Manipulator tail end device for maintenance operation of water intake coarse screen

Abstract

The invention discloses a manipulator tail end device for maintenance operation of a water intake coarse grid, and relates to the field of nuclear power plant maintenance equipment, the manipulator tail end device comprises a mounting frame, the top end of the mounting frame is connected with a swing mechanism and a swing mechanism, the manipulator tail end device further comprises a moving rod, and the moving rod can oppositely move in the length direction of the mounting frame; a clamping jaw is rotationally connected into the moving rod, the device further comprises a pressing plate, the pressing plate is slidably connected to the lower portion of the mounting frame in the vertical direction, when the moving rod moves oppositely, the pressing plate presses downwards, and the clamping jaw rotates towards the pressing plate to clamp sundries located on the coarse screen in a matched mode. The pressing plate capable of moving towards the coarse screen is mounted on the bottom face of the mounting frame, the moving rods moving in the opposite direction are matched with the connecting rod structure on the pressing plate, clamping jaws rotate to be closed while the pressing plate is pressed down, sundries on the coarse screen are stably clamped, the situation that the sundries fall off in the lifting process of the device is effectively avoided, and the practicability of the device is improved. And therefore, efficient cleaning of the coarse screen at the water inlet is realized.

Description

Technical Field

[0001] This application belongs to the technical field of nuclear power plant maintenance equipment, specifically relating to a robotic end effector for the maintenance of coarse screens at water intakes. Background Technology

[0002] The circulating water filtration system in a nuclear power plant plays a crucial role in water filtration and is an important system for ensuring the safety of the power plant's cooling source. The coarse screen is the first filtration barrier in the circulating water filtration system. Its main function is to intercept floating objects in the water and prevent medium and large-sized pollutants from entering the downstream filtration equipment and causing blockages, so as to ensure the smooth operation of subsequent water treatment processes. However, the water intake environment is complex, and the coarse screen is in a turbulent sewage environment for a long time. It is easily entangled, blocked, and damaged by various debris. Regular cleaning, inspection and maintenance are required.

[0003] In existing technologies, manual methods are generally used to inspect and maintain the coarse screen at the water intake. In some cases, a mobile grab cleaning device consisting of an elevated single guide rail and a hydraulic grab bucket is used to clean the debris above the coarse screen.

[0004] However, due to the high water flow velocity at the intake, the aforementioned technologies cannot guarantee the personal safety of operators. Furthermore, manual cleaning of debris at the intake coarse screen is inefficient, and mobile hydraulic grabs are not flexible enough, often only able to clamp debris horizontally. Long, thin debris such as tree branches at the coarse screen are easily tilted and fall off the hydraulic grab during its ascent due to their own weight, making it difficult for the hydraulic grab to stably grasp some debris at the coarse screen. In addition, existing hydraulic grabs do not have the ability to survey the intake coarse screen, making it difficult to carry out cleaning, inspection, and other maintenance work based on the actual situation at the coarse screen. In summary, the existing maintenance equipment for the intake coarse screen is difficult to efficiently clean debris at the coarse screen. Summary of the Invention

[0005] In view of this, this application provides a robotic end effector for the maintenance of coarse screens at water intakes, in order to solve the technical problem in the prior art that maintenance equipment for coarse screens at water intakes is unable to efficiently clean debris from the coarse screens.

[0006] This application provides a robotic end effector for the maintenance of coarse screens at water intakes. The end effector includes a mounting frame, a moving rod, and a pressure plate. A swing mechanism and a rotation mechanism are connected to the top of the mounting frame. The moving rod can move in opposite directions along the length of the mounting frame, and a gripper is rotatably connected inside the moving rod. The pressure plate is slidably connected to the bottom of the mounting frame in a vertical direction. When the moving rod moves in opposite directions, the pressure plate presses down, and the gripper rotates towards the pressure plate to clamp debris located on the coarse screen.

