Metal barrel cover opening and closing robot

Abstract

According to the metal barrel cover opening and closing robot, a visual identification system is matched with an intelligent screw turning mechanism and a multifunctional metal barrel cover adsorption mechanism to quickly complete the cover opening and closing actions of a metal barrel, and the metal barrel cover opening and closing robot comprises a six-axis mechanical arm assembly, the intelligent screw turning mechanism, the visual identification mechanism and the multifunctional metal barrel cover adsorption mechanism; the intelligent screw turning mechanism comprises a driving unit, a torque control unit and a torque control unit floating sleeve mechanism; the multifunctional metal barrel cover adsorption mechanism comprises an adsorption unit, an elastic buffer layer is arranged on the periphery of the adsorption unit, and a protection mechanism is automatically triggered when collision force is smaller than or equal to 50 N; the visual identification mechanism comprises a 3D structured light camera and a laser ranging module; the 3D structured light camera is used for accurately positioning the barrel cover and screws, and the laser ranging module is used for accurately measuring the distance between the device and the metal barrel cover.

Description

Technical Field

[0001] The present invention relates to equipment used in special occasions, in particular to equipment designed for waste treatment in nuclear power plants, and in particular to a metal barrel cover opening and closing robot used for metal waste barrels in nuclear power plants. Background Art

[0002] Radioactive waste generated during the operation of nuclear power plants needs to be stored in special metal barrels. The traditional opening and closing method relies on manual operation, and the operators are directly exposed to the radioactive environment, which poses a great health risk. Manual operation is inefficient and it is difficult to complete the opening and closing of multiple metal barrels in a short period of time. The sealing reliability is subject to the risk of human error. In addition, the existing opening and closing device is difficult to quickly match metal barrels of different sizes.

[0003] Therefore, it is very necessary to develop a metal barrel automatic opening and closing device that does not require manual contact and has high safety.

[0004] Therefore, it is necessary to provide a metal barrel lid opening and closing robot to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a metal barrel lid opening and closing robot.

[0006] The technical solution is as follows:

[0007] A metal bucket lid opening and closing robot that uses a visual recognition system in conjunction with an intelligent screw-tightening mechanism and a multifunctional metal bucket lid suction mechanism to quickly complete the metal bucket lid opening and closing action. It includes a six-axis robotic arm assembly, an intelligent screw-tightening mechanism, a visual recognition mechanism, and a multifunctional metal bucket lid suction mechanism.

[0008] Six-axis robotic arm assembly: with high load capacity and high positioning mechanism, including robotic arm, servo motor, and redundant brake system;

[0009] Intelligent screwdriving mechanism: includes a drive unit, a torque control unit, and a floating sleeve mechanism for the torque control unit. The drive unit uses a servo motor plus a planetary reduction motor, offering high torque and adjustable speed. The torque control unit uses an integrated high-precision strain gauge torque sensor to precisely control the loosening and tightening of nuts. The nut adsorption module uses electromagnetic adsorption technology to quickly capture nuts during removal and installation without manual intervention. The floating sleeve mechanism allows for small radial and axial deviations and automatically compensates for positioning errors.

[0010] The multifunctional metal barrel lid adsorption mechanism includes an adsorption unit, which adopts negative pressure suction cup vacuum adsorption. An elastic buffer layer is set around the adsorption unit. When the collision force is ≤50N, the protection mechanism is automatically triggered. A corresponding detection system is also set up, which includes a pressure sensor, a vibration sensor, and an acceleration sensor.

[0011] The visual recognition mechanism includes a 3D structured light camera and a laser ranging module; the 3D structured light camera is used for precise positioning of the barrel cover and screws, and the laser ranging module is used to accurately measure the distance between the device and the metal barrel cover.

[0012] Compared with the existing technology, the present invention does not require close manual contact, has high safety and efficiency, and can quickly match metal barrels of different sizes to automatically open and close metal barrels; specifically:

[0013] 1) Full process automation: one-stop processing from opening to closing the lid;

[0014] 2) Improved safety: Reduce manual exposure to radioactive materials and lower operational risks;

[0015] 3) Improved efficiency: compared with existing technologies, the operation time is shortened by more than 20%;

[0016] 4) Enhanced reliability: Redundant design of key components and self-diagnosis system improve system reliability by 150%;

[0017] 5) Data traceability: Completely record the operation process and parameters to meet the compliance requirements of nuclear power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is one of the structural schematic diagrams of the present invention.

