Multi-degree-of-freedom fixing seat for mounting plug board robot

Abstract

The utility model relates to a multi-degree-of-freedom fixed seat for installing a plug board robot, which comprises a bottom plate and a panel used for being fixed with a population of a steam generator, the bottom plate is fixedly connected with the panel, the panel is provided with a through hole aligned with the population, the bottom plate is provided with a lifting device, the lifting device is provided with a Y-direction sliding device, and the Y-direction sliding device is connected with the panel. A rotary pitching device is arranged on the Y-direction sliding device, and an X-direction sliding device is arranged on the rotary pitching device. The blocking plate robot is provided with the multi-degree-of-freedom fixing base, the multi-degree-of-freedom fixing base is fixed to the population and can move in multiple degrees of freedom, the movement degree of freedom of the mechanical arm can be reduced, and therefore the size of the mechanical arm is reduced, and the difficulty that the mechanical arm and the blocking plate enter the population is lowered.

Description

Technical Field

[0001] The utility model relates to the field of nuclear power plant equipment, and more specifically to a multi-freedom fixing seat for installing a plugging plate robot. Background Art

[0002] The steam generator is one of the main equipment in a nuclear power plant. It is connected to the reactor pressure vessel and is used to transfer the heat generated by the reactor to the secondary side of the steam generator. The generated steam is dried by the primary and secondary steam-water separators and then drives the steam turbine generator to generate electricity.

[0003] When overhauling the steam generator, in order to prevent foreign matter on the primary side of the steam generator from entering the pressure vessel and damaging the core fuel, it is necessary to use a plugging plate to seal the water inlet of the steam generator. After the overhaul is completed, the plugging plate is removed. In order to avoid the influence of radiation, a plugging plate robot can be used to automatically load and unload the plugging plate. The plugging plate robot includes a fixed seat and a mechanical arm. The fixed seat is fixed on the ground, and the mechanical arm is set on the fixed seat. The mechanical arm brings the plugging plate into the inlet and completes the installation of the plugging plate.

[0004] However, the existing blocking robot has a fixed base fixed to the ground and has only a single lifting function, which requires the design of multiple degrees of freedom movements for the robotic arm, resulting in the robotic arm being too large and making it too difficult for the robotic arm and the blocking plate to enter the population. Utility Model Content

[0005] The utility model aims to provide a multi-degree-of-freedom fixing seat for installing a blocking plate robot, which is fixed in the population and can move with multiple degrees of freedom, so that the movement freedom of the robot arm can be reduced, thereby reducing the volume of the robot arm and reducing the difficulty of the robot arm and the blocking plate entering the population.

[0006] Based on the above purpose, the utility model provides a multi-degree-of-freedom fixed seat for installing a blocking robot, including a base plate and a panel for fixing to the inlet of a steam generator, the base plate is fixedly connected to the panel, the panel has a through hole aligned with the inlet, a lifting device is provided on the base plate, a Y-axis sliding device is provided on the lifting device, a rotation and pitch device is provided on the Y-axis sliding device, and an X-axis sliding device is provided on the rotation and pitch device.

[0007] Further, the lifting device includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a platform and a driving shaft, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are parallel to each other, the first connecting rod and the second connecting rod are arranged opposite to each other, the driving shaft is installed on the base plate, the bottom end of the first connecting rod and the bottom end of the second connecting rod are fixedly connected to the driving shaft, the third connecting rod and the fourth connecting rod are arranged opposite to each other, the bottom end of the third connecting rod and the bottom end of the fourth connecting rod are hinged to the base plate, the top end of the first connecting rod, the top end of the second connecting rod, the top end of the third connecting rod and the top end of the fourth connecting rod are connected to the platform; the Y-axis sliding device is arranged on the platform.

[0008] Furthermore, the lifting device also includes a lifting motor, which is arranged on the base plate and connected to the driving shaft.