[0007] By adopting the above technical solution, a pressure plate that can move toward the coarse screen is installed on the bottom surface of the mounting frame. The opposing moving rods work in conjunction with the connecting rod structure on the pressure plate to achieve the clamping jaws rotating and closing while the pressure plate is pressed down, thus firmly clamping the debris on the coarse screen and effectively preventing the debris from falling off during the lifting process of the device, thereby achieving efficient cleaning of the coarse screen at the water inlet.

[0008] Further configured, the axis of the swing mechanism shaft mounted on the mounting bracket is parallel to the width direction of the mounting bracket, and the axis of the rotary mechanism mounted above the swing mechanism is orthogonal to the top surface of the horizontal mounting bracket.

[0009] Preferably, the swing mechanism is used to drive the mounting bracket to tilt and swing, while the rotary mechanism enables the mounting bracket to rotate in the horizontal plane.

[0010] Further configured, guide rods are provided at both ends of the bottom surface of the mounting frame, and a movable platform is slidably connected to the guide rod along the length direction of the mounting frame. A movable rod is fixedly connected to the bottom surface of the movable platform. A mounting plate is connected to the center of the mounting frame, and a transmission gear is rotatably connected to the bottom end of the mounting plate. Two movable platforms are fixedly connected to parallel transmission rods facing each other. The transmission gear meshes with the racks on the two transmission rods simultaneously. A push-pull rod for controlling the sliding of one of the movable platforms is installed along the length direction of the mounting frame.

[0011] Preferably, the position of the moving platform is adjusted by using a push-pull rod in conjunction with a transmission assembly.

[0012] Further configured, the bottom surface of the transmission rod is rotatably connected to a rotating cylinder, and a telescopic rod is slidably connected inside the rotating cylinder. A spring is provided between one end of the telescopic rod and the inner wall of the rotating cylinder, and the other end is rotatably connected to the top surface of the pressure plate. Pressure strips are fixedly connected to both sides of the pressure plate. The pressure strips are provided with a first movable groove along their own length direction. A slider is slidably connected to the moving rod in the vertical direction. A gripper is rotatably connected to the slider. A second movable groove is provided along the length direction of the gripper at a position above its own rotating shaft. The second movable groove and the first movable groove are provided with the same movable column. The pressure strip passes through the moving rod and is slidably connected to the moving rod in the vertical direction.

[0013] Preferably, the height of the pressure plate is adjusted by moving the moving platform.

[0014] Further configured, multiple movable rods are fixedly connected below each movable platform along the width direction of the mounting frame. The sliders inside each movable rod are at the same height and are connected to each other by a second connecting strip located outside the movable rod. The length of the second connecting strip is greater than the spacing between the grid bars of the coarse grid. The second connecting strip is used to restrict the sliders from sliding downwards and can also restrict the grippers from continuing to rotate.

[0015] Preferably, after the pressure plate is pressed down and the second connecting strip is limited by the coarse grid, the gripper can rotate smoothly to cooperate with the pressure plate to achieve stable clamping of the debris.

[0016] Further configured, the moving rod is provided with a first sliding groove for the slider to slide in the vertical direction, and a second sliding groove is provided that runs through the length of the mounting frame. The pressure plate is provided with two parallel pressure strips for each moving rod, the gripper is located between the two pressure strips, and the sum of the thicknesses of the two pressure strips and the gripper is equal to the width of the second sliding groove.

[0017] Preferably, the second groove also serves as a guide for the pressure strip.

[0018] Further configured, one end of the mounting bracket is connected to an assembly bracket for mounting the testing components.

[0019] Preferably, a detection component is used to remotely detect the surface condition of the coarse bar at the underwater water intake.

[0020] Further configured, the bottom end of the moving rod is fixedly connected to a post in the direction away from the center of the mounting bracket. The post can be inserted into the hole on the connecting piece. The connecting piece is fixedly connected to the repair unit, which is used to repair the coarse grid.

[0021] Preferably, the repair unit can be moved to the desired position using the insertion post.