[0019] Figure 2 This is the second structural diagram of the present invention.

[0020] Figure 3 This is the third structural diagram of the present invention.

[0021] Figure 4 This is the fourth structural diagram of the present invention.

[0022] Figure 5 This is the fifth structural diagram of the present invention. DETAILED DESCRIPTION

[0023] Example:

[0024] See also Figure 1-5 This embodiment shows a metal barrel lid opening and closing robot, including a six-axis robotic arm assembly 1, an intelligent screw tightening mechanism 2, a multifunctional barrel lid adsorption mechanism 3, a visual recognition mechanism 4, a visual recognition mechanism adjustment rod 5, and a rotating connecting plate 6;

[0025] The six-axis robot arm assembly 1 includes a robot arm, the end of which is connected to a rotating connecting plate 6 through a bearing, and the other end of the bearing is equipped with a rotating motor;

[0026] The intelligent screw tightening mechanism 2 is fixed to the left side of the rotating connecting plate 6 by screws, and the multifunctional barrel cover adsorption mechanism 3 is fixed to the right side of the rotating connecting plate 6 by screws;

[0027] The visual recognition mechanism 4 is set on the side of the six-axis robotic arm assembly 1 through the visual recognition mechanism adjustment rod 5, and the visual recognition system adjustment rod 5 is fixed on the bottom of the six-axis robotic arm assembly 1.

[0028] The intelligent screw-tightening mechanism 2 includes a sleeve, a motor box 8, a motor base plate 9, a thrust bearing 10, a bearing pressure plate 11, a bearing fixing block 12, an adapter clamp 13, a sleeve chuck 14, a pressure block 15, a chuck mouth 16, a sleeve clamp 17, a connecting pipe 18, a spring adjustment block 19, a guide pin 20, a spring adjustment block 21, a motor side plate 22, a motor rear plate 23, a spring 24, a guide rail slider plate 25, a cylinder mounting plate 26, a pin screw 27, a buffer mounting seat 28, a guide rod fixing block 29, a chuck mouth mounting seat 30, a limit block 31, a guide rail plate 32, a guide rail plate 33, an air column 34, a sensor mounting bar 35, a guide rail limit block 36, a micro cylinder 37 and a cylinder connector 38.

[0029] The motor box 8 is fixed to the top of the motor base plate 9 by bolts. The motor, torque control module, circuit board and sensor are installed inside the motor box. The motor base plate 9 is fixed to the motor side plate 22 and the motor rear plate 23 below the base plate by bolts.

[0030] The thrust bearing 10 is screwed to the bottom of the motor shaft inside the upper motor box 8 through the clamping hoop above the bearing. The bottom of the thrust bearing 10 is locked to the adapter shaft through the clamping hoop. The adapter shaft is installed on the bearing fixing block 12 through the adapter clamping block 13. Two bearings are installed on the outer ring of the adapter shaft. The outside of the bearing is in contact with the bearing fixing block 12. The bearing pressing plate 11 is fixed above the bearing fixing block 12 by bolts to press the bearing below.

[0031] The sleeve chuck 14 is locked under the adapter shaft through the adapter clamp 13. The lower part of the sleeve chuck 14 is directly connected to the sleeve 7. The lower part of the sleeve 7 is connected to the chuck mouth 16 and the sleeve clamping jaw 17. The chuck mouth 16 and the sleeve clamping jaw 17 are fixed with bolts. The pressure block 15 is fixed above the chuck mouth 16 by bolts. The pipe 18 is fixed to the upper side of the chuck mouth 16 by a nut. The upper part of the pipe passes through the circular hole of the bearing fixing block 12 and the motor base plate 9.

[0032] The chuck nozzle 16 is fixed to the left bottom of the chuck nozzle mounting base 30 by bolts, and the guide rod fixing blocks 29 are fixed to both sides of the chuck nozzle mounting base 30 by bolts. The lower part of the guide pin 20 passes through the guide rod fixing block 29, and the upper part passes through the bearing fixing block 12. Two spring adjustment blocks 21 are installed on the upper part of the guide pin 20, and the spring 24 passes through the guide pin 20 and is fixed to the lower outer side.

