Multi-degree-of-freedom intelligent grabbing manipulator for slag well squint window glass

Abstract

The invention discloses a slag well squint window glass multi-degree-of-freedom intelligent grabbing manipulator, and belongs to the technical field of glass grabbing manipulators, a clamping mechanism is detachably mounted on an adjusting mechanism, and the adjusting mechanism is used for adjusting the positions and angles of the clamping mechanism and glass relative to a slag well squint window; the clamping mechanism comprises a clamping main body, and an upper clamping plate and a lower clamping plate which correspond to each other are mounted on the clamping main body in a sliding manner; a first clamping part and a second clamping part which extend along the clamping main body are arranged on the corresponding inner walls of the upper clamping plate and the lower clamping plate; a plurality of roll shafts are rotationally arranged in the second clamping part; when the glass is installed, the upper clamping plate and the lower clamping plate clamp the glass through the second clamping part. By means of the multi-degree-of-freedom accurate positioning function of the adjusting mechanism, alignment of the clamping mechanism and the squint window is achieved, the labor division design of the double clamping parts is matched, the problems that in traditional operation, positioning is difficult, initial clamping is free of stress points, and installation is prone to deviation are solved, the time for replacing a single piece of glass is remarkably shortened, and efficiency is improved by multiple times.

Description

Technical Field

[0001] This invention relates to the field of glass gripping robot technology, specifically a multi-degree-of-freedom intelligent gripping robot for glass in a slag well viewing window. Background Technology

[0002] The slag well in a thermal power plant is a key piece of equipment installed below the boiler furnace bottom, located between the lower header of the boiler's water-cooled wall and the slag removal equipment, such as a dry slag machine or a slag skimmer. It serves as a transitional device connecting the boiler and the slag removal system. The slag well is used to receive and temporarily store the high-temperature slag generated by boiler combustion. In the event of a malfunction in the slag removal system, the bottom hydraulic shut-off valve can be closed to temporarily store 4-8 hours of the maximum slag removal capacity, ensuring uninterrupted safe boiler operation. The slag well inspection window is an observation device installed on the side wall of the boiler slag well in a thermal power plant. It is mainly used to observe the slag falling, accumulation status, and temperature within the slag well in real time. It monitors abnormal conditions such as coking and slag buildup inside the slag well, promptly detects and addresses safety hazards, and assists operators by observing the slag flow status to guide the opening of the shut-off valve and slag removal operations.

[0003] Due to the harsh operating environment, when irreversible scaling, carbon deposits, fogging, or turbidity appear on the surface of the viewing window glass, and even after high-pressure air purging and anhydrous ethanol cleaning, it is still impossible to clearly observe the slag flow status, slag level height, or coking situation in the slag well, the viewing window glass needs to be replaced.

[0004] Chinese patent application CN119681945A discloses a robotic gripper device for glass production, including an assembly frame. A gripping frame and an adjusting frame are movably connected to the assembly frame. The adjusting frame is located in front of the gripping frame, and the initial positions of the gripping frame and the adjusting frame are behind the assembly frame. The gripping frame and the adjusting frame are connected by a traction member. A suction cup assembly is fixedly connected to the bottom of the gripping frame, and a friction plate is provided at the bottom of the adjusting frame. This robotic gripper device for glass production uses the friction between the friction plate and the glass to drive the adjusting frame to move, and then the adjusting frame pulls the gripping frame to move. This effectively controls the maximum force generated between the glass and the gripping device, preventing the glass from moving relative to the rollers. It also reduces the maximum impact force on the gripping device. Furthermore, when placing glass, the gripping frame and the adjusting frame can move to relieve force, effectively preventing excessive pressure on the glass edges.

[0005] However, the glass handling capabilities and methods disclosed above are generally limited. They cannot pull out and replace glass, nor can they be used for the rapid disassembly and replacement of glass on slag well inspection windows. Summary of the Invention

[0006] The purpose of this invention is to address the problems of existing glass manipulators having mediocre processing effects and methods, being unable to pull and replace glass, and being unable to be used for the rapid disassembly and replacement of glass on slag well inspection windows, by providing a multi-degree-of-freedom intelligent gripping manipulator for slag well inspection window glass.

[0007] To achieve the above objectives, the technical solution of the present invention is: a multi-degree-of-freedom intelligent gripping robot for viewing glass in slag wells, comprising: a clamping mechanism for clamping and disassembling the glass;

[0008] An adjustment mechanism is provided, wherein the clamping mechanism is detachably mounted on the adjustment mechanism, and the adjustment mechanism is used to adjust the position and angle of the clamping mechanism and the glass relative to the slag well viewing window;

[0009] The clamping mechanism includes a clamping body, on which corresponding upper and lower clamping plates are slidably mounted. Each of the upper and lower clamping plates has a first clamping portion and a second clamping portion extending along the clamping body on its corresponding inner wall. Multiple rollers are rotatably disposed within the second clamping portion. When the glass is disassembled, the upper and lower clamping plates clamp the glass through the first clamping portion. When the glass is installed, the upper and lower clamping plates clamp the glass through the second clamping portion.