[0022] A further configuration is provided, wherein a protective plate for protecting the transmission gear is fixedly connected to the bottom surface of the mounting frame, and when the moving stage moves to the end of the mounting frame, the top surface of the pressure plate does not exceed the bottom surface of the protective plate.

[0023] Preferably, the pressure plate should not interfere with the transmission gears or transmission rods.

[0024] Further, the bottom surface of the mounting bracket is rotatably connected to a support wheel, which is used to support the transmission rod.

[0025] Preferably, this effectively enhances the stability of the transmission rod during movement.

[0026] The beneficial effects of the technical solution in this application are as follows: By installing a pressure plate that can move toward the coarse screen on the bottom surface of the mounting frame, and using a moving rod that moves in opposite directions in conjunction with the connecting rod structure on the pressure plate, the clamps rotate and close simultaneously as the pressure plate is pressed down, thus firmly clamping the debris on the coarse screen and effectively preventing the debris from falling off during the lifting process, thereby achieving efficient cleaning of the coarse screen at the water inlet.

[0027] 2. By setting up a swing mechanism with its axis parallel to the width of the mounting frame and a rotary mechanism with its axis orthogonal to the top surface of the mounting frame above the mounting frame, the flexibility of the mounting frame after moving to the coarse screen position is effectively improved. At the same time, when cleaning debris on the coarse screen, the mounting frame can be tilted so that one side of the gripper contacts the debris. As the mounting frame moves along the length of the coarse screen, the debris on the surface of the coarse screen is pushed and gathered. Then, the mounting frame is restored to a horizontal state to clamp and clean the gathered debris, further improving the cleaning efficiency at the coarse screen of the water intake.

[0028] 3. By fixing the plug structure to the outside of the moving rod, and using the plug structure to fit the plug hole structure on the repair unit, when problems such as damage are found at the coarse screen of the water intake, the repair unit can be clamped and moved to the gap of the coarse screen to carry out the repair work.

[0029] 4. By installing visual inspection and distance detection equipment on the mounting frame, and in conjunction with the rotation and swing mechanisms, underwater inspection operations can be carried out at the location of the coarse screen at the water intake. The structure and surface adhesion of the coarse screen can be clearly observed, enabling onshore underwater inspection operations.

[0030] 5. The rotation angle of the end effector is precisely controlled by the rotary encoder installed on the rotary mechanism and the swing mechanism. The hydraulic cylinder of the drive mechanism detects the retraction distance of the actuator through the displacement sensor. The distance between the end effector and the coarse screen is detected by the distance measuring sensor, which effectively avoids impacting the coarse screen. Attached Figure Description

[0031] Figure 1 The image shown is a perspective view of a robotic end effector for the maintenance of a coarse screen at a water intake, according to an embodiment of this application.

[0032] Figure 2 The image shown is a perspective view of the internal structure of the moving rod in a robotic end-effector for the maintenance of a coarse screen at a water intake, according to an embodiment of this application.

[0033] Figure 3 As shown Figure 2 Enlarged view of point A in the middle.

[0034] Figure 4 As shown Figure 2 Enlarged view of point B in the middle.

[0035] Figure 5 The image shown is a perspective view of the internal structure of the mounting frame in a robotic end-effector for the maintenance of a coarse screen at a water intake, according to an embodiment of this application.

[0036] Figure 6 The image shown is a perspective view of the internal structure of the mounting frame of a robotic arm end effector for the maintenance of a coarse screen at a water intake, according to an embodiment of this application.

[0037] Figure 7 The image shown is a perspective view of a gripper in a rotating state according to an embodiment of this application.

[0038] Figure 8 As shown Figure 7 Enlarged view of point C in the middle.

[0039] Figure 9 The image shown is a perspective view of the internal structure of a moving rod in a closed gripper state, according to an embodiment of this application.

[0040] Figure 10 As shown Figure 9 Enlarged view of point D in the middle.