[0009] Furthermore, the Y-direction sliding device includes a Y-direction sliding base and a Y-direction slide plate, the Y-direction sliding base is fixed on the lifting device, the Y-direction slide plate is slidably connected to the Y-direction sliding base, and the rotation and pitching device is arranged on the Y-direction slide plate.

[0010] Furthermore, the Y-direction sliding device also includes a Y-direction driving mechanism, and the Y-direction driving mechanism is configured to drive the Y-direction sliding plate to slide along the Y-direction on the Y-direction sliding base.

[0011] Further, the rotating and pitching device includes a first rotating device and a first pitching device, the first pitching device is arranged on the first rotating device, the first rotating device is used to rotate the first pitching device around the Z axis, the X-direction sliding device is connected to the first pitching device, and the first pitching device is arranged to rotate the X-direction sliding device around the Y axis.

[0012] Furthermore, the first rotating device includes a first rotating base and a first rotating table, the first rotating base is provided with a first rotating shaft extending along the Z direction and a first rotating motor, the first rotating motor is connected to the first rotating shaft, and the first rotating table is fixedly connected to the first rotating shaft.

[0013] Furthermore, the first pitch device includes a first pitch axis and a first pitch motor arranged along the Y direction, the first pitch axis is installed on the first turntable, the first pitch motor is connected to the first pitch axis, and the X-direction sliding device is fixedly connected to the first pitch axis.

[0014] Furthermore, the X-axis sliding device includes an X-axis sliding base, an X-axis slide plate and an X-axis driving mechanism, the X-axis slide plate is slidably connected to the X-axis sliding base, two moving mechanisms are provided on the X-axis slide plate, and the two moving mechanisms are configured to be connected to the robotic arm to drive the robotic arm to move along the X-direction; the X-direction driving mechanism is configured to drive the X-axis slide plate to slide along the X-direction on the X-axis sliding base.

[0015] Furthermore, the moving mechanism includes a moving bracket, which has a through mounting groove, in which a plurality of rollers are installed, and the rollers are arranged relative to each other to define an opening for the robotic arm to pass through; the moving bracket is provided with a plurality of roller motors respectively connected to the rollers to drive the rollers to rotate.

[0016] The plugging robot of the utility model is installed with a multi-degree-of-freedom fixing seat, a panel of which is fixed on the population, and a lifting device, a Y-axis sliding device, a rotation and pitching device and an X-axis sliding device are sequentially arranged on the bottom plate, so that the robot arm can realize lifting, Y-axis movement, rotation and pitching, X-axis movement and other multi-degree-of-freedom movements, thereby reducing the movement degrees of freedom and volume of the robot arm itself, and reducing the difficulty of the robot arm and the plugging plate entering the population. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom fixing seat and the mechanical arm cooperating with each other in the installation of the blocking robot according to the embodiment of the utility model;

[0018] Figure 2 It is a structural schematic diagram of a multi-degree-of-freedom fixing seat of a plugging plate robot installed on the inlet of a steam generator according to an embodiment of the utility model;

[0019] Figure 3 It is a structural schematic diagram of a slewing and pitching device of a multi-degree-of-freedom fixing seat installed on a plate blocking robot according to an embodiment of the utility model;

[0020] Figure 4 This is a schematic structural diagram of a moving mechanism for installing a multi-degree-of-freedom fixed seat on a plate blocking robot according to an embodiment of the utility model. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present utility model are given below in conjunction with the accompanying drawings and described in detail.