[0010] As a further embodiment of the present invention: a positioning groove is provided in the second clamping part, and a plurality of rollers are rotatably disposed in the positioning groove, and the axial direction of the plurality of rollers is perpendicular to the extension direction of the clamping body.

[0011] As a further embodiment of the present invention: the clamping body includes a main board and a telescopic base, the telescopic base is provided with a push-pull component, the push-pull component includes a stretching part corresponding to the first clamping part and a pushing part corresponding to the second clamping part; two corresponding positioning plates are movably installed on the inner walls of both sides of the stretching part, and the two positioning plates are used to position the glass when the glass is disassembled.

[0012] As a further embodiment of the present invention: a telescopic cavity is provided inside the telescopic seat, a second cylinder is installed inside the telescopic cavity, and the push-pull member is located at the output end of the second cylinder; equipment cavities are provided on the inner walls of both sides of the stretching part, a third cylinder is installed inside the equipment cavity, and the positioning plate is located at the output end of the third cylinder.

[0013] As a further embodiment of the present invention: a driving cavity is provided inside the motherboard, and a clamping motor is installed in the driving cavity; a first clamping cavity and a second clamping cavity communicating with the driving cavity are also provided inside the motherboard; a first rack is fixedly provided on the upper clamping plate, and the first rack is slidably disposed in the first clamping cavity; a second rack is fixedly provided on the lower clamping plate, and the second rack is slidably disposed in the second clamping cavity; a gear is provided at the output end of the clamping motor, and the gear meshes with the first rack and the second rack on both sides.

[0014] As a further embodiment of the present invention: a first sliding groove and a second sliding groove are provided on the inner wall of the motherboard; a first sliding rail is provided on the upper clamping plate; the upper clamping plate is slidably disposed in the first sliding groove via the first sliding rail; a second sliding rail is provided on the lower clamping plate; the lower clamping plate is slidably disposed in the second sliding groove via the second sliding rail.

[0015] As a further embodiment of the present invention: the motherboard has an installation cavity on the side facing the glass, a first cylinder is installed in the installation cavity, and a suction cup is installed at the output end of the first cylinder; a motor cover is also installed on the motherboard, and the clamping motor is located inside the motor cover.

[0016] As a further embodiment of the present invention: the adjustment mechanism includes a walking mechanism, on which a rotating member is rotatably mounted; a first swing member is rotatably disposed at the end of the rotating member away from the walking mechanism; a second swing member is rotatably disposed at the end of the first swing member away from the rotating member; and a third swing member is rotatably disposed at the end of the second swing member away from the first swing member. The third swing member includes a second disassembly seat. A first disassembly seat is disposed on the side of the clamping mechanism away from the glass. The clamping mechanism is detachably mounted on the second disassembly seat via the first disassembly seat.

[0017] As a further embodiment of the present invention: the walking mechanism is provided with a first rotating seat, the rotating member is provided with a second rotating seat, and the rotating member is rotatably mounted on the first rotating seat via the second rotating seat; the rotating member is provided with a first swing seat, the first swing member is provided with a second swing seat, and the first swing member is rotatably mounted on the first swing seat via the second swing seat; a third swing seat is provided at the end of the first swing member away from the rotating member, the second swing member is provided with a fourth swing seat, and the second swing member is rotatably mounted on the third swing seat via the fourth swing seat; a fifth swing seat is provided at the end of the second swing member away from the first swing member, the third swing member is provided with a sixth swing seat, and the third swing member is rotatably mounted on the fifth swing seat via the sixth swing seat.

[0018] As a further embodiment of the present invention: a first driving member is mounted on the rotating member, the first driving member being used to drive the rotating member to rotate relative to the first rotating seat; a second driving member is mounted on the first swing member, the second driving member being used to drive the first swing member to rotate relative to the rotating member; a third driving member is mounted on the second swing member, the second swing member rotating relative to the first swing member via the third driving member.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] This invention significantly improves operational safety by changing the traditional model of glass replacement in slag wells of thermal power plants, which relies on close-range manual operation. Through automated adsorption, clamping, positioning, and loading / unloading processes, it avoids personnel exposure to high-risk environments such as high temperatures, high ash and slag levels, and high altitudes, reducing safety risks such as glass breakage and burns. At the same time, with the help of the linkage control of clamping and adsorption forces and the design of power-off locking, it prevents the glass from falling off during loading and unloading, further enhancing operational safety.