[0041] Figure 11 The image shown is a 3D view of the working state of using grippers to push debris piled on a coarse grid.

[0042] Figure 12 The image shown is a three-dimensional view of the working state of using grippers and pressure plates to hold debris on a coarse grid.

[0043] Figure 13 The image shown is a three-dimensional view of the clamping and repair unit repairing the damaged area of ​​the coarse grid.

[0044] Figure 14 As shown Figure 13 Enlarged view of point E in the middle.

[0045] In the diagram, 1. Mounting frame; 2. Swinging mechanism; 3. Rotating mechanism; 4. Guide rod; 5. Moving platform; 6. Push-pull rod; 7. Mounting plate; 8. Transmission gear; 9. Transmission rod; 10. Support wheel; 11. Moving rod; 1101. First slide groove; 1102. Second slide groove; 12. Rotating cylinder; 13. Telescopic rod; 14. Pressure plate; 15. Pressure strip; 1501. First movable groove; 16. First connecting strip; 17. Gripper; 1701. Second movable groove; 18. Movable column; 19. Slider; 20. Second connecting strip; 21. Insert column; 22. Assembly frame; 23. Protective plate; 24. Coarse grid body; 2401. Notch; 25. Repair unit; 26. Connecting piece; 2601. Insertion hole. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] First embodiment: Please refer to the following: A robotic end effector for the maintenance of coarse screens at water intakes. Figure 1-14 The system includes a mounting frame 1, with a swing mechanism 2 and a rotary mechanism 3 connected to its top. Specifically, the swing mechanism 2 mainly consists of a swing motor and connecting components, and the axis of rotation is parallel to the width direction of the mounting frame 1. When the swing motor operates in both directions, it can cause the mounting frame 1 to tilt to both sides respectively. The rotary mechanism 3 consists of a rotary platform, a drive motor, and connecting components. When the drive motor operates in both directions, it can cause the mounting frame 1 to rotate around the axis of the rotary mechanism. Specifically, the specific structure, model, and connection method of the drive motor of the rotary mechanism 3 and the swing motor of the swing mechanism 2 are described in the prior art of multi-degree-of-freedom robotic arms. How the swing mechanism 2 swings and how the rotary mechanism 3 rotates are not the technical problems that need to be solved in the embodiments of this application, and will not be described in detail here.

[0048] It also includes a movable rod 11, which can move in opposite directions along the length of the mounting frame 1. Specifically, the opposite movement of the movable rod 11 can clamp the debris on the surface of the coarse grid, while the reverse movement can reset it to prepare for the next clamping of debris.

[0049] Furthermore, the movable rod 11 is rotatably connected to a gripper 17 and also includes a pressure plate 14. The pressure plate 14 is slidably connected to the bottom of the mounting frame 1 in the vertical direction. When the movable rod 11 moves in opposite directions, the pressure plate 14 presses down, and the gripper 17 rotates toward the pressure plate 14 to clamp the debris located on the coarse grid, effectively preventing the debris from loosening after being clamped.

[0050] For details regarding the above embodiments, please refer to [link / reference]. Figures 1 to 6 The axis of the swing mechanism 2 mounted on the mounting frame 1 is parallel to the width direction of the mounting frame 1. The axis of the rotary mechanism 3 mounted above the swing mechanism 2 is orthogonal to the top surface of the horizontal mounting frame 1. The swing mechanism 2 is used to drive the mounting frame 1 to achieve tilting swing, while the rotary mechanism realizes the rotation of the mounting frame 1 in the horizontal plane. Specifically, when the tilted mounting frame 1 moves in a straight line under the working state of the rotary mechanism 3, it can detect the surface of the coarse bar screen on the bottom of the water over a wide range, effectively expanding the detection range and detection efficiency.

