Reactor core graphite gripper structure and reactor core graphite gripping device comprising same

Abstract

The utility model discloses a reactor core graphite gripper structure and a reactor core graphite gripping device comprising the same, and relates to the technical field of gripping, the reactor core graphite gripper structure comprises a driving mechanism, a gripping component and a plurality of pressure sensors, the gripping component comprises a plurality of fingers and a plurality of elastic materials, the driving mechanism is connected to the fingers, one end of the pressure sensor is connected to the driving mechanism, the other end of the pressure sensor abuts against the fingers, one side of the elastic material is connected to the fingers, and the other side of the elastic material abuts against the fingers. The other side of the elastic material is exposed out of the outer surface of the finger and used for being attached to and abutting against the outer surface of graphite. The clamping force does not damage the graphite in direct contact, so that the damage to the graphite is effectively avoided on the premise of ensuring the safe grabbing of the graphite, and the grabbing and assembling quality of the reactor core graphite is further improved; and meanwhile, the reliability is ensured, the manufacturing cost is reduced, and a powerful guarantee is provided for safe operation of the nuclear reactor.

Description

Technical Field

[0001] The utility model relates to the technical field of grasping, in particular to a core graphite grasping structure and a core graphite grasping device comprising the same. Background Art

[0002] As a new type of nuclear power generation device, the small modular molten salt reactor represents an important innovation direction of nuclear energy technology. Its compact reactor body design not only improves the efficiency and safety of the reactor, but also provides strong support for the further development of nuclear energy technology. This innovative reactor design helps to promote the continuous progress of nuclear energy technology and open up a new path for future energy development.

[0003] The compact body of the small modular molten salt reactor consists of three parts: the core module, the barrel assembly module and the integrated top module. The core module mainly performs nuclear reactions to generate the heat required for subsequent power generation, and the graphite in the core and the core periphery is mainly used for heat conduction. Its assembly quality is of great significance to improving the heat exchange efficiency of the nuclear reactor.

[0004] In the workshop assembly process, the grabbing and assembly of core graphite is a complex and critical task. In view of the specific assembly requirements of core graphite, the following technical difficulties are faced:

[0005] (1) The graphite assembly space is 70mmx20mm, and the weight of graphite exceeds 100 kilograms. Faced with the situation of narrow space and heavy load, it is very difficult to design the gripper;

[0006] (2) As a lubricant, graphite itself is relatively smooth and has a low friction coefficient when in contact with parts. At the same time, the self-lubricating property of graphite causes the attenuation of the friction coefficient between graphite and the gripper, which reduces the reliability of the system and places higher requirements on the installation process.

[0007] (3) Nuclear-grade graphite requires non-destructive assembly. While placing reliability requirements on the system, it is also necessary to avoid damage to the graphite by the gripper, which places strict requirements on the gripper material.

[0008] In view of the special physical properties of core graphite and the special installation requirements of nuclear-grade graphite, there are currently no graphite grippers on the market that can solve the above problems. Utility Model Content

[0009] The technical problem to be solved by the utility model is to overcome the defects of the existing grabbing and assembling of core graphite that the graphite is easily damaged and the reliability is poor, and to provide a core graphite gripper structure and a core graphite gripping device containing the same.

[0010] The utility model solves the above technical problems through the following technical solutions:

[0011] A core graphite gripper structure comprises a driving mechanism, a gripping component and a plurality of pressure sensors, the gripping component comprises a plurality of fingers and a plurality of elastic materials, the driving mechanism is connected to the plurality of fingers and is used to drive the plurality of fingers to move closer to each other or to open apart from each other, the plurality of pressure sensors, the plurality of fingers and the plurality of elastic materials correspond one to one, one end of the pressure sensor is connected to the driving mechanism, the other end of the pressure sensor abuts against the fingers, one side of the elastic material is connected to the fingers, the other side of the elastic material is exposed on the outer surface of the fingers and is used to fit against the outer surface of graphite.

[0012] Preferably, the inner side surface of the finger has a groove, and the elastic material is arranged in the groove.

[0013] Preferably, the gripping component further comprises a metal connecting plate, one side of the metal connecting plate is connected to the inner surface of the groove of the finger, and the other side of the metal connecting plate is connected to the elastic material.

[0014] Preferably, the elastic material is coated on the outer surface of the finger.

[0015] Preferably, a side of the elastic material facing the graphite is a curved surface or a flat surface.

[0016] Preferably, the gripping component further comprises a graphite positioning piece, the top of the graphite positioning piece is connected to the driving mechanism and is located between the plurality of fingers, and the bottom of the graphite positioning piece is used to extend into the positioning hole of the graphite.

[0017] Preferably, the core graphite gripper structure further includes a plurality of stroke positioning members, the plurality of stroke positioning members correspond one-to-one to the plurality of fingers, the stroke positioning members are connected to the driving mechanism, and the stroke positioning members are used to abut against a side of the fingers facing away from the graphite.

[0018] A core graphite gripping device comprises the core graphite gripping structure as described above.

[0019] Preferably, the core graphite grasping device includes a truss robot and a transmission mechanism, the truss robot is connected to one end of the transmission mechanism and is used to drive the transmission mechanism to move along the X-axis, Y-axis, and Z-axis, and the other end of the transmission mechanism is connected to the drive mechanism and is used to drive the rotation of the drive mechanism.