[0021] Relying on the multi-degree-of-freedom precise positioning function of the adjustment mechanism, the clamping mechanism and the viewing window can be quickly aligned. With the division of labor design of the dual clamping parts, it solves the problems of difficult positioning, no force point for initial clamping, and easy deviation during installation in traditional operations. The replacement time of a single piece of glass is significantly shortened, and the work efficiency is several times higher than that of manual labor. Attached Figure Description

[0022] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0023] Figure 1 This is the three-dimensional structure of the present invention. Figure 1 ;

[0024] Figure 2 This is the three-dimensional structure of the present invention. Figure 2 ;

[0025] Figure 3 This is a three-dimensional structural diagram of the adjustment mechanism in this invention;

[0026] Figure 4 This is a partial three-dimensional structural diagram of the observation window in the slag well in this invention;

[0027] Figure 5 This is the three-dimensional structure of the clamping mechanism in this invention. Figure 1 ;

[0028] Figure 6 This is the three-dimensional structure of the clamping body in this invention. Figure 1 ;

[0029] Figure 7 This is the three-dimensional structure of the clamping body in this invention. Figure 2 ;

[0030] Figure 8 This is the three-dimensional structure of the clamping mechanism in this invention. Figure 2 ;

[0031] Figure 9 This is a three-dimensional structural diagram of the clamping mechanism in this invention;

[0032] Figure 10 This is a three-dimensional structural diagram of the lower clamping plate in this invention;

[0033] Figure 11 This is a three-dimensional structural diagram of the push-pull component in this invention;

[0034] Figure 12 This is a cross-sectional view of the push-pull component in this invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100. Clamping mechanism; 110. Clamping body; 111. Disassembly seat 1; 112. Main board; 113. Telescopic seat; 114. Telescopic cavity; 115. First slide groove; 116. Second slide groove; 117. Mounting cavity; 118. Drive cavity; 1191. First clamping cavity; 1192. Second clamping cavity; 1193. Motor cover;

[0037] 120. Upper clamping plate; 121. First slide rail; 122. First rack;

[0038] 130. Lower clamping plate; 131. Second slide rail; 132. Second rack; 133. First clamping part; 134. Second clamping part; 135. Positioning groove; 136. Roller shaft;

[0039] 140. Clamping motor; 141. Gear;

[0040] 150. First cylinder; 151. Suction cup;

[0041] 160. Second cylinder; 161. Push-pull component; 162. Stretching part; 163. Pushing part; 164. Equipment cavity; 165. Third cylinder; 166. Positioning plate;

[0042] 200. Adjustment mechanism; 210. Traveling mechanism; 211. First rotating seat;

[0043] 220. Rotating component; 221. Second rotating seat; 222. First driving component; 223. First swing seat;

[0044] 230. First swing component; 231. Second swing seat; 232. Second driving component; 233. Third swing seat;

[0045] 240. Second swing member; 241. Fourth swing seat; 242. Third drive member; 243. Lower rotating part; 244. Upper rotating part; 245. Fourth drive member; 246. Fifth swing seat;

[0046] 250. Third swing component; 251. Sixth swing seat; 252. Disassembly seat two;

[0047] 260. Control Panel. Detailed Implementation

[0048] The following will be combined with the appendix Figures 1 to 12 The technical solutions of the present invention have been clearly and completely described. 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.

[0049] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0050] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0052] This invention provides a multi-degree-of-freedom intelligent gripper for grasping glass in a slag well inspection window, such as... Figures 1-12 As shown, it includes a clamping mechanism 100 for clamping and disassembling glass;

[0053] The adjusting mechanism 200 and the clamping mechanism 100 are detachably mounted on the adjusting mechanism 200. The adjusting mechanism 200 is used to adjust the position and angle of the clamping mechanism 100 and the glass relative to the slag well viewing window.

[0054] The clamping mechanism 100 includes a clamping body 110, on which a corresponding upper clamping plate 120 and a lower clamping plate 130 are slidably mounted. The upper clamping plate 120 and the lower clamping plate 130 are each provided with a first clamping part 133 and a second clamping part 134 extending along the clamping body 110 on their corresponding inner walls. Multiple rollers 136 are rotatably arranged inside the second clamping part 134. When the glass is disassembled, the upper clamping plate 120 and the lower clamping plate 130 clamp the glass through the first clamping part 133. When the glass is installed, the upper clamping plate 120 and the lower clamping plate 130 clamp the glass through the second clamping part 134.