[0033] The side of the chuck nozzle mounting base 30 is fixed to the side of the guide rail slider plate 25 below by bolts, the side of the motor rear plate 23 is fixed to the side of the guide rail slider plate 25 above by bolts, the cylinder mounting plate 26 is fixed to the bottom of the motor rear plate 23 by bolts, the micro cylinder 37 and the air column 33 are installed on the side of the cylinder mounting plate 26 by nuts, the bottom of the micro cylinder 37 is connected to the cylinder connector 38, and the bottom of the cylinder connector 38 is fixed to the side of the guide rail plate 32 by bolts;

[0034] The guide rail plate 32 is fixed to the side surface of the rotating connecting plate 6 by bolts.

[0035] A nut adsorption module is installed on the top of the intelligent screw tightening mechanism 2 to adsorb loosened nuts.

[0036] The intelligent screwdriving system 2 uses a floating sleeve structure, which allows a radial deviation of ±2mm and an angular deviation of ±5°.

[0037] The intelligent screw-tightening mechanism 2 has a torque control module and an integrated high-precision strain-type torque sensor with a measurement accuracy of ±0.5%, which can ensure that the nut is completely tightened or loosened.

[0038] The multifunctional barrel cover adsorption mechanism 5 includes a box body, a connecting rod 43, a guide rod 44, an air pipe connection port 45, and a strong suction cup 46;

[0039] A box is mounted on top of the multifunctional lid adsorption mechanism 5, which contains a piston, a circuit board, and a sensor. The box is fixed to the side of the rotating connecting plate 6 by bolts, and the connecting rod 43 and the guide rod 44 are fixed to the bottom of the box by nuts. The air pipe connection port 45 is fixed to the bottom of the guide rod 44 by nuts, and the strong suction cup 46 is integrated with the air pipe connection port 45.

[0040] The multifunctional barrel cover adsorption mechanism 5 includes a pressure sensor, a vibration sensor, and an acceleration sensor;

[0041] The multifunctional barrel cover adsorption mechanism 5 includes an anti-collision system, with an elastic buffer layer and a collision sensor arranged on the periphery;

[0042] The box body is fixed to the side of the rotating connecting plate 6 by bolts, the connecting rod 43 and the guide rod 44 are fixed to the bottom of the box body by nuts, the air pipe connecting port 45 is fixed to the bottom of the guide rod 44 by nuts, and the strong suction cup 46 is integrated with the air pipe connecting port 45.

[0043] A guide rail is provided on the left side of the rotating connecting plate 6, and the vertical position of the screw-tightening mechanism can be quickly adjusted by the guide rail.

[0044] When performing the lid opening operation, the metal barrel is transported to the designated position via an external conveyor belt. The position of the barrel lid and the distribution of screws are identified by the visual recognition mechanism 4. The robotic arm switches the front end to the intelligent screw tightening mechanism 2 by rotating the connecting plate 6. After the screws are removed in sequence, the nuts are automatically adsorbed and stored in the designated position. The rotating connecting plate 6 is rotated to switch to the multifunctional barrel lid adsorption mechanism 3, and the negative pressure suction cup is lowered to the surface of the metal barrel lid. The negative pressure pump is started. After the pressure sensor identifies that the barrel lid is firmly adsorbed, the barrel lid is stored in the designated position, and the lid opening operation is completed.

[0045] When performing the lid closing operation, the automatic opening and closing device of the metal barrel recognizes the distribution of screws through the visual recognition mechanism 4, and the robotic arm switches the front end to the functional barrel lid adsorption mechanism 3 by rotating the connecting plate 6. The negative pressure suction cup descends to suck up the barrel lid stored in the specified position, and after identifying that the screw holes of the barrel lid are aligned with the screws of the barrel body, the barrel lid is lowered vertically. The robotic arm switches the front end to the intelligent screw tightening mechanism 2 by rotating the connecting plate 6, and after adsorbing the nuts stored in the specified position, the nuts are tightened one by one until the torque monitoring device confirms that they are tightened, and the lid closing operation is completed.

