inside the outer tube (27); a joint (29) is fixedly mounted on the upper end of the outer tube (27); the joint (29) is connected to a working port of an air compressor; a plurality of air outlet holes (30) are provided on the cylindrical surface of the outer tube (27) and are in communication with the outer tube (27); the bottom end of the outer tube (27) is closed; the bottom end of the inner tube (28) is fixedly mounted on the closed end of the outer tube (27), and the bottom end of the inner tube (28) passes through the closed end of the outer tube (27); the top end of the inner tube (28) is connected to a wet and dry vacuum cleaner; The video screen detection component (18) comprises a mounting component fixedly arranged on the bottom surface of the turntable (14) and a lens (31) fixedly arranged at the bottom of the mounting component.

2. According to claim 1, a threaded hole maintenance and detection robot suitable for valve bodies of multiple specifications is characterized in that: The expansion positioning mechanism (4) comprises a self-centering three-jaw chuck (32) and a positioning plate (33) fixed on the top surface of the self-centering three-jaw chuck (32); the outer ends of the three jaws of the self-centering three-jaw chuck (32) are all fixed with positioning claws (34); and the bottom surfaces of the three positioning claws (34) are all fixed with polyurethane pads (35).

3. The threaded hole maintenance and detection robot suitable for valve bodies of multiple specifications according to claim 2 is characterized in that: The rotating mechanism (5) comprises a column base (36) fixed on the top surface of the positioning plate (33), a gear ring (37) fixed on the outer cylindrical surface of the column base (36), a rotating shaft rotatably installed in the column base (36), and a rotating table (38) fixed on the top of the rotating shaft. A driving motor (39) is fixed on the top surface of the rotating table (38). The output shaft of the driving motor (39) passes through the rotating table (38) downward, and a driving gear (40) is connected to the extended end. The driving gear (40) is meshed with the gear ring (37).

4. The threaded hole maintenance and detection robot suitable for valve bodies of multiple specifications according to claim 3 is characterized in that: The protective cover (6) is fixed on the top surface of the rotating platform (38) of the rotating mechanism (5), and the driving motor (39) is located inside the protective cover (6).

5. The threaded hole maintenance and detection robot suitable for valve bodies of various specifications according to claim 4 is characterized in that: The axial screw movement mechanism (7) comprises an axial motor (41) fixedly mounted on the top surface of the shield (6), an axial screw (42) rotatably mounted between the upper and lower ends of the shield (6), and an axial nut (43) threadedly connected to the axial screw (42); the output shaft of the axial motor (41) is connected to the top end of the axial screw (42); the axial screw movement mechanism (7) also comprises an axial guide rail fixedly mounted in the shield (6) and arranged vertically.

6. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 5, characterized in that: The connecting seat (8) is slidably mounted on the axial guide rail.

7. The threaded hole maintenance and detection robot suitable for valve bodies of various specifications according to claim 6, characterized in that: The radial screw movement mechanism (9) comprises a platform (44) fixedly mounted on the connecting seat (8), a radial screw (45) rotatably mounted on the top surface of the platform (44), a radial motor (46) fixedly mounted on the top surface of the platform (44), and a radial nut (47) threadedly connected to the radial screw (45), wherein the output shaft of the radial motor (46) is connected to the right end of the radial screw (45); the radial screw movement mechanism (9) also comprises a radial guide rail fixedly mounted on the top surface of the platform (44).

8. The threaded hole maintenance and detection robot suitable for valve bodies of various specifications according to claim 7 is characterized in that: The moving seat (10) is slidably mounted on the radial guide rail.

9. The threaded hole maintenance and detection robot suitable for valve bodies of various specifications according to claim 8, characterized in that: The robot also includes a controller, which is electrically connected to the diffuse reflection photoelectric switch (21), the hollow shaft motor (22), the axial motor (41), the radial motor (46) and the drive motor (39).