[0051] Furthermore, guide rods 4 are provided at both ends of the bottom surface of the mounting frame 1. A movable platform 5 is slidably connected to the guide rod 4 along the length direction of the mounting frame 1. A movable rod 11 is fixedly connected to the bottom surface of the movable platform 5. Specifically, the top end of the movable rod 11 is orthogonal to the bottom surface of the movable platform 5. When the mounting frame 1 is in a horizontal state, the movable rod 11 is in a vertical state. A mounting plate 7 is connected to the center of the mounting frame 1. A transmission gear 8 is rotatably connected to the bottom end of the mounting plate 7. Two movable platforms 5 are fixedly connected to each other with parallel transmission rods 9.

[0052] Specifically, the transmission gear 8 meshes with the racks on the two transmission rods 9 simultaneously. The mounting bracket 1 is equipped with a push-pull rod 6 along its length to control the sliding of one of the moving platforms 5. The position of the moving platform 5 is adjusted by using the push-pull rod 6 in conjunction with the transmission assembly. In this embodiment, the push-pull rod 6 is specifically a hydraulic rod. In other undisclosed embodiments, the push-pull rod 6 can also be a telescopic actuator such as an electric push rod.

[0053] Second embodiment: Please refer to the following: A robotic end effector for the maintenance of coarse screens at water intakes. Figures 1 to 14 Based on the first embodiment, the difference from the first embodiment is that the bottom surface of the transmission rod 9 is rotatably connected to the rotating cylinder 12, and the rotating cylinder 12 is slidably connected to the telescopic rod 13. One end of the telescopic rod 13 is provided with a spring between it and the inner wall of the rotating cylinder 12, and the other end is rotatably connected to the top surface of the pressure plate 14. When the pressure plate 14 contacts the pile of debris during the pressing process, as the moving platform 5 continues to move closer to each other, the telescopic rod 13 can retract into the rotating cylinder 12 and compress the spring inside the rotating cylinder 12.

[0054] Furthermore, pressure strips 15 are fixedly connected to both sides of the pressure plate 14. The pressure strip 15 has a first movable groove 1501 along its own length direction. The moving rod 11 is slidably connected to a slider 19 in the vertical direction. A gripper 17 is rotatably connected to the slider 19. The gripper 17 has a second movable groove 1701 along its length direction above its own axis of rotation. The second movable groove 1701 and the first movable groove 1501 are provided with the same movable column 18. Specifically, the movable column 18 can slide in the first movable groove 1501 and also slide in the second movable groove 1701. The pressure strip 15 passes through the moving rod 11 and is slidably connected to the moving rod 11 in the vertical direction. The height of the pressure plate 14 is adjusted by moving the moving table 5.

[0055] For details regarding the above embodiments, please refer to [link / reference]. Figure 2-4 , Figure 7-10Multiple movable rods 11 are fixedly connected below each movable platform 5 along the width direction of the mounting frame 1. Specifically, in this embodiment, three parallel movable rods 11 are fixedly connected below each movable platform 5. The sliders 19 inside each movable rod 11 are at the same height and are connected to each other by a second connecting strip 20 located outside the movable rod 11. The length of the second connecting strip 20 is greater than the spacing between the grid bars of the coarse grid. The second connecting strip 20 is used to restrict the sliders 19 from sliding downwards and can also restrict the gripper 17 from continuing to rotate.

[0056] Specifically, when the second connecting bar 20 contacts the top surface of the coarse grid, it will be limited. Since the second connecting bar 20 is fixedly connected to the slider 19, the slider 19 is also limited. When the gripper 17 rotates, the bottom end of the gripper 17 rotates towards the pressure plate 14. After the gripper 17 and the pressure plate 14 cooperate to clamp the debris, the end of the gripper 17 with the second movable groove 1701 will be blocked by the second connecting bar 20 and cannot continue to rotate. When there is a lot of debris, even if the gripper 17 does not contact the second connecting bar 20, it will still be limited by the debris and cannot continue to rotate. The moving table 5 moves in the opposite direction to press down the pressure plate 14. After the second connecting bar 20 is limited by the coarse grid, the gripper 17 can rotate smoothly and cooperate with the pressure plate 14 to achieve stable clamping of the debris.