[0055] In this embodiment, the robotic arm, through the modular design of the clamping mechanism 100 and the adjusting mechanism 200, achieves automated disassembly and installation of the observation glass in the slag well, fundamentally addressing the safety hazards and operational accuracy issues associated with manual glass replacement in the high-temperature, high-risk environment of thermal power plants. The clamping mechanism 100, with its dual clamping parts and sliding clamping plate, adapts to both disassembly and installation conditions. The first clamping part 133 is a dedicated clamping surface for disassembling old glass. The second clamping part 134 has multiple sets of rotating rollers 136 forming a dedicated clamping surface for installing new glass. The rollers 136 provide rolling support, reducing frictional resistance when the glass is pushed into the installation groove and preventing scratches on the surface of the new glass.

[0056] The adjustment mechanism 200 serves as the attitude adjustment platform for the clamping mechanism 100, solving the spatial adaptation problem of the installation position of the slag well inspection window. Its design enables X / Y / Z three-axis translation, adapting to inspection windows of different heights and spacings. It supports horizontal and pitch rotation to ensure precise alignment between the glass and the mounting groove.

[0057] To facilitate operator interaction, a control panel 260 was also designed.

[0058] See appendix Figure 5 and attached Figure 10 The second clamping part 134 has a positioning groove 135, and multiple rollers 136 are rotatably disposed in the positioning groove 135. The axial direction of the multiple rollers 136 is perpendicular to the extension direction of the clamping body 110.

[0059] In this embodiment, the inner wall of the positioning groove 135 is made of stainless steel and wear-resistant ceramic bushing, which improves the wear resistance of the groove, prevents the inner wall of the positioning groove 135 from being worn when the roller 136 rotates, adapts to the high ash and slag conditions of thermal power plants, and extends the service life of the clamping mechanism 100.

[0060] In this embodiment: the roller 136 is perpendicular to the pushing direction, and the rotation direction of the roller 136 is completely consistent with the glass pushing direction. That is, when the glass is pushed, the roller 136 rotates along its own axial direction, forming rolling support. The frictional resistance is reduced by more than 80% compared with sliding contact, completely avoiding scratches on the surface of the new glass due to friction. The roller 136 is axially perpendicular to the pushing direction, and its two ends are limited by positioning grooves 135, forming an implicit constraint on the width direction of the glass, preventing the glass from shifting left or right during the pushing process.

[0061] In this embodiment: the front end of the positioning groove 135, i.e. the glass insertion side, is chamfered at 15°-30° to form a flared mouth guide structure, which facilitates the quick insertion of new glass into the clamping area and avoids the glass edge from hitting the inlet.

[0062] See appendix Figure 6 Appendix Figure 11 -Appendix Figure 12 The clamping body 110 includes a main board 112 and a telescopic base 113. A push-pull member 161 is provided inside the telescopic base 113. The push-pull member 161 includes a stretching part 162 corresponding to the first clamping part 133 and a pushing part 163 corresponding to the second clamping part 134. Two corresponding positioning plates 166 are movably installed on the inner walls of both sides of the stretching part 162. When the glass is disassembled, the two positioning plates 166 are used to position the glass.

[0063] In this embodiment: the push-pull component 161 is the core of the power actuation mechanism, which is linked with the first clamping component 133 through the stretching component 162, i.e., pulling the glass during disassembly; the push component 163 is linked with the second clamping component 134, i.e., pushing the glass during installation. The positioning plate 166 is an auxiliary positioning component for disassembly, which works in conjunction with the first clamping component 133 to solve the positioning deviation problem caused by unevenness and carbon buildup on the old glass surface, and to ensure clamping accuracy.

[0064] In this embodiment, the stretching part 162 adopts a U-shaped groove structure, with a groove width of the maximum width of the glass plus 10-20mm. The material is high-strength alloy steel, and the surface is hardened to ensure that it does not deform during pulling. After the first clamping part 133 clamps the old glass, the stretching part 162 pulls the old glass out of the mounting groove smoothly through the retraction action of the push-pull member 161.

[0065] In this embodiment, the pushing part 163 can adopt a U-shaped groove structure or a flat push plate. The surface of the push plate is attached with a high-temperature resistant silicone pad. The push plate is aligned with the roller area of ​​the second clamping part 134 to ensure that the pushing force is evenly transmitted to the back of the glass. After the second clamping part 134 clamps the new glass and aligns it with the mounting groove, the pushing part 163 pushes the glass smoothly into the mounting groove through the extension action of the push-pull member 161.

[0066] In this embodiment, a high-temperature resistant, anti-slip rubber pad is attached to the inner side of the positioning plate 166. The surface of the rubber pad is knurled in a diamond pattern to increase friction with the glass surface. During disassembly, after the upper clamping plate 120 and the lower clamping plate 130 initially clamp the glass, the two positioning plates 166 close inward to achieve lateral positioning from both sides of the glass, ensuring that the center of the glass is aligned with the center of the U-shaped groove of the stretching part 162. Subsequently, the first clamping part 133 further clamps the glass, the positioning plates 166 remain in the positioning state, and the push-pull part 161 retracts to complete the disassembly.