10. A working method of a threaded hole maintenance and inspection robot applicable to valve bodies of various specifications, using the threaded hole maintenance and inspection robot applicable to valve bodies of various specifications as claimed in claim 9, characterized in that: It includes the following steps: S1. Position and install the robot on the valve body (1). The specific operation steps are as follows: S11. The worker places three polyurethane pads (35) of the expansion positioning mechanism (4) into the central hole (2) of the valve body (1), and ensures that the three positioning claws (34) of the expansion positioning mechanism (4) are all supported on the top surface of the valve body (1); S12. The worker pulls one of the positioning claws (34) outward, and the positioning claw (34) drives the polyurethane pad (35) to move toward the inner wall of the center hole (2) of the valve body (1). At the same time, the other two positioning claws (34) also synchronously drive the polyurethane pad (35) to move toward the inner wall of the center hole (2) of the valve body (1). When the three polyurethane pads (35) are all against the inner wall of the center hole (2) of the valve body (1), the robot is positioned and installed on the valve body (1). At this time, the center axis of the self-centering three-jaw chuck (32) of the expansion positioning mechanism (4), the center axis of the rotating table (38) of the rotating mechanism (5), and the center axis of the valve body (1) are exactly coaxial. S2. Maintain the first threaded hole (3) in the valve body (1). The specific operation steps are as follows: S21, the driving motor (39) of the control rotating mechanism (5) is started, the driving motor (39) drives the driving gear (40) to rotate, the driving gear (40) rotates around the ring gear (37) which is in a stationary state, when the driving gear (40) rotates around the ring gear (37), the rotating table (38) rotates around its own axis, the rotating table (38) drives the shield (6) to rotate synchronously, the shield (6) drives the axial screw motion mechanism (7), the radial screw motion mechanism (9) and the actuator (11) thereon to rotate synchronously, the actuator (11) drives the threaded hole positioning tool (15), the cleaning and polishing tool (16), the suction and drying tool (17) and the video detection component (18) thereon to move synchronously. When the diffuse reflection photoelectric switch (21) of the threaded hole positioning tool (15) detects that its own center line is aligned with the center line of the first threaded hole (3), the diffuse reflection photoelectric switch (21) sends an electrical signal to the controller. After the controller receives the electrical signal, the controller immediately controls the driving motor (39) to turn off, thereby completing the positioning of the actuator (11) and the threaded hole (3); S22, controlling the driving assembly (12) to start, the driving assembly (12) drives the main shaft (13) to rotate, the main shaft (13) drives the turntable (14) to rotate, the turntable (14) drives the threaded hole positioning tool (15), the cleaning and polishing tool (16), the suction and drying tool (17) and the video detection assembly (18) thereon to rotate synchronously, when the turntable (14) rotates to a set angle, the controller immediately controls the driving assembly (12) to close, at which time, the cleaning and polishing tool (16) is just above the threaded hole (3); S23, controlling the axial motor (41) of the axial screw movement mechanism (7) to rotate forward, the axial motor (41) drives the axial screw (42) to rotate, the axial nut (43) moves downward along the axial screw (42), the axial nut (43) drives the connecting seat (8) to move downward, the connecting seat (8) drives the radial screw movement mechanism (9) and the actuator (11) to move downward synchronously, the actuator (11) drives the cleaning and polishing tool (16) to move downward synchronously, and the pipe (24) and the silicon carbide brush (26) of the cleaning and polishing tool (16) enter the threaded hole (3); S24, control the hollow shaft motor (22) of the cleaning and polishing tool (16) to start, the hollow shaft motor (22) drives the hollow shaft (23) to rotate around its own axis, the hollow shaft (23) drives the pipe (24) to rotate synchronously, the pipe (24) drives the silicon carbide brush (26) to rotate in the threaded hole (3), during the rotation process, the silicon carbide brush (26) removes the burrs attached to the threaded hole (3); at the same time, control the cleaning machine to start, the cleaning machine pumps the cleaning agent into the upper end of the hollow shaft (23) through its liquid supply