[0020] Preferably, the transmission mechanism includes a horizontal transmission mechanism and a vertical transmission mechanism, the truss robot is connected to the top of the horizontal transmission mechanism, the movable end of the horizontal transmission mechanism is connected to the vertical transmission mechanism and is used to drive the rotation of the vertical transmission mechanism, and the bottom of the vertical transmission mechanism is connected to the driving mechanism and is used to drive the rotation of the driving mechanism.

[0021] On the basis of conforming to the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present utility model.

[0022] The positive and progressive effects of the utility model are:

[0023] The core graphite gripper structure and the core graphite gripping device including the same of the utility model make the gripping component meet the requirements of clamping graphite through the pressure sensor, and the clamping force will not cause damage to the graphite in direct contact. By the elastic material contacting and abutting against the outer surface of the graphite, under the premise of ensuring the safe gripping of the graphite, damage to the graphite is effectively avoided, and the quality of gripping and assembling the core graphite is further improved; at the same time, reliability is guaranteed, manufacturing costs are reduced, and a strong guarantee is provided for the safe operation of the nuclear reactor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of the core graphite gripper structure of Example 1 of the utility model.

[0025] Figure 2 This is a structural schematic diagram of the core graphite gripper structure of Example 1 of the utility model when grabbing graphite.

[0026] Figure 3 This is a structural schematic diagram of Example 1 of the utility model when detecting whether there is relative movement between the core graphite gripper structure and the graphite.

[0027] Figure 4 This is a schematic structural diagram of the core graphite grabbing device of Example 1 of the utility model when calculating the maximum friction coefficient of graphite.

[0028] Figure 5 This is a structural schematic diagram of the core graphite gripper structure of Example 1 of the utility model during cleaning.

[0029] Figure 6 This is a structural schematic diagram of the fingers of the displacement monitoring component of Example 1 of the utility model detecting the core graphite gripper structure.

[0030] Figure 7 This is a schematic diagram of Example 2 of the utility model when measuring the clamping force of the grasping component.

[0031] Figure 8This is a schematic diagram of Example 2 of the utility model when measuring the friction coefficient.

[0032] Fig. 9 This is a flow chart of the core graphite assembly method of Example 2 of the utility model.

[0033] Fig.10 This is a structural schematic diagram of the core graphite gripper structure of Example 4 of the utility model.

[0034] Fig.11 It is a partially enlarged schematic diagram of the grabbing component of Example 4 of the utility model.

[0035] Fig.12 This is a schematic structural diagram of the core graphite grabbing device of Example 5 of the utility model.

[0036] Fig.13 This is a partial structural schematic diagram of the core graphite grabbing device of Example 5 of the utility model when grabbing graphite.

[0037] Fig.14 This is a structural schematic diagram of the transmission mechanism and the core graphite gripper structure of Example 5 of the utility model.

[0038] Fig.15 This is a schematic diagram of the internal structure of the transmission mechanism and the core graphite gripper structure of Example 5 of the utility model.

[0039] Fig.16 This is a structural schematic diagram of the core graphite gripper structure of Example 5 of the utility model.

[0040] Description of reference numerals:

[0041] Driving mechanism 1

[0042] Grab Part 2

[0043] Finger 21

[0044] Elastic material 22

[0045] Graphite positioning parts 23

[0046] Metal connecting plate 24

[0047] Pressure sensor 3

[0048] Friction coefficient detection component 4

[0049] Force mechanism 41

[0050] Dynamometer 42

[0051] Displacement monitoring component 5

[0052] Cleaning parts 6

[0053] Travel positioning piece 7

[0054] Graphite 10

[0055] Pressure detection component 20

[0056] Core bottom plate 30

[0057] Truss Robot 100

[0058] Transmission mechanism 200

[0059] Horizontal transmission mechanism 201

[0060] Horizontal motor cover 2011

[0061] Horizontal Motor 2012

[0062] Reducer 2013

[0063] Vertical connection flange 2014

[0064] Vertical transmission mechanism 202

[0065] Vertical motor cover 2021

[0066] Vertical Motor 2022

[0067] Coupling 2023

[0068] Grip connection flange 2024

[0069] Image acquisition system 300

[0070] First image acquisition component 301

[0071] Second image acquisition component 302 DETAILED DESCRIPTION

[0072] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments.

[0073] Example 1

[0074] like Figures 1 to 6As shown, the embodiment of the utility model discloses a core graphite grasping device, which includes a core graphite grasping structure, which includes a driving mechanism 1, a grasping component 2 and a plurality of pressure sensors 3, the grasping component 2 includes a plurality of fingers 21 and a plurality of elastic materials 22, the driving mechanism 1 is connected to the plurality of fingers 21 and is used to drive the plurality of fingers 21 to move closer to each other or to open each other, the plurality of pressure sensors 3, the plurality of fingers 21 correspond to the plurality of elastic materials 22 one by one, one end of the pressure sensor 3 is connected to the driving mechanism 1, the other end of the pressure sensor 3 abuts against the finger 21, one side of the elastic material 22 is connected to the finger 21, the other side of the elastic material 22 is exposed to the outer surface of the finger 21 and is used to fit against the outer surface of the graphite 10. The pressure sensor 3 makes the grasping component 2 meet the requirements of clamping the graphite 10, and the clamping force will not cause damage to the graphite 10 in direct contact. By making the elastic material 22 contact with the outer surface of the graphite 10, damage to the graphite 10 can be effectively avoided while ensuring the safe grasping of the graphite 10, thereby further improving the grasping and assembly quality of the core graphite 10; at the same time, reliability is ensured, manufacturing costs are reduced, and a strong guarantee is provided for the safe operation of the nuclear reactor.