[0057] Furthermore, the moving rod 11 is provided with a first sliding groove 1101 for the slider 19 to slide in the vertical direction, and a second sliding groove 1102 is provided that runs through the length of the mounting frame 1. The pressure plate 14 is provided with two parallel pressure strips 15 for each moving rod 11. The gripper 17 is located between the two pressure strips 15, and the sum of the thicknesses of the two pressure strips 15 and the gripper 17 is equal to the width of the second sliding groove 1102. The second sliding groove 1102 also serves as a guide for the pressure strips 15.

[0058] Third embodiment: Please refer to the following: A robotic end effector for the maintenance of coarse screens at water intakes. Figure 1-14 Based on the second embodiment, the difference from the second embodiment is that one end of the mounting frame 1 is connected to an assembly frame 22 for installing detection components. The detection components are used to realize remote detection of the surface condition of the coarse bar at the underwater water intake. Specifically, according to actual usage requirements, components such as visual inspection cameras and ultrasonic sensors can be selectively installed on the assembly frame 22 to realize onshore underwater detection operations.

[0059] Fourth embodiment: Please refer to the following: A robotic end effector for the maintenance of coarse screens at water intakes. Figures 1 to 14Based on the third embodiment, the difference from the third embodiment is that the bottom end of the moving rod 11 is fixedly connected to the insertion post 21 in the direction away from the center of the mounting bracket 1. The insertion post 21 can be inserted into the insertion hole 2601 on the connecting piece 26. The connecting piece 26 is fixedly connected to the repair unit 25. The repair unit 25 is used to repair the coarse grid. The repair unit 25 can be moved to the required position by using the insertion post 21.

[0060] Specifically, on shore, after the moving platform 5 moves towards each other beyond the length of the insertion post 21, the insertion post 21 is aligned with the insertion hole 2601 of the connecting piece 26. Then, the moving platform 5 is controlled to move in the opposite direction to reset, so that the insertion post 21 is inserted into the insertion hole 2601. When the mounting frame 1 enters the water and moves to the gap 2401 of the coarse screen body 24 that needs to be repaired, the moving platform 5 moves towards each other to release the repair unit 25 to the gap 2401 to achieve the repair of the coarse screen body 24.

[0061] For details regarding the above embodiments, please refer to [link / reference]. Figures 1 to 7 The bottom surface of the mounting frame 1 is fixedly connected to a protective plate 23 for protecting the transmission gear 8. When the moving platform 5 moves to the end of the mounting frame 1, the top surface of the pressure plate 14 does not exceed the bottom surface of the protective plate 23 to avoid the pressure plate 14 interfering with the transmission gear 8 or the transmission rod 9. Furthermore, the bottom surface of the mounting frame 1 is rotatably connected to a support wheel 10. The side of the support wheel 10 can contact the side wall of the transmission rod 9. The support wheel 10 is used to support the transmission rod 9, so that the rack on the transmission rod 9 and the transmission gear 8 are stably meshed, effectively enhancing the stability of the transmission rod 9 when it moves. The pressure strips 15 on both sides of the pressure plate 14 are fixedly connected to the first connecting strip 16 at the end away from the pressure plate 14. The first connecting strip 16 connects the ends of multiple pressure strips 15 to each other, which can effectively improve the structural strength of multiple pressure strips 15.

[0062] When performing maintenance work on the coarse screen at the water intake: The swing mechanism 2 keeps the mounting frame 1 in an inclined state, while the rotating mechanism 3 continues to work, allowing the visual inspection, ultrasonic inspection and other components on the mounting frame 1 to fully observe the environment at the coarse screen of the water intake.