[0067] In this embodiment: the adjusting mechanism 200 adjusts the position and angle so that the new glass is aligned with the viewing window mounting slot, and the telescopic seat 113 extends to the installation preparation position. The pushing part 163 of the push-pull member 161 slowly extends, and with the roller guide of the second clamping part 134, the new glass is smoothly pushed into the mounting slot.

[0068] See appendix Figure 6 Appendix Figure 11 -Appendix Figure 12 The telescopic seat 113 has a telescopic cavity 114, and a second cylinder 160 is installed in the telescopic cavity 114. The push-pull component 161 is located at the output end of the second cylinder 160. The inner walls on both sides of the stretching part 162 have equipment cavities 164, and a third cylinder 165 is installed in the equipment cavity 164. The positioning plate 166 is located at the output end of the third cylinder 165.

[0069] In this embodiment: During disassembly, the piston rod of the second cylinder 160 retracts, causing the stretching part 162 to move backward, thereby smoothly pulling the old glass clamped by the first clamping part 133 out of the mounting groove. During installation, the piston rod of the second cylinder 160 extends, causing the pushing part 163 to move forward, thereby accurately pushing the new glass clamped by the second clamping part 134 into the mounting groove.

[0070] In this embodiment, the second cylinder 160 is housed within the telescopic cavity 114, and the third cylinder 165 within the equipment cavity 164. These enclosed cavities provide dustproof and high-temperature protection, solving the problem of traditional external drives easily jamming and failing in the ash-rich and high-temperature environment of thermal power plants. The second cylinder 160 and the third cylinder 165 are linked for control, coordinating with the clamping action of the clamping unit to achieve automated collaboration, improving the accuracy and efficiency of disassembly and installation.

[0071] See appendix Figure 7 -Appendix Figure 9 The main board 112 has a drive cavity 118 inside, and a clamping motor 140 is installed in the drive cavity 118. The main board 112 also has a first clamping cavity 1191 and a second clamping cavity 1192 that communicate with the drive cavity 118. A first rack 122 is fixedly installed on the upper clamping plate 120 and slides in the first clamping cavity 1191. A second rack 132 is fixedly installed on the lower clamping plate 130 and slides in the second clamping cavity 1192. A gear 141 is installed at the output end of the clamping motor 140 and meshes with the first rack 122 and the second rack 132 on both sides.

[0072] In this embodiment: When performing the clamping action, the clamping motor 140 rotates forward, driving the gear 141 to rotate. At this time, the gear 141 simultaneously engages the first rack 122 and the second rack 132. The first rack 122 moves downward and the second rack 132 moves upward, causing the upper clamping plate 120 and the lower clamping plate 130 to close synchronously, clamping the glass through the first clamping part 133 or the second clamping part 134. To further improve the stability during clamping, limit grooves are provided inside the first clamping cavity 1191 and the second clamping cavity 1192, and limit rails are provided on the first rack 122 and the second rack 132.

[0073] In this embodiment: when the old glass is removed, the adjusting mechanism 200 moves the clamping mechanism 100 to the viewing window position. After the suction cup 151 slides out of the clamping gap, the piston rod of the third cylinder 165 extends, and the stretching part 162 is aligned with the old glass and pulled.

[0074] See appendix Figure 7 -Appendix Figure 9 The inner wall of the main board 112 is provided with a first sliding groove 115 and a second sliding groove 116. The upper clamping plate 120 is provided with a first sliding rail 121, and the upper clamping plate 120 is slidably disposed in the first sliding groove 115 via the first sliding rail 121. The lower clamping plate 130 is provided with a second sliding rail 131, and the lower clamping plate 130 is slidably disposed in the second sliding groove 116 via the second sliding rail 131.

[0075] In this embodiment, the first slide groove 115 and the second slide groove 116, as well as the first slide rail 121 and the second slide rail 131, provide rigid guiding constraints for the upper clamping plate 120 and the lower clamping plate 130 through the sliding cooperation of the slide groove and the slide rail, solving the problem of clamping plate tilting and offset that may occur during the gear 141 rack transmission process, and ensuring the straightness and synchronicity of the clamping action.

[0076] See appendix Figure 6 and attached Figure 9The motherboard 112 has an installation cavity 117 on the side facing the glass. The first cylinder 150 is installed in the installation cavity 117, and a suction cup 151 is installed at the output end of the first cylinder 150. The motherboard 112 is also equipped with a motor cover 1193, and the clamping motor 140 is located inside the motor cover 1193.

[0077] In this embodiment: When the old glass is disassembled, since the glass is completely installed in the mounting groove, the upper clamping plate 120 and the lower clamping plate 130 cannot clamp the glass at the beginning. First, the suction cup 151 is attached to the back of the glass and adsorbed. Then, the adjustment mechanism 200 is used to pull it. When part of the glass is removed from the mounting groove, the upper clamping plate 120 and the lower clamping plate 130 are used to clamp and disassemble it.