[0075] The driving mechanism 1 is used to provide driving force. The driving mechanism 1 is connected to the grasping component 2 and is used to control the grasping component 2 to grasp and move the graphite 10. The driving mechanism 1 provides driving force and is used to drive multiple fingers 21 to move closer to each other, so that the grasping component 2 is used to clamp the graphite 10 through multiple fingers 21; the driving mechanism 1 provides driving force and is used to drive multiple fingers 21 to open each other, so that the grasping component 2 is used to loosen and put down the graphite 10. The elastic material 22 directly abuts against the graphite 10, so that there is no contact between the fingers 21 and the outer surface of the graphite 10. Under the premise of ensuring the rigidity of the grasping component 2, the metal fingers 21 are prevented from directly contacting the graphite 10 to cause damage. Thereby ensuring that the grasping component 2 has sufficient strength, rigidity, and stability to meet the grasping and assembly requirements of the core graphite 10.

[0076] In this embodiment, the finger 21 is made of high-strength material, and the elastic material 22 is a patch, that is, the elastic material 22 is made of rubber. During the use of the elastic material 22, the friction coefficient between the gripping component 2 and the graphite 10 will decay, and the elastic material 22 is detachably connected to the finger 21. The elastic material 22 and the finger 21 are detachably connected, so that the elastic material 22 can be disassembled and replaced, reducing costs.

[0077] Specifically, in this embodiment, the elastic material 22 is detachably connected to the finger 21 by a bolt. The inner side of the finger 21 has a groove, and the elastic material 22 is arranged in the groove. The elastic material 22 is accurately positioned and installed in the groove, and the bolt is installed and connected to the elastic material 22 and the finger 21, and the installation and connection is very convenient.

[0078] The structural form of the elastic material 22 is not unique, and is adjusted according to the structure of the graphite 10. In this embodiment, the graphite 10 is a hexagonal prism, the elastic material 22 is a cube, and the side of the elastic material 22 facing the graphite 10 is a plane. In other embodiments, the graphite 10 is cylindrical, and the side of the elastic material 22 facing the graphite 10 is an arc surface, preferably a concave arc surface, that is, the elastic material 22 and the graphite 10 are in contact with an arc structure. By replacing the elastic material 22 with different structures, graphites 10 with different structures can be grasped, and the technical effect of this structure can increase the practicality of the grasping component 2.

[0079] In this embodiment, the outer surface of the graphite 10 is hexagonal, and the number of fingers 21 is three, and the three fingers 21 are spaced apart and clamped on the outer surface of the graphite 10. Of course, in other embodiments, the number of fingers 21 may also be two, six, or other numbers, and there is no specific limitation.

[0080] The driving mechanism 1 includes a gripping body, which is connected to multiple fingers 21 and used to drive the multiple fingers 21 to move horizontally so that the multiple fingers 21 are close to each other or open to each other and are used to grip or release graphite 10. Multiple pressure sensors 3 are all connected to the gripping body.

[0081] The core graphite grasping device also includes a friction coefficient detection component 4 and a controller. The pressure sensor 3 acts on the grasping component 2 and is used to detect the clamping force of the grasping component 2 for clamping the graphite 10. The friction coefficient detection component 4 acts on the graphite 10 on the grasping component 2 and is used to detect whether there is relative movement between the grasping component 2 and the graphite 10. The controller is used to receive the detection signals emitted by the pressure sensor 3 and the friction coefficient detection component 4 and to compare them with their internal set values, so as to control the driving mechanism 1 to drive the grasping component 2 to grasp and move the graphite 10.

[0082] The driving mechanism 1 is used to provide driving force. The driving mechanism 1 is connected to the grasping component 2 and is used to control the grasping component 2 to grasp and move the graphite 10. The input end of the controller is electrically connected to the pressure sensor 3 and the friction coefficient detection component 4, and the output end of the controller is electrically connected to the driving mechanism 1. When the gripping component 2 grips and moves the graphite 10, the gripping force of the gripping component 2 gripping the graphite 10 is adjusted and controlled through the pressure sensor 3, and whether there is relative movement between the gripping component 2 and the graphite 10 is detected through the friction coefficient detection component 4. The pressure sensor 3 and the friction coefficient detection component 4 transmit the detected gripping signal and friction signal to the controller, so that the output power of the driving mechanism 1 is effectively controlled through the controller, so that the driving mechanism 1 drives the gripping force of the gripping component 2 to a suitable range to meet the requirements of gripping graphite, and the gripping force will not cause damage to the graphite 10 in direct contact; at the same time, the friction signal is used to determine that there is no relative movement between the gripping component 2 and the graphite 10, so that the gripping component 2 can stably grip and move the graphite 10 without falling, which greatly improves the safety and reliability of the core graphite gripping device. The pressure sensor 3 and the friction coefficient detection component 4 are respectively used to adjust and control the clamping force of the gripping component 2 to clamp the graphite 10 and detect whether the gripping component 2 and the graphite 10 are moving, so that the gripping component 2 can bear the weight of the graphite 10 and various loads in the gripping process, thereby controlling the driving mechanism 1 and the gripping component 2 to grip and move the graphite 10 to realize the assembly of the graphite 10; while ensuring the gripping and assembly and effectively avoiding damage to the graphite 10, the quality of the gripping and assembly of the core graphite 10 is improved, and at the same time, reliability is guaranteed, manufacturing costs are reduced, and a strong guarantee is provided for the safe operation of the nuclear reactor.