port, the cleaning agent sequentially passes through the inner cavity of the hollow shaft (23), the pipe (24), the liquid outlet (25), and finally sprays onto the inner wall of the threaded hole (3), thereby washing away the dirt attached to the threaded hole (3), and the washed waste liquid remains in the threaded hole (3); S25, controlling the axial motor (41) of the axial screw motion mechanism (7) to reverse, the axial nut (43) drives the connecting seat (8) to move upward, the connecting seat (8) drives the radial screw motion mechanism (9) and the actuator (11) to move upward, the actuator (11) drives the cleaning and polishing tool (16) to move upward synchronously, and then the pipe (24) and the silicon carbide brush (26) of the cleaning and polishing tool (16) are disengaged from the threaded hole (3); S26, controlling the driving assembly (12) to start, the driving assembly (12) drives the main shaft (13) to rotate, the main shaft (13) drives the turntable (14) to rotate, the turntable (14) drives the threaded hole positioning tool (15), the cleaning and polishing tool (16), the suction and drying tool (17) and the video detection assembly (18) thereon to rotate synchronously, when the turntable (14) rotates to a set angle, the controller immediately controls the driving assembly (12) to close, at which time, the suction and drying tool (17) is just above the threaded hole (3); S27, controlling the axial motor (41) of the axial screw motion mechanism (7) to rotate forward, the axial nut (43) drives the connecting seat (8) to move downward, the connecting seat (8) drives the radial screw motion mechanism (9) and the actuator (11) to move downward, the actuator (11) drives the suction and drying tool (17) to move downward synchronously, and the outer layer tube (27) and the inner layer tube (28) of the suction and drying tool (17) both enter the threaded hole (3); S28, control the wet and dry vacuum cleaner to start, and the waste liquid in the threaded hole (3) is sequentially sucked into the wet and dry vacuum cleaner through the bottom port of the inner tube (28), the inner cavity of the inner tube (28), and the top port of the inner tube (28), thereby sucking out the waste liquid in the threaded hole (3); then start the air compressor, and the air compressor produces pressurized air, which is sequentially passed through the joint (29), the inner cavity of the outer tube (27), and the air outlet (30) on the outer tube (27), and finally sprayed onto the inner wall of the threaded hole (3), thereby drying the threaded hole (3). After drying, the maintenance of the first threaded hole (3) in the valve body (1) is finally completed; S3. After the first threaded hole (3) is maintained, the threaded hole (3) is inspected. The specific operation steps are as follows: S31, controlling the axial motor (41) of the axial screw motion mechanism (7) to reverse, the axial nut (43) drives the connecting seat (8) to move upward, the connecting seat (8) drives the radial screw motion mechanism (9) and the actuator (11) to move upward, the actuator (11) drives the suction and drying tool (17) to move upward synchronously, and then the outer layer tube (27) and the inner layer tube (28) of the suction and drying tool (17) are disengaged from the threaded hole (3); S32, controlling the driving assembly (12) to start, the driving assembly (12) drives the main shaft (13) to rotate, the main shaft (13) drives the turntable (14) to rotate, the turntable (14) drives the threaded hole positioning tool (15), the cleaning and polishing tool (16), the suction and drying tool (17) and the video detection assembly (18) thereon to rotate synchronously, when the turntable (14) rotates to a set angle, the controller immediately controls the driving assembly (12) to close, at which time, the video detection assembly (18) is just above the threaded hole (3); S33, controlling the axial motor (41) of the axial screw motion mechanism (7) to rotate forward, the axial nut (43) drives the connecting seat (8) to move downward, the connecting seat (8) drives the radial screw motion mechanism (9) and the actuator (11) to move downward, the actuator (11) drives the video detection component (18) to move downward synchronously, the lens (31) of the video detection component (18) enters the threaded hole (3), the lens (31) captures the image of the threaded hole (3), and sends the image to the controller, so that the worker can check on the controller whether there are any residual burrs and dirt in the threaded hole (3); S4. The worker repeats the operations of steps S2 to S3 to continuously maintain the threaded holes (3) in the valve body (1).

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