[0078] In this embodiment: when the old glass is completely fitted into the viewing window mounting slot, i.e., there are no exposed edges for the clamping plate to initially clamp, the initial force point is first obtained through adsorption, then the clamping space is released by pulling, and finally the stable disassembly is completed by clamping. The first cylinder 150 extends, the suction cup 151 adheres to the back of the glass and starts vacuum adsorption, and the adsorption force is gradually increased to 50-80N.

[0079] The adjustment mechanism 200 initiates a three-stage linkage pull. The third swing component 250 retracts first, the second swing component 240 retracts synchronously, and finally the first swing component 230 retracts slowly. The pulling force is gradually increased to 100-150N. The segmented pulling is used to avoid excessive instantaneous pulling force that could cause the glass to break.

[0080] When the glass edge is 5-10mm away from the mounting groove, the upper clamping plate 120 and the lower clamping plate 130 obtain an effective clamping gap, the pulling action stops, the adjustment mechanism 200 maintains the current posture, and the released gap must meet the clamping plate embedding requirements.

[0081] In this embodiment: When installing new glass, after the new glass is placed into the second clamping part 134, the suction cup 151 adsorbs the back of the glass for auxiliary fixation. The adjusting mechanism 200 is aligned with the mounting groove. When the pushing part 163 pushes the glass, the suction cup 151 closes to avoid interference and ensure that the glass enters the mounting groove smoothly.

[0082] See appendix Figure 1 -Appendix Figure 3The adjustment mechanism 200 includes a walking mechanism 210, on which a rotating component 220 is rotatably mounted. A first swing component 230 is rotatably disposed at the end of the rotating component 220 away from the walking mechanism 210. A second swing component 240 is rotatably disposed at the end of the first swing component 230 away from the rotating component 220. A third swing component 250 is rotatably disposed at the end of the second swing component 240 away from the first swing component 230. The third swing component 250 includes a second disassembly seat 252. A first disassembly seat 111 is disposed on the side of the clamping mechanism 100 away from the glass. The clamping mechanism 100 can be detachably mounted on the second disassembly seat 252 via the first disassembly seat 111.

[0083] In this embodiment: when selecting the walking mode, a tracked walking mechanism is used for scenarios with uneven ground around the slag well, while a wheeled walking mechanism is used for scenarios with a level platform. The tracked walking mechanism has a climbing angle of ≥30°, and the wheeled walking mechanism is equipped with anti-slip tires to ensure stable movement on the inclined working platform.

[0084] In this embodiment, the five-degree-of-freedom multi-joint linkage adjustment structure, through the series design of the walking mechanism 210, the rotating component 220 that can rotate 360° and the three-stage swing component, realizes the all-round posture adjustment of the clamping mechanism 100 in space, and solves the problem that the traditional adjustment mechanism 200 has insufficient positioning flexibility and cannot adapt to complex installation environments.

[0085] In this embodiment, the five-degree-of-freedom adjustment covers all complex installation scenarios, enabling the robotic arm to adapt to slag well viewing windows of different heights, orientations, and angles, eliminating the need for manual temporary platform construction and expanding the operating range by 80%. Through automatic positioning and rapid disassembly / assembly design, the replacement time for a single pane of glass is reduced from 30 minutes by traditional manual labor to within 8 minutes. During unit overhauls, the efficiency of replacing multiple panes of glass is increased by 300%, and the risks of personnel working at height are completely eliminated.

[0086] In this embodiment, the adjustment mechanism 200 serves as the core of the posture control for the slag well glass replacement robot. Through a multi-joint linkage design, it enables the clamping mechanism 100 to achieve precise positioning and flexible operation in complex working environments. Its deep collaboration with the clamping mechanism 100 constructs a fully automated operation system encompassing positioning, clamping, adsorption, and loading / unloading, completely solving the problems of high risk, low efficiency, and low accuracy in slag well glass replacement in thermal power plants.

[0087] See appendix Figure 1 -Appendix Figure 3The walking mechanism 210 is provided with a first rotating seat 211, and the rotating component 220 is provided with a second rotating seat 221. The rotating component 220 is rotatably mounted on the first rotating seat 211 via the second rotating seat 221. The rotating component 220 is provided with a first swing seat 223, and the first swing component 230 is provided with a second swing seat 231. The first swing component 230 is rotatably mounted on the first swing seat 223 via the second swing seat 231. The end of the first swing component 230 away from the rotating component 220 is provided with a third swing seat 233. The second swing component 240 is provided with a fourth swing seat 241, and the second swing component 240 is rotatably mounted on the third swing seat 233 via the fourth swing seat 241. The end of the second swing component 240 away from the first swing component 230 is provided with a fifth swing seat 246, and the third swing component 250 is provided with a sixth swing seat 251, and the third swing component 250 is rotatably mounted on the fifth swing seat 246 via the sixth swing seat 251.