[0083] like Figure 3 As shown, the friction coefficient detection component 4 includes a force-applying mechanism 41, and the force-applying mechanism 41 and the grasping component 2 act on the two ends of the graphite 10 respectively to detect whether there is relative movement between the grasping component 2 and the graphite 10. Specifically, the grasping component 2 is used to grasp the top of the graphite 10, and the force-applying mechanism 41 is located at the bottom of the graphite 10 and applies an upward force to the bottom of the graphite 10. When the force-applying mechanism 41 applies a certain force and detects that there is relative movement between the grasping component 2 and the graphite 10, it indicates that the friction coefficient between the grasping component 2 and the graphite 10 is small, and there is a risk of graphite 10 falling; the elastic material 22 can be replaced to ensure that the graphite 10 does not fall. When the force-applying mechanism 41 applies a certain force and detects that there is no relative movement between the grasping component 2 and the graphite 10, it indicates that the friction coefficient between the grasping component 2 and the graphite 10 is good and there is no risk of graphite 10 falling, so that the graphite 10 can be grasped and assembled.

[0084] In the present embodiment, the friction coefficient detection component 4 also includes an image detection component, which is oriented toward the gripping component 2 and is used to capture whether the gripping component 2 captures the graphite 10 and whether the gripping component 2 and the graphite 10 move relative to each other, and the image detection component is electrically connected to the controller. The image detection component transmits the captured image signal to the controller, and the controller is used to receive the image signal and make a judgment. The image detection component is used to capture whether the gripping component 2 captures the graphite 10, so that no misoperation occurs, and the implementation is more stable and reliable. The image detection component is used to capture whether the gripping component 2 and the graphite 10 move relative to each other, so that it can be concluded whether the elastic material 22 is replaced or the graphite 10 is captured and assembled. Among them, the image detection component can be a CCD camera.

[0085] Of course, in other embodiments, the friction coefficient detection component 4 can also be a sensor, which is arranged on the gripping component 2 and is used to detect whether the gripping component 2 grips the graphite 10 and whether the gripping component 2 and the graphite 10 move relative to each other.

[0086] like Figure 5 As shown, the core graphite grabbing device also includes a cleaning component 6, which extends into the grabbing component 2 and is used to clean the multiple elastic materials 22. When the force-applying mechanism 41 applies a certain force, relative movement occurs between the grabbing component 2 and the graphite 10 and / or the image detection component captures the relative movement between the grabbing component 2 and the graphite 10, indicating that the friction coefficient between the grabbing component 2 and the graphite 10 is greatly attenuated. The cleaning component 6 extends into the grabbing component 2 and is used to clean the multiple elastic materials 22, so that the friction coefficient between the grabbing component 2 and the graphite 10 is increased to ensure that there is no relative movement between the grabbing component 2 and the graphite 10, thereby achieving the grabbing and assembly of the graphite 10.

[0087] The cleaning component 6 can be cleaned by a brush. The cleaning component 6 includes a rotary motor, a coupling and a brush. The upper and lower ends of the coupling are respectively connected to the brush and the rotary motor. The rotary motor provides a rotary driving force and drives the brush to rotate, thereby realizing the circular rotation of the brush, thereby cleaning the residual graphite 10 on the multiple elastic materials 22.

[0088] When the gripping component 2 is gripping the graphite 10, the top of the finger 21 moves along with the gripper body toward the center of the gripper body, and the bottom of the finger 21 is clamped against the graphite 10 and is subjected to the reverse force of the graphite 10, so that the bottom moves outward, causing a gap between the bottom area of ​​the finger 21 and the graphite 10. The following adverse effects will actually be caused: 1. As the clamping force of the gripper body increases, the gap at the bottom of the finger 21 will become larger and larger. In extreme cases, the finger 21 will only be in line contact with the graphite 10, which can easily cause the graphite 10 to fall off during assembly, bringing greater assembly risks. 2. The greater the clamping force, the greater the probability of damage to the graphite 10. Therefore, the clamping force needs to be detected online. In this embodiment, if Figure 6 As shown, the core graphite grasping device also includes a displacement monitoring component 5, which is oriented toward the bottom of the finger 21 and is used to detect the radial displacement of the finger 21. In the process of grasping and moving the graphite 10, the radial displacement of the bottom of the finger 21 is detected by the displacement monitoring component 5, and the magnitude of the clamping force is obtained through the control algorithm. Among them, the displacement monitoring component 5 can be a displacement laser sensor. The displacement monitoring component 5 detects the radial displacement of the working area of ​​the elastic material 22 in the finger 21.