[0022] like Figure 1 and Figure 2As shown, an embodiment of the utility model provides a multi-degree-of-freedom fixing seat 100 for installing a plugging plate robot, which includes a base plate 110 and a panel 120, wherein the panel 120 is fixedly connected to the base plate 110, and the panel 120 is used to be fixed to the inlet 410 of the steam generator 400, and the panel 120 has a through hole 121. When the panel 120 is fixed to the inlet 410 of the steam generator 400, the through hole 121 is aligned with the inlet; a lifting device 130 is provided on the base plate 110, and a Y-axis sliding device 140 is provided on the lifting device 130, and a rotation and pitching device 150 is provided on the Y-axis sliding device 140, and an X-axis sliding device 160 is provided on the rotation and pitching device 150, and the X-axis sliding device 160 is used to be connected to a robotic arm 200, and the robotic arm 200 is used to be detachably fixed to the plugging plate 300, and the multi-degree-of-freedom fixing seat 100 for installing a plugging plate robot and the robotic arm 200 together form a plugging plate robot for automatically installing and removing the plugging plate 300. When the multi-degree-of-freedom fixing seat 100 of the plugging robot is in use, its panel 120 is fixed to the inlet 410 of the steam generator 400, the robot arm 200 is connected to the X-direction sliding device 160, and the plugging plate 300 is fixed to the head end of the robot arm 200. The lifting device 130 is used to lift the Y-direction sliding device 140, the slewing and pitching device 150, the X-direction sliding device 160, the robot arm 200 and the plugging plate 300 along the Z direction, the Y-direction sliding device 140 is used to make the slewing and pitching device 150, the X-direction sliding device 160, the robot arm 200 and the plugging plate 300 translate along the Y direction, and the slewing and pitching device 150 is used to make the X-direction sliding device 160 , the robot arm 200 and the blocking plate 300 rotate around the Z axis and pitch around the Y axis, and the X-axis sliding device 160 is used to make the robot arm 200 and the blocking plate 300 slide along the X direction. Therefore, the positions of the robot arm 200 and the blocking plate 300 can be adjusted through the lifting device 130, the Y-axis sliding device 140, the rotation and pitching device 150 and the X-axis sliding device 140, so that the blocking plate 300 is aligned with the through hole 121. After alignment, the robot arm 200 is slid along the X direction and extended into the population 410 through the X-axis sliding device 140, and then the robot arm 200 will further control the movement of the blocking plate 300 to align the blocking plate 300 with the water outlet and install it at the water outlet.

[0023] In some embodiments, the lifting device 130 can be a four-link lifting platform, which includes a first link 131, a second link 132, a third link 133, a fourth link 134, a platform 135 and a driving shaft 136. The first link 131, the second link 132, the third link 133 and the fourth link 134 are parallel to each other, the first link 131 and the second link 132 are arranged opposite to each other, the driving shaft 136 is installed on the base plate 110 and can rotate around its own axis. The bottom end of the first link 131 and the bottom end of the second link 132 are fixedly connected to the driving shaft 136, the third link 133 and the fourth link 134 are arranged opposite to each other, and the third link The bottom end of 133 and the bottom end of the fourth link 134 are hinged to the base plate 110, and the top of the first link 131, the top of the second link 132, the top of the third link 133 and the top of the fourth link 134 are all connected to the platform 135 (for example, hinged). In this way, when the driving shaft 136 rotates, it will rotate with the first link 131 and the second link 132, so that the platform 135 moves with the first link 131 and the second link 132, and the platform 135 rotates relative to the base plate 110 with the third link 133 and the fourth link 134. In this way, the platform 135 will simultaneously realize movement along the X direction and lifting along the Z direction. Specifically, when the driving shaft 136 rotates counterclockwise, the four connecting rods will rotate counterclockwise, and the platform 135 will gradually approach the panel 120 along the X direction, and the Z-direction height of the platform 135 will also change (for example, slowly rise to the highest point, and then slowly descend from the highest point or directly slowly descend); conversely, when the driving shaft 136 rotates clockwise, the platform 135 will gradually move away from the panel 120 along the X direction, and the Z-direction height of the platform 135 will also change (for example, slowly rise to the highest point, and then slowly descend from the highest point or directly slowly descend); it can be understood that when the four connecting rods are perpendicular to the bottom plate 110, the platform 135 reaches the highest point. At this time, no matter whether the connecting rods rotate counterclockwise or clockwise, the platform 135 will descend. The Y-direction sliding device 140 is arranged on the platform 135, so as to move with the platform 135.