[0088] In this embodiment, each connecting seat corresponds to one degree of freedom of motion, and the posture adjustment capability of 360° rotation and three-level swing is achieved through four sets of joint connections, providing all-round positioning support for the clamping mechanism 100. The swing seat adopts an integrated molding or high-precision assembly design to ensure that the power transmission is lag-free and deformation-free, and is suitable for force conditions such as pulling and pushing.

[0089] In this embodiment: the walking mechanism 210 drives the rotating component 220 to rotate via the first rotating seat 211 and the second rotating seat 221. The rotating component 220 drives the first swing component 230 to pitch via the first swing seat 223 and the second swing seat 231. The first swing component 230 drives the second swing component 240 to make fine adjustments via the third swing seat 233 and the fourth swing seat 241. The second swing component 240 drives the third swing component 250 to precisely align via the fifth swing seat 246 and the sixth swing seat 251, forming a hierarchical and precisely superimposed attitude adjustment system.

[0090] In this embodiment: In order to further improve the degree of freedom, the second swing member 240 can also be configured as two parts: a lower rotating part 243 and an upper rotating part 244.

[0091] See appendix Figure 1 -Appendix Figure 3 A first driving member 222 is installed on the rotating member 220, and the first driving member 222 is used to drive the rotating member 220 to rotate relative to the first rotating seat 211; a second driving member 232 is installed on the first swing member 230, and the second driving member 232 is used to drive the first swing member 230 to rotate relative to the rotating member 220; a third driving member 242 is installed on the second swing member 240, and the second swing member 240 rotates relative to the first swing member 230 through the third driving member 242.

[0092] In this embodiment, precise and coordinated adjustment of multiple degrees of freedom is achieved through the independent configuration of the first driving component 222 (rotation), the second driving component 232 (first-stage oscillation), the third driving component 242 (second-stage oscillation), and the fourth driving component 245 (third-stage oscillation, not shown). The driving components are integrated with the joint connecting seat and designed with high-temperature protection, multiple seals, and wear-resistant coatings to adapt to the high-ash, high-temperature, and high-vibration environment of thermal power plants, solving the problems of easy corrosion and jamming of traditional driving components.

[0093] In this embodiment: during multi-directional viewing window operation, the first drive component 222 rotates continuously 360°, and in conjunction with the flexible swinging of the second drive component 232 and the third drive component 242, the robotic arm can adapt to viewing windows at different angles and heights around the slag well without needing to move the walking mechanism 210. The drive system of the adjustment mechanism 200, through independent drive and precise coordination design, constructs a multi-degree-of-freedom, high-precision attitude control core, providing reliable power support for the automated loading and unloading of the clamping mechanism 100.

[0094] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and inventive features disclosed herein.

Claims

1. A multi-degree-of-freedom intelligent gripper for grasping glass in a slag well viewing window, characterized in that, include: A clamping mechanism (100) is used to clamp and remove glass; Adjustment mechanism (200), the clamping mechanism (100) is detachably mounted on the adjustment mechanism (200), the adjustment mechanism (200) is used to adjust the position and angle of the clamping mechanism (100) and the glass relative to the slag well viewing window; The clamping mechanism (100) includes a clamping body (110), on which a corresponding upper clamping plate (120) and a lower clamping plate (130) are slidably mounted. The upper clamping plate (120) and the lower clamping plate (130) are respectively provided with a first clamping part (133) and a second clamping part (134) extending along the clamping body (110) on their corresponding inner walls. Multiple rollers (136) are rotatably arranged in the second clamping part (134). When the glass is disassembled, the upper clamping plate (120) and the lower clamping plate (130) clamp the glass through the first clamping part (133). When the glass is installed, the upper clamping plate (120) and the lower clamping plate (130) clamp the glass through the second clamping part (134).

2. The multi-degree-of-freedom intelligent gripping robot for viewing glass in a slag well according to claim 1, characterized in that: The second clamping part (134) has a positioning groove (135) and a plurality of rollers (136) are rotatably disposed in the positioning groove (135). The axial direction of the plurality of rollers (136) is perpendicular to the extension direction of the clamping body (110).

3. The multi-degree-of-freedom intelligent gripping robot for viewing glass in a slag well according to claim 1 or 2, characterized in that: The clamping body (110) includes a main board (112) and a telescopic seat (113). The telescopic seat (113) is provided with a push-pull member (161). The push-pull member (161) includes a stretching part (162) corresponding to the first clamping part (133) and a pushing part (163) corresponding to the second clamping part (134). Two corresponding positioning plates (166) are movably installed on the inner walls of both sides of the stretching part (162). When the glass is disassembled, the two positioning plates (166) are used to position the glass.