[0089] like Figure 4 As shown, the friction coefficient detection component 4 includes a dynamometer 42. The dynamometer 42 and the gripping component 2 act on the two ends of the graphite 10 respectively, so that the gripping component 2 and the graphite 10 move relative to each other. The dynamometer 42 is electrically connected to the controller. Specifically, the gripping component 2 is used to grip the top of the graphite 10. The dynamometer 42 is located at the bottom of the graphite 10. The gripping component 2 applies a downward force to the top of the graphite 10. By gradually increasing the applied force until the gripping component 2 and the graphite 10 move relative to each other, the magnitude of the applied force is recorded by the dynamometer 42. The dynamometer 42 transmits the detected numerical signal to the controller. The controller is used to receive the signal sent by the dynamometer 42 and calculate the friction coefficient. The formula: thrust = gravity + friction force = gravity + clamping force × friction coefficient is used to calculate the friction coefficient between the graphite 10 and the elastic material 22. The value of the friction coefficient is used as the initial friction coefficient, and the initial friction coefficient is the maximum friction coefficient.

[0090] Among them, the friction force is greater than the gravity to ensure that the graphite 10 will not fall. When the maximum clamping force of the graphite 10 is clamped by the gripping component 2 without damaging the graphite 10, the minimum friction coefficient can be obtained by the gravity of the graphite 10 itself and the maximum clamping force. During the use of the gripping component 2, the friction coefficient between the elastic material 22 and the graphite 10 will decay. The controller is electrically connected to the force-applying mechanism 41 and is used to drive the output power of the force-applying mechanism 41. During the use of the core graphite gripping device, the force applied by the force-applying mechanism 41 to the graphite 10 is less than the force of the friction coefficient obtained by the dynamometer 42 and greater than the force corresponding to the minimum friction coefficient. Whether the force-applying mechanism 41 can drive the graphite 10 to move relative to the gripping component 2 can be determined to determine whether the core graphite gripping device can grip and assemble the graphite 10, or clean multiple elastic materials 22 through the cleaning component 6, or replace multiple elastic materials 22.

[0091] like Figure 1 and Figure 2 As shown, the gripping member 2 further includes a graphite positioning member 23, the top of which is connected to the driving mechanism 1 and is located between the plurality of fingers 21, and the bottom of which is used to extend into the positioning hole of the graphite 10. The graphite positioning member 23 has a positioning function and extends into the positioning hole of the graphite 10, so that the gripping member 2 can achieve precise positioning between the gripping member 2 and the graphite 10 when gripping the graphite 10, further ensuring the stability of the core graphite gripping device when in use.

[0092] Specifically, the graphite positioning member 23 is connected to the gripper body of the driving mechanism 1 by bolts and is located between the multiple fingers 21. The multiple fingers 21 move in the direction of approaching or moving away from the graphite positioning member 23 to achieve mutual rapprochement or mutual splay. The bottom of the graphite positioning member 23 is processed with a positioning plane, which extends into the positioning hole of the graphite 10 and cooperates with the positioning hole to achieve the positioning of the gripping member 2 and the graphite 10. The graphite positioning member 23 cooperates with the waist-shaped hole of the graphite 10 through its own waist-shaped hole structure, which can improve the positioning accuracy between the gripping member 2 and the graphite 10. The material of the graphite positioning member 23 is polytetrafluoroethylene, which can effectively reduce the friction generated during the contact between the graphite positioning member 23 and the graphite 10, thereby reducing the damage to the graphite 10.

[0093] Among them, one end of the pressure sensor is connected to the gripping body by bolts, and the other end is against the finger 21, and the finger 21 is connected to the driving mechanism 1 by bolts. When the driving mechanism 1 drives the multiple fingers 21 to tighten, the multiple fingers 21 will hit the pressure sensor on the gripping body to measure the actual clamping force of the gripping component 2. The clamping force must meet the design requirements, otherwise the graphite 10 will be dropped. If the clamping force does not meet the design requirements, it is necessary to troubleshoot the cause of the clamping force. After the troubleshooting is completed, the graphite 10 is clamped again. There are multiple pressure sensors 3, and the multiple pressure sensors 3 correspond to the multiple fingers 21 one by one.

[0094] A sensor can be installed at the bottom of the graphite positioning piece 23, which detects whether there is graphite 10 under the grasping part 2 and determines whether the axial position of the graphite 10 on the grasping part 2 is correct; when the position is correct, the bottom of the grasping part 2 contains graphite 10, and the fingers 21 are retracted to clamp the graphite 10.

[0095] Example 2

[0096] The present utility model also discloses a core graphite assembly method, which utilizes the core graphite grabbing device described in Example 1 to realize the assembly of graphite 10. Fig. 9 As shown, the core graphite assembly method includes the following steps: S1, adjusting and controlling the clamping force of the core graphite grasping device to be within an appropriate range and used to grasp the graphite 10; S2, detecting whether there is relative movement between the core graphite grasping device and the graphite 10; if there is no relative movement, controlling the core graphite grasping device to move the graphite 10 for assembly; if relative movement occurs, cleaning or replacing the surface of the core graphite grasping device for clamping the graphite 10, and then returning to step S1.