[0024] In some embodiments, two first shaft mounting seats 137a and two second shaft mounting seats 138b may be provided on the base plate 110, and both ends of the driving shaft 136 are respectively mounted in the two first shaft mounting seats 137a, and the bottom ends of the third connecting rod 133 and the fourth connecting rod 134 are respectively hinged to the two second shaft mounting seats 137b. For example, the first driven shaft 138a may simultaneously pass through the two second shaft mounting seats 137b, the bottom end of the third connecting rod 133 and the bottom end of the fourth connecting rod 134, so that they are hinged. Four connecting ears 1351 may be provided on the platform 135, which are respectively used to connect with the first connecting rod 131, the second connecting rod 132, the third connecting rod 133 and the fourth connecting rod 134; for example, the second driven shaft 138b can simultaneously pass through the top end of the first connecting rod 131, the top end of the second connecting rod 132 and the two connecting ears 1351 on the right side of the platform 135, so as to connect them, and the third driven shaft 138c can simultaneously pass through the top end of the second connecting rod 133, the top end of the fourth connecting rod 134 and the two connecting ears 1351 on the left side of the platform 135, so as to connect them.

[0025] In some embodiments, the lifting device 130 may also include a lifting motor 139, which is arranged on the base plate 110, and the output shaft of the lifting motor 139 is connected to the driving shaft 136, thereby driving the driving shaft 136 to rotate; in this way, the lifting device 130 can be driven by the lifting motor 139 to realize Z-axis lifting movement.

[0026] It is easy to imagine that the lifting device 130 can also be any other suitable lifting device, such as a hydraulic lifting mechanism, a cylinder lifting mechanism, etc., as long as it can achieve the lifting function.

[0027] In some embodiments, the Y-direction sliding device 140 may include a Y-direction sliding base 141 and a Y-direction slide plate 142, wherein the Y-direction sliding base 141 is fixed on the lifting device 130 (for example, fixed on the platform 135), and the Y-direction slide plate 142 is slidably connected to the Y-direction sliding base 141 and can slide along the Y direction relative to the Y-direction sliding base 141. The slewing and pitching device 150 is disposed on the Y-direction slide plate 142, so that the Y-direction position of the slewing and pitching device 150 can be adjusted by sliding the Y-direction slide plate 142 on the Y-direction sliding base 141 in the Y direction.

[0028] In some embodiments, the Y-direction sliding device 140 further includes a Y-direction driving mechanism 143, which may be disposed on the Y-direction sliding base 141 or the Y-direction sliding plate 142, and is used to drive the Y-direction sliding plate 142 to slide along the Y-direction on the Y-direction sliding base 141. For example, the Y-direction driving mechanism 143 may be a cylinder, which is disposed on the Y-direction sliding base 141, and the piston of the cylinder is connected to the Y-direction sliding plate 142, and the Y-direction sliding plate 142 slides along the Y-direction through the extension and contraction of the piston; or the Y-direction driving mechanism 143 may be a ball screw mechanism, and the Y-direction sliding plate 142 is driven to slide along the Y-direction through the ball screw mechanism.

[0029] In some embodiments, a Y-direction slide rail 144 may be provided on the Y-direction slide base 141 , a Y-direction slider 145 may be provided on the Y-direction slide plate 142 , and the Y-direction slider 145 cooperates with the Y-direction slide rail 144 to slide on the Y-direction slide rail 144 .

[0030] like Figure 3 As shown, in some embodiments, the rotation and pitch device 150 may include a first rotation device 151 and a first pitch device 152, the first pitch device 152 is arranged on the first rotation device 151, the first rotation device 151 is used to rotate the first pitch device 152 around the Z axis, the X-axis sliding device 160 is connected to the first pitch device 152, and the first pitch device 152 is used to rotate the X-axis sliding device 160 around the Y axis, that is, pitch motion.