[0046] Compared with the prior art, the present invention does not require close manual contact, has high safety and efficiency, and can quickly match metal barrels of different sizes for automatic opening and closing; specifically:

[0047] 1) Full process automation: one-stop processing from opening to closing the lid;

[0048] 2) Improved safety: Reduce manual exposure to radioactive materials and lower operational risks;

[0049] 3) Improved efficiency: compared with existing technologies, the operation time is shortened by more than 20%;

[0050] 4) Enhanced reliability: Redundant design of key components and self-diagnosis system improve system reliability by 150%;

[0051] 5) Data traceability: Completely record the operation process and parameters to meet the compliance requirements of nuclear power plants.

[0052] For those skilled in the art, several variations and improvements can be made without departing from the inventive concept of the present invention, and all of these fall within the scope of protection of the present invention.

Claims

1. A metal barrel lid opening and closing robot, characterized by: The system uses a visual recognition system in conjunction with an intelligent screw-tightening mechanism and a multifunctional metal lid suction mechanism to quickly complete the opening and closing of metal barrels. It includes a six-axis robotic arm assembly, an intelligent screw-tightening mechanism, a visual recognition mechanism, and a multifunctional metal lid suction mechanism. Intelligent screw-tightening mechanism: including a drive unit, a torque control unit, and a floating sleeve mechanism of the torque control unit; The multifunctional metal barrel cover adsorption mechanism includes an adsorption unit with an elastic buffer layer around it. The protection mechanism is automatically triggered when the collision force is ≤50N. The visual recognition mechanism includes a 3D structured light camera and a laser ranging module; the 3D structured light camera is used for precise positioning of the barrel cover and screws, and the laser ranging module is used to accurately measure the distance between the device and the metal barrel cover.

2. The metal barrel lid opening and closing robot according to claim 1, characterized in that: The six-axis robotic arm assembly is a high-load capacity and high-positioning mechanism, including a robotic arm, a servo motor, and a redundant braking system.

3. The metal barrel lid opening and closing robot according to claim 2, characterized in that: The floating sleeve mechanism allows small radial and axial deviations and automatically compensates for positioning errors.

4. The metal barrel lid opening and closing robot according to claim 3, characterized in that: The drive unit adopts a servo motor plus a planetary reduction motor, which has high torque and adjustable speed; the torque control unit uses an integrated high-precision strain torque sensor to accurately control the loosening and tightening of the nut.

5. The metal barrel lid opening and closing robot according to claim 4, characterized in that: The nut adsorption module uses electromagnetic adsorption technology, which can quickly adsorb nuts when removing and installing nuts without manual intervention.

6. The metal barrel lid opening and closing robot according to claim 5, characterized in that: The adsorption unit adopts negative pressure suction cup vacuum adsorption.

7. The metal barrel lid opening and closing robot according to claim 6, characterized in that: The multifunctional metal barrel cover adsorption mechanism is also provided with a corresponding detection system, which includes a pressure sensor, a vibration sensor, and an acceleration sensor.

8. The metal barrel lid opening and closing robot according to claim 7, characterized in that: When performing the lid opening operation, the metal barrel is transported to the designated position through an external conveyor belt, and the barrel lid position and screw distribution are identified by a visual recognition mechanism. The robotic arm switches the front end to the intelligent screw tightening mechanism by rotating the connecting plate. After removing the screws in turn, the nuts are automatically adsorbed and stored in the designated position. The rotating connecting plate is rotated to switch to the multi-functional barrel lid adsorption mechanism, and the negative pressure suction cup is lowered to the surface of the metal barrel lid. The negative pressure pump is started, and after the pressure sensor identifies that the adsorption is firm, the barrel lid is stored in the designated position, and the lid opening operation is completed.

9. The metal barrel lid opening and closing robot according to claim 7, characterized in that: When performing the lid closing operation, the automatic lid opening and closing device of the metal barrel recognizes the distribution of screws through the visual recognition mechanism 4, and the robotic arm switches the front end to the functional barrel lid adsorption mechanism by rotating the connecting plate. The negative pressure suction cup descends to suck up the barrel lid stored in the specified position, and after identifying that the screw holes of the barrel lid are aligned with the screws of the barrel body, the barrel lid is lowered vertically. The robotic arm switches the front end to the intelligent screw tightening mechanism by rotating the connecting plate, and after adsorbing the nuts stored in the specified position, the nuts are tightened one by one until the torque monitoring device confirms that they are tightened, and the lid closing operation is completed.

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