[0097] The core graphite grabbing device is controlled to grab graphite 10. In the process of grabbing graphite 10, the pressure sensor 3 and the friction coefficient detection component 4 are used to adjust the gripping force of the gripping component 2 to grip the graphite 10 and detect whether the gripping component 2 and the graphite 10 move, so as to detect that the gripping force of the core graphite grabbing device to grip the graphite 10 is within a suitable range to meet the requirements of gripping graphite, and the gripping force will not cause damage to the graphite 10 in direct contact. The friction coefficient detection component 4 detects whether the core graphite grabbing device and the graphite 10 move relative to each other. If there is no relative movement between the core graphite grabbing device and the graphite 10, the core graphite grabbing device is controlled to move the graphite 10 for assembly. The gripping component 2 can bear the weight of the graphite 10 and various loads in the gripping process, so as to control the driving mechanism 1 and the gripping component 2 to grip and move the graphite 10 to realize the assembly of the graphite 10. The method ensures the grasping and assembly and effectively avoids the damage of the graphite 10, improves the grasping and assembly quality of the core graphite 10, and at the same time, ensures the reliability, reduces the manufacturing cost, and provides a strong guarantee for the safe operation of the nuclear reactor.

[0098] If the core graphite grabbing device and the graphite 10 move relative to each other, the surface of the elastic material 22 in the core graphite grabbing device for clamping the graphite 10 is cleaned or replaced, and then the process returns to step S1. By cleaning or replacing the elastic material 22, the friction coefficient of the surface of the elastic material 22 is increased, thereby ensuring that the graphite 10 will not fall off when it is grabbed and assembled later.

[0099] The step S2 specifically includes the following steps: S21, controlling the grabbing component 2 to move the graphite 10 to the force applying mechanism 41, so that the force applying mechanism 41 applies force to the graphite 10; S22, the image detection component is used to capture whether the grabbing component 2 and the graphite 10 move relative to each other. The grabbing component 2 grabs the graphite 10 to the force applying mechanism 41 of the friction coefficient detection component 4, and the image detection component detects whether the core graphite grabbing device and the graphite 10 move relative to each other, ensuring the grabbing and assembly and effectively avoiding damage to the graphite 10, improving the quality of grabbing and assembly of the core graphite 10, and at the same time, ensuring reliability, reducing manufacturing costs, and providing strong protection for the safe operation of the nuclear reactor.

[0100] The core graphite assembly method in this embodiment involves the evaluation of the gripping and handling state of the graphite 10, which is used to assess the friction coefficient between the gripper and the graphite 10. Through reasonable structural design and good assembly process methods, it can be ensured that the core graphite gripping device has sufficient strength, rigidity, and stability to meet the gripping and assembly requirements of the core graphite 10.

[0101] like Figure 7 and Figure 8As shown, the specific steps for determining the appropriate range are: S01, determining the minimum friction coefficient based on the material properties of graphite 10; S02, determining the maximum clamping force based on the minimum friction coefficient; S03, controlling the core graphite grasping device to grasp and move the graphite 10 on the dynamometer 42 for the first time; when the graphite 10 and the grasping component 2 move relative to each other, calculating the maximum friction coefficient and the minimum clamping force of the core graphite grasping device according to the force value of the dynamometer 42; S04, determining the appropriate range based on the minimum clamping force, the maximum clamping force and the clamping of the graphite 10 without damage.

[0102] The minimum friction coefficient and the maximum clamping force of the core graphite gripping device can be determined by the friction movement between the two graphites 10 assembled as needed, and then the gripping component 2 is controlled to grip and move the graphite 10 on the dynamometer 42; when the graphite 10 and the gripping component 2 move relative to each other, the maximum friction coefficient and the minimum clamping force of the core graphite gripping device gripping the graphite 10 are calculated according to the force value of the dynamometer 42 and the clamping force value of the pressure detection component 20, and the appropriate range is determined according to the minimum clamping force, the maximum clamping force and the clamping without damage to the graphite 10. Among them, the appropriate range can give a certain safety margin.

[0103] like Figure 7 As shown, the clamping force of the gripping component 2 is measured by the pressure detection component 20 to ensure the accuracy of the core graphite gripping device. Specifically, the multiple fingers 21 do not need to install multiple elastic materials 22 first, and the pressure detection component 20 is directly clamped by the multiple fingers 21. The clamping force of the gripping component 2 is measured by the pressure detection component 20, and the clamping force is sufficient to not cause indentation after contacting the graphite 10. Among them, the pressure detection component 20 can be a pressure sensor.

[0104] like Figure 8 As shown, multiple elastic materials 22 are installed on multiple fingers 21. In step S03, the gripping component 2 is used to clamp the graphite 10, the gripping component 2 clamps the bottom of the graphite 10, the dynamometer 42 is against the top of the graphite 10, and the dynamometer 42 is used to provide a downward thrust to the graphite 10, and the gripping component 2 provides a clamping force. At the same time, friction is generated by the contact between multiple elastic materials 22 and the graphite 10. The thrust of the dynamometer 42 utilizes the weight of the graphite 10 itself and overcomes the friction generated between the multiple elastic materials 22 and the graphite 10. After that, the graphite 10 moves relative to the gripping component 2, and the value of the dynamometer 42 at the last moment before the graphite 10 moves relative to the gripping component 2 is recorded, and the friction coefficient is calculated using the formula. The value of the friction coefficient is used as the initial friction coefficient, and the initial friction coefficient is the maximum friction coefficient and the minimum clamping force. The positions of the gripping component 2 and the dynamometer 42 may also be reversed, that is, the gripping component 2 clamps the top of the graphite 10 , and the dynamometer 42 abuts against the bottom of the graphite 10 .