[0031] In some embodiments, the first rotating device 151 may include a first rotating base 1511 and a first rotating table 1512. The first rotating base 1511 is provided with a first rotating shaft (not shown in the figure) extending along the Z direction and a first rotating motor. The output shaft of the first rotating motor is connected to the first rotating shaft. The first rotating table 1512 is fixedly connected to the first rotating shaft. The first rotating motor drives the first rotating shaft to rotate, and the first rotating shaft rotates with the first rotating table 1512, thereby causing the first rotating table 1512 to rotate around the Z axis.

[0032] In some embodiments, the first pitch device 152 may include a first pitch axis 1521 arranged along the Y direction, and the first pitch axis 1521 is installed on the first rotating device 151 (for example, installed on the first turntable 1512) so that the first pitch axis 1521 can rotate around its own axis, and the X-axis sliding device 160 is fixedly connected to the first pitch axis 1521, so that the X-axis sliding device 160 rotates around the Y axis together with the first pitch axis 1521.

[0033] In some embodiments, two first pitch axis mounting seats 1522 may be provided on the first rotating device 151 , and two ends of the first pitch axis 1521 are respectively mounted on the two first pitch axis mounting seats 1522 .

[0034] In some embodiments, the first pitch device 152 may further include a first pitch motor (not shown in the figure), which is connected to the first pitch shaft 1521 to drive the first pitch shaft 1521 to rotate.

[0035] like Figure 1 As shown, in some embodiments, the X-axis sliding device 160 may include an X-axis sliding base 161 and an X-axis slide plate 162. The X-axis slide plate 162 is slidably connected to the X-axis sliding base 161 and can slide along the X-axis relative to the X-axis sliding base 161. Two moving mechanisms 163 are provided on the X-axis slide plate 162. The moving mechanisms 163 are used to connect with the robot arm 200 to drive the robot arm 200 to move along the X-axis (i.e., the direction close to or away from the panel 120); when in use, the robot arm 200 can be moved along the X-axis by sliding the X-axis slide plate 162. After moving to the maximum distance, the robot arm 200 is further moved along the X-axis by the moving mechanism 163.

[0036] In some embodiments, the X-axis sliding base 161 and the X-axis sliding plate 162 can be slidably connected by the cooperation of a slider and a slide rail, that is, a slider is set on one of them and a slide rail is set on the other, and the slider can slide along the slide rail to achieve a sliding connection between the two.

[0037] In some embodiments, an X-direction driving mechanism 164 may be provided on the X-direction sliding base 161 or the X-direction sliding plate 162 to drive the X-direction sliding plate 162 to slide along the X-direction on the X-direction sliding base 161. For example, the X-direction driving mechanism 164 may be a cylinder, a ball screw or any other suitable driving mechanism.

[0038] like Figure 4 As shown, in some embodiments, the moving mechanism 163 includes a moving bracket 1631, the moving bracket 1631 has a through mounting groove 1632, and a plurality of (e.g., four) rollers 1633 are installed in the mounting groove 1632, and the rollers 1633 are arranged relative to each other to define an opening 1634 for the robot 200 to pass through; the moving bracket 1631 may be provided with a plurality of roller motors (not shown in the figure), which are respectively connected to the plurality of rollers 1633, and are used to drive the plurality of rollers 1633 to rotate. When in use, the robot 200 passes through the openings 1634 that pass through the two moving mechanisms 163 at the same time, and is supported by the rollers 1633. When the robot 200 needs to be moved, the rollers 1633 are driven to rotate by the roller motors. Since the rollers 1633 and the robot 200 are in contact with each other, the robot 200 moves along the X direction under the action of friction.

[0039] The blocking robot of the utility model embodiment is installed with a multi-degree-of-freedom fixed seat 100, whose panel 120 is fixed on the population 410, and the bottom plate 110 is provided with a lifting device 130, a Y-axis sliding device 140, a rotation and pitching device 150 and an X-axis sliding device 160 in sequence, so that the robot arm 200 can realize multiple degrees of freedom movements such as lifting, Y-axis movement, rotation and pitching, and X-axis movement, thereby reducing the movement degrees of freedom and volume of the robot arm 200 itself, and reducing the difficulty of the robot arm 200 and the blocking plate 300 to enter the population.