[0063] When it is determined that the surface of the coarse grid needs to be cleaned, the swing mechanism 2 rotates to tilt the mounting frame 1, so that the gripper 17 on one side extends into the grid bars of the coarse grid and is lower than the grid surface. Then the mounting frame 1 moves along the length of the grid bars to push and collect the debris on the surface of the coarse grid. The swing mechanism is then used to adjust the mounting frame 1 to a horizontal state. At this time, the moving rods 11 at both ends of the mounting frame 1 are located between the grid bars and the bottom end is lower than the top surface of the grid bars.

[0064] The retraction of the push-pull rod 6 causes the two moving platforms 5 to move towards each other, and the rotating cylinder 12, which is rotatably connected to the transmission rod 9, moves closer to each other. The rotating cylinder 12 rotates relative to the transmission rod 9, while the telescopic rod 13 rotates relative to the pressure plate 14, thereby causing the pressure plate 14 to drop in height. The pressure strip 15 connected to the edge of the pressure plate 14 causes the height of the movable column 18 to drop synchronously. While the slider 19 can still slide downward, the gripper 17 is pushed by the downward-moving movable column 18 and drops in height together with the slider 19 until the second connecting strip 20 contacts the top surface of the coarse grid. At this point, the slider 19 can no longer move downward.

[0065] As the height of the movable column 18 continues to decrease, since the movable column 18 is simultaneously slidably connected to the second movable groove 1701, the gripper 17 will rotate around the pivot between the two sliders 19 as the axis. The bottom end of the gripper 17 rotates towards the bottom surface of the pressure plate 14, which, together with the pressure plate 14 which has decreased in height, achieves stable clamping of the debris. As the pressure plate 14 contacts the debris and continues to move downward, the telescopic rod 13 will retract into the rotating cylinder 12 and compress the spring inside the rotating cylinder 12, so that the pressure plate 14 and the gripper 17 work together to clamp the debris on the surface of the coarse grid.

[0066] When it is necessary to repair the coarse grid, move the moving rods 11 on both sides of the mounting frame 1 away from each other, insert the pins 21 at the bottom of the moving rods 11 into the insertion holes 2601 of the repair unit 25 of the appropriate size, hoist the repair unit 25 to the damaged part of the coarse grid body 24, cover the gap 2401 of the coarse grid body 24, and then move the moving platform 5 a short distance to the opposite side to remove the pins 21 from the insertion holes 2601.

[0067] It should be noted that the combination of the technical features in the embodiments of this application is not limited to the combination methods described in the embodiments of this application or the combination methods described in specific embodiments. All technical features described in this application can be freely combined or combined in any way, unless they contradict each other.

[0068] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the term "comprising" only indicates that it includes the explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0069] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0070] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mechanical hand end device for intake coarse screen maintenance operation, characterized in that, The utility model relates to a kind of movable frame for removing garbage on coarse grid, including: Mounting frame (1), moving rod (11) and pressing plate (14), Wherein, the top end of the mounting frame (1) is connected with swing mechanism (2) and rotary mechanism (3);The moving rod (11) can be moved to the length direction of the mounting frame (1) oppositely, the movable jaw (17) is rotatably connected in the moving rod (11);The pressing plate (14) is slidably connected below mounting frame (1) along vertical direction, the pressing plate (14) is pressed when the moving rod (11) oppositely moves, and the movable jaw (17) is rotated and matched to hold the sundries on coarse grid towards the pressing plate (14) direction.

2. The manipulator end device for the maintenance work of the coarse screen of the water intake according to claim 1, characterized in that, The axis of rotation of the swing mechanism (2) installed on the mounting frame (1) is parallel to the width direction of the mounting frame (1), and the axis of the rotary mechanism (3) installed above the swing mechanism (2) is orthogonal to the top surface of the mounting frame (1) in horizontal state.