[0105] In step S2, if the relative movement occurs for the first time, the surface of the elastic material 22 in the core graphite grasping device is cleaned by the cleaning component 6, and then the process returns to step S1. Specifically, if the core graphite grasping device and the graphite 10 are relatively moved, the core graphite grasping device sends the graphite 10 to the designated area and loosens it, and then the driving mechanism 1 drives the grasping component 2 to move to the cleaning component 6 and sleeves on the cleaning component 6, and the cleaning component 6 cleans the clamping surface of the grasping component 2, that is, cleans the clamping surface of multiple elastic materials 22, and re-clamps the graphite 10 after the cleaning is completed.

[0106] In step S2, if relative movement occurs multiple times, the elastic material 22 in the core graphite grasping device is replaced, and then the process returns to step S1. For the grasping component 2 after the first cleaning, the grasping component 2 is controlled to grasp the graphite 10 again, and then the graphite 10 is sent to the force-applying mechanism 41 on the detection platform for re-inspection. If there is no relative movement between the grasping component 2 and the graphite 10, the graphite 10 is assembled. If there is relative movement between the grasping component 2 and the graphite 10, the graphite 10 is sent to the isolation station, and the elastic material 22 on the grasping component 2 is replaced. After the replacement is completed, the graphite 10 is clamped again. Among them, the cleaning times of the multiple elastic materials 22 on the grasping component 2 can be once or multiple times, and the specific number of times can be unlimited.

[0107] When the core graphite grabbing device grabs graphite for the first time, after implementing step S1, the core graphite grabbing device is controlled to move the graphite for assembly. When the core graphite grabbing device is used for the first time, there is no dust impurity of graphite 10 on the elastic material 22, so that the friction coefficient of the elastic material 22 is the largest at this time. The core graphite grabbing device will directly adjust the clamping force to grab the graphite 10 and move the graphite 10 for assembly, so there is no need to use the friction coefficient detection component 4 to detect whether the core graphite grabbing device and the graphite 10 are relatively moved, thereby improving the assembly efficiency.

[0108] When the core graphite grabbing device with the replaced elastic material 22 grabs the graphite 10 for the first time, after the step S1 is implemented, the core graphite grabbing device is controlled to move the graphite 10 for assembly. After the elastic material 22 is replaced, there is no dust impurity of the graphite 10 on the elastic material 22 at this time, and the friction coefficient of the elastic material 22 is the largest. The core graphite grabbing device will directly adjust the clamping force to grab the graphite 10 and move the graphite 10 for assembly, so there is no need to use the friction coefficient detection component 4 to detect whether the core graphite grabbing device and the graphite 10 are moving relative to each other, thereby improving the assembly efficiency.

[0109] When the core graphite gripping device is gripping the graphite 10 and / or the core graphite gripping device is moving the graphite 10, the displacement monitoring component 5 detects the radial displacement of the working area of ​​the elastic material 22. The displacement monitoring component 5 detects the radial displacement of the working area of ​​the elastic material 22, and realizes the online detection of clamping, and measures the radial displacement of the working area of ​​the elastic material 22 in the finger 21 after the finger 21 grips the graphite 10. At the same time, on the basis of retaining the safety factor, the system is given the optimal clamping force, so that the stability is higher during the grasping and assembly process.

[0110] In step S1, if the clamping force of the core graphite gripping device is adjusted and controlled to be not within the appropriate range, the fault is checked until the clamping force of the core graphite gripping device is within the appropriate range. Specifically, the actual clamping force of the gripping component 2 is measured by the pressure sensor 3. If the clamping force does not meet the design requirements, the core graphite gripping device sends the graphite 10 to the designated area and releases it, and then the cause of the clamping force not meeting the requirements is checked. After the fault is eliminated, the graphite 10 is clamped again until the clamping force of the core graphite gripping device is within the appropriate range.

[0111] Example 3

[0112] In response to the technical difficulties in non-destructive assembly of nuclear-grade graphite involved in the background technology, the utility model conducts material selection tests on the elastic material 22 of the core graphite grasping device, that is, by conducting material selection tests on the contact material of the graphite 10, so as to ensure the safe grasping of the graphite 10 while avoiding damage to the graphite 10.

[0113] In this embodiment 3, the elastic material 22 is tested for the friction coefficient by comparing the selected materials nylon, glass fiber, aluminum, brass, and rubber. The test results of the friction coefficient test show that in terms of the hardness of the materials: brass>aluminum>glass fiber>nylon>rubber. In terms of processing accuracy, brass and aluminum have higher hardness and the highest processing accuracy, but a smaller friction coefficient; glass fiber and nylon have lower hardness than brass and aluminum, and the processing accuracy is not easy to guarantee, which can easily cause damage to the graphite 10; rubber has the lowest processing accuracy, but the largest friction coefficient, and the material is relatively soft, which plays a role in buffering the positive pressure of the graphite 10. Combined with the test results, rubber is selected as the contact material of the graphite 10. Therefore, preferably, the elastic material 22 is a patch, that is, the material of the elastic material 22 is rubber.