[0040] The above is only a preferred embodiment of the utility model, and is not intended to limit the scope of the utility model. The above embodiments of the utility model can also be modified in various ways. That is, all simple, equivalent changes and modifications made according to the claims and the contents of the specification of the utility model application fall within the scope of protection of the claims of the utility model patent. The conventional technical contents are not described in detail in the utility model.

Claims

1. A multi-degree-of-freedom fixing seat for installing a blocking robot, characterized in that: It comprises a bottom plate and a panel for fixing to the inlet of a steam generator, wherein the bottom plate is fixedly connected to the panel, the panel has a through hole aligned with the inlet, a lifting device is arranged on the bottom plate, a Y-axis sliding device is arranged on the lifting device, a rotating and pitching device is arranged on the Y-axis sliding device, and an X-axis sliding device is arranged on the rotating and pitching device.

2. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 1, characterized in that: The lifting device includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a platform and a driving shaft. The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are parallel to each other, the first connecting rod and the second connecting rod are arranged opposite to each other, the driving shaft is installed on the base plate, the bottom end of the first connecting rod and the bottom end of the second connecting rod are fixedly connected to the driving shaft, the third connecting rod and the fourth connecting rod are arranged opposite to each other, the bottom end of the third connecting rod and the bottom end of the fourth connecting rod are hinged to the base plate, the top end of the first connecting rod, the top end of the second connecting rod, the top end of the third connecting rod and the top end of the fourth connecting rod are connected to the platform; the Y-axis sliding device is arranged on the platform.

3. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 2, characterized in that: The lifting device also includes a lifting motor, which is arranged on the bottom plate and connected to the driving shaft.

4. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 1, characterized in that: The Y-direction sliding device comprises a Y-direction sliding base and a Y-direction slide plate, the Y-direction sliding base is fixed on the lifting device, the Y-direction slide plate is slidably connected to the Y-direction sliding base, and the rotation and pitching device is arranged on the Y-direction slide plate.

5. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 4, characterized in that: The Y-direction sliding device further comprises a Y-direction driving mechanism, and the Y-direction driving mechanism is configured to drive the Y-direction sliding plate to slide along the Y-direction on the Y-direction sliding base.

6. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 1, characterized in that: The slewing and pitching device comprises a first slewing device and a first pitching device, wherein the first pitching device is arranged on the first slewing device, and the first slewing device is used to make the first pitching device rotate around the Z axis, and the X-direction sliding device is connected to the first pitching device, and the first pitching device is arranged to make the X-direction sliding device rotate around the Y axis.

7. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 6, characterized in that: The first rotating device includes a first rotating base and a first rotating table. The first rotating base is provided with a first rotating shaft extending along the Z direction and a first rotating motor. The first rotating motor is connected to the first rotating shaft. The first rotating table is fixedly connected to the first rotating shaft.

8. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 7, characterized in that: The first pitch device includes a first pitch axis and a first pitch motor arranged along the Y direction, the first pitch axis is mounted on the first rotating table, the first pitch motor is connected to the first pitch axis, and the X-direction sliding device is fixedly connected to the first pitch axis.

9. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 1, characterized in that: The X-direction sliding device includes an X-direction sliding base, an X-direction slide plate and an X-direction driving mechanism. The X-direction slide plate is slidably connected to the X-direction sliding base. Two moving mechanisms are provided on the X-direction slide plate. The two moving mechanisms are configured to be connected to the robotic arm to drive the robotic arm to move along the X-direction; the X-direction driving mechanism is configured to drive the X-direction slide plate to slide along the X-direction on the X-direction sliding base.

10. The multi-degree-of-freedom fixing seat for mounting a blocking robot according to claim 9, characterized in that: The moving mechanism includes a moving bracket, which has a through installation groove, in which a plurality of rollers are installed, and the rollers are arranged relative to each other to define an opening for the mechanical arm to pass through; the moving bracket is provided with a plurality of roller motors respectively connected to the rollers to drive the rollers to rotate.

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