3. The end effector device for the rough screen maintenance operation of the water intake according to claim 1, characterized in that, Both ends of the bottom surface of the mounting frame (1) are provided with guide rods (4), and the moving platform (5) is slidably connected on the guide rods (4) along the length direction of the mounting frame (1), the bottom surface of the moving platform (5) is fixedly connected with the moving rod (11), the center of the mounting frame (1) is connected with the mounting plate (7), the bottom end of the mounting plate (7) is rotatably connected with the transmission gear (8), the two moving platforms (5) are oppositely fixedly connected with the transmission rods (9) parallel to each other, the transmission gear (8) is engaged with the racks on the two transmission rods (9) at the same time, and the push-pull rod (6) for controlling the sliding of one of the moving platforms (5) is mounted on the mounting frame (1) along the length direction.

4. The manipulator end device for the maintenance work of the coarse screen of the water intake according to claim 3, characterized in that, The bottom surface of the transmission rod (9) is rotatably connected with the rotating cylinder (12), the telescopic rod (13) is slidably connected in the rotating cylinder (12), the spring is arranged between one end of the telescopic rod (13) and the inner wall of the rotating cylinder (12), and the other end is rotatably connected to the top surface of the pressing plate (14), the pressing strips (15) are fixedly connected on both sides of the pressing plate (14), the first movable slot (1501) is arranged on the pressing strip (15) along the length direction, the sliding block (19) is slidably connected on the moving rod (11) along the vertical direction, the movable jaw (17) is rotatably connected on the sliding block (19), the second movable slot (1701) is arranged on the movable jaw (17) along the length direction at the position above the rotation shaft of the movable jaw (17), the same movable column (18) is arranged in the first movable slot (1501) and the second movable slot (1701), the pressing strip (15) passes through the moving rod (11), and is slidably connected in the moving rod (11) along the vertical direction.

5. The manipulator end-effector device for intake rough screen maintenance operation according to claim 4, characterized in that, The moving rod (11) is fixedly connected with a plurality of moving rods (11) below each moving platform (5) along the width direction of the mounting rack (1), the sliding block (19) in each moving rod (11) is at the same height, and the sliding blocks (19) are connected with each other through a second connecting strip (20) outside the moving rod (11), the length of the second connecting strip (20) is greater than the spacing between the grid bars of the coarse grid, and the second connecting strip (20) is used for limiting the downward sliding of the sliding block (19) and limiting the continuous rotation of the clamping jaw (17).

6. The manipulator end-effector device for intake rough screen maintenance operations according to claim 5, characterized in that, The first sliding groove (1101) for the sliding block (19) is arranged in the vertical direction in the moving rod (11), and the second sliding groove (1102) penetrating through the length direction of the mounting rack (1) is arranged, the pressing plate (14) is provided with two parallel pressing strips (15) corresponding to each moving rod (11), the clamping jaw (17) is located between the two pressing strips (15), and the sum of the thicknesses of the two pressing strips (15) and the clamping jaw (17) is equal to the width of the second sliding groove (1102).

7. The manipulator end-effector device for intake rough screen maintenance operations according to claim 2, characterized in that, One end of the mounting rack (1) is connected with an assembly rack (22) for mounting a detection assembly.

8. The end effector device for the rough screen maintenance operation of the water intake according to claim 2, characterized in that, The bottom end of the moving rod (11) is fixedly connected with a plug column (21) away from the center of the mounting rack (1), the plug column (21) can be inserted into the insertion hole (2601) on the connecting piece (26), the connecting piece (26) is fixedly connected to the repair unit (25), and the repair unit (25) is used for repairing the coarse grid.

9. The end effector device for the rough screen maintenance operation of the water intake according to claim 3, characterized in that, The bottom surface of the mounting rack (1) is fixedly connected with a protection plate (23) for protecting the transmission gear (8), when the moving platform (5) moves to the end of the mounting rack (1), the top surface of the pressing plate (14) does not exceed the bottom surface of the protection plate (23).

10. The end effector device for the rough screen maintenance operation of the water intake according to claim 3, characterized in that, The bottom surface of the mounting rack (1) is rotatably connected with a supporting wheel (10), and the supporting wheel (10) is used for supporting the transmission rod (9).

Images