4. The multi-degree-of-freedom intelligent gripping robot for viewing windows in slag wells according to claim 3, characterized in that: The telescopic seat (113) has a telescopic cavity (114) inside, and a second cylinder (160) is installed inside the telescopic cavity (114). The push-pull member (161) is located at the output end of the second cylinder (160). The inner walls on both sides of the stretching part (162) are provided with equipment cavities (164), and a third cylinder (165) is installed in the equipment cavity (164). The positioning plate (166) is located at the output end of the third cylinder (165).

5. The multi-degree-of-freedom intelligent gripping robot for viewing glass in a slag well according to claim 3, characterized in that: The motherboard (112) has a drive cavity (118) inside, and a clamping motor (140) is installed in the drive cavity (118); the motherboard (112) also has a first clamping cavity (1191) and a second clamping cavity (1192) communicating with the drive cavity (118); a first rack (122) is fixedly provided on the upper clamping plate (120), and the first rack (122) is slidably provided in the first clamping cavity (1191); a second rack (132) is fixedly provided on the lower clamping plate (130), and the second rack (132) is slidably provided in the second clamping cavity (1192); The output end of the clamping motor (140) is provided with a gear (141), which meshes with the first rack (122) and the second rack (132) on both sides.

6. The multi-degree-of-freedom intelligent gripping robot for viewing glass in a slag well according to claim 3, characterized in that: The inner wall of the main board (112) is provided with a first sliding groove (115) and a second sliding groove (116), and the upper clamping plate (120) is provided with a first sliding rail (121). The upper clamping plate (120) is slidably disposed in the first sliding groove (115) via the first sliding rail (121). The lower clamping plate (130) is provided with a second slide rail (131), and the lower clamping plate (130) is slidably disposed in the second slide groove (116) via the second slide rail (131).

7. The multi-degree-of-freedom intelligent gripping robot for viewing windows in slag wells according to claim 5, characterized in that: The motherboard (112) has an installation cavity (117) facing the glass side, and a first cylinder (150) is installed in the installation cavity (117). A suction cup (151) is installed at the output end of the first cylinder (150). The main board (112) is also equipped with a motor cover (1193), and the clamping motor (140) is located inside the motor cover (1193).

8. A multi-degree-of-freedom intelligent gripping robot for viewing glass in a slag well according to claim 1 or 2, characterized in that: The adjustment mechanism (200) includes a walking mechanism (210), on which a rotating component (220) is rotatably mounted. A first swing component (230) is rotatably disposed at one end of the rotating component (220) away from the walking mechanism (210). A second swing component (240) is rotatably disposed at one end of the first swing component (230) away from the rotating component (220). A third swing component (250) is rotatably disposed at one end of the second swing component (240) away from the first swing component (230). The third swing component (250) includes a disassembly seat two (252). The clamping mechanism (100) is provided with a disassembly seat one (111) on the side away from the glass. The clamping mechanism (100) can be detachably installed on the disassembly seat two (252) through the disassembly seat one (111).

9. The multi-degree-of-freedom intelligent gripping robot for viewing glass in a slag well according to claim 8, characterized in that: The walking mechanism (210) is provided with a first rotating seat (211), and the rotating component (220) is provided with a second rotating seat (221). The rotating component (220) is rotatably mounted on the first rotating seat (211) via the second rotating seat (221). The rotating member (220) is provided with a first swing seat (223), and the first swing member (230) is provided with a second swing seat (231). The first swing member (230) is rotatably mounted on the first swing seat (223) through the second swing seat (231). The first swing member (230) is provided with a third swing seat (233) at one end away from the rotating member (220), and the second swing member (240) is provided with a fourth swing seat (241). The second swing member (240) is rotatably mounted on the third swing seat (233) through the fourth swing seat (241). The second swing member (240) has a fifth swing seat (246) at one end away from the first swing member (230), and the third swing member (250) has a sixth swing seat (251) on it. The third swing member (250) is rotatably mounted on the fifth swing seat (246) via the sixth swing seat (251).

10. The multi-degree-of-freedom intelligent gripping robot for viewing windows in slag wells according to claim 9, characterized in that: A first driving member (222) is mounted on the rotating member (220), and the first driving member (222) is used to drive the rotating member (220) to rotate relative to the first rotating seat (211); A second driving member (232) is mounted on the first swing member (230), and the second driving member (232) is used to drive the first swing member (230) to rotate relative to the rotating member (220); A third drive member (242) is mounted on the second swing member (240), and the second swing member (240) rotates relative to the first swing member (230) by the third drive member (242).

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