[0114] Example 4

[0115] like Fig.10 and Fig.11As shown, the same parts of the core graphite grasping device in this embodiment 4 as those in embodiment 1 will not be repeated, and only the different parts will be described. In this embodiment 4, the grasping component 2 also includes a metal connecting plate 24, one side of the metal connecting plate 24 is connected to the inner surface of the groove of the finger 21, and the other side of the metal connecting plate 24 is connected to the elastic material 22. The elastic material 22 is detachably connected to the other side of the metal connecting plate 24, and the elastic material 22 is installed and connected to the finger 21 through the metal connecting plate 24, so that the connection stability is high. At the same time, the inner side of the finger 21 has a groove, and the metal connecting plate 24 is embedded in the groove, so that the metal connecting plate 24 and the elastic material 22 are accurately positioned and installed in the groove, and the bolts are installed and connected to the metal connecting plate 24, the elastic material 22 and the finger 21, and the installation and connection are very convenient.

[0116] The material of the metal connecting plate 24 is an alloy steel plate. The elastic material 22 is bonded to the metal connecting plate 24, and the metal connecting plate 24 is detachably connected to the finger 21 by bolts. The elastic material 22 is connected to the metal connecting plate 24 by bonding, and the installation and connection are very convenient. A plurality of through holes are provided on the metal connecting plate 24 and the elastic material 22, and the plurality of through holes are connected to the finger 21 by bolts, and the installation and disassembly are very convenient. Among them, the through holes can be threaded holes, which are bonded to the alloy steel plate by the elastic material 22, and then the threaded holes are processed and connected to the finger 21 by bolts. The utility model selects and tests the contact material of the graphite 10, and the elastic material 22 contacts the graphite 10 to avoid damage to the graphite 10 during clamping and handling. At the same time, the contact surface can provide a larger friction coefficient to ensure that the graphite 10 is safely grasped and avoid damage to the graphite 10.

[0117] The elastic material 22 protrudes from the finger 21 and is exposed on the outer surface of the finger 21 and contacts the graphite 10 alone, serving as the main bearing area. The size and thickness of the area need to be combined with the deformation of the finger 21 after clamping the graphite 10 to ensure that there is no gap between the elastic material 22 and the graphite 10. The elastic material 22 is a consumable and can be replaced as the number of clamping increases, avoiding the need to directly replace the finger 21 and reducing the use cost of the product.

[0118] The material of the finger 21 is a high-strength material, and the elastic material 22 is connected to the finger 21 by a flat-head bolt to prevent the finger 21 from directly contacting the graphite 10. The finger 21 can be made of high-strength alloy steel, and the graphite 10 is clamped by rubber. The fitting abutment surface between the material to be tested and the metal connecting plate 24 is a plane, and the side of the material to be tested that is away from the metal connecting plate 24 is adapted to the outer surface of the graphite 10. The side of the material to be tested that is away from the metal connecting plate 24 can be a plane, an arc surface, etc. The structural design of the grabbing component 2 of the utility model fully considers the physical properties of the core graphite and the requirements for grabbing and assembling the graphite 10. Through the structural form of the finger 21 and the rubber, the metal is prevented from directly contacting the graphite 10 and causing damage while ensuring the rigidity of the grabbing component 2. At the same time, the rubber material has a certain compressibility, which can ensure that there is no gap between the gripper and the graphite 10, and ensure the effectiveness of the clamping area. The gripper finger 21 is made of high-strength alloy steel to ensure the structural strength and durability of the finger 21 during long-term use. Through reasonable structural design and material selection, the gripper can bear the weight of the graphite 10 and various loads during the grasping process, avoiding the risk of plastic deformation or fracture of the fingers 21.

[0119] Example 5

[0120] like Figures 12 to 16 As shown, the same parts of the core graphite grasping device in this embodiment 5 as those in embodiment 1 will not be repeated, and only the different parts will be described. In this embodiment 5, the core graphite grasping device includes a truss robot 100 and a transmission mechanism 200. The truss robot 100 is connected to one end of the transmission mechanism 200 and is used to drive the transmission mechanism 200 to move along the X-axis, Y-axis, and Z-axis. The other end of the transmission mechanism 200 is connected to the driving mechanism 1 and is used to drive the rotation of the driving mechanism 1. The core graphite gripper structure is used to grasp the graphite 10. The truss robot 100 provides a driving force to drive the transmission mechanism 200, the core graphite gripper structure and the graphite 10 to move along the three-axis directions of the X-axis, Y-axis, and Z-axis. The transmission mechanism 200 is used to drive the core graphite gripper structure and the graphite 10 to rotate together, realize circumferential precise positioning and axial position positioning, realize the clamping position control, and control the clamping force to meet the high-precision assembly requirements.

[0121] The transmission mechanism 200 includes a horizontal transmission mechanism 201 and a vertical transmission mechanism 202. The truss robot 100 is connected to the top of the horizontal transmission mechanism 201. The movable end of the horizontal transmission mechanism 201 is connected to the vertical transmission mechanism 202 and is used to drive the rotation of the vertical transmission mechanism 202. The bottom of the vertical transmission mechanism 202 is connected to the driving mechanism 1 and is used to drive the rotation of the driving mechanism 1. The horizontal transmission mechanism 201 provides a driving force for driving the vertical transmission mechanism 202, the core graphite gripper structure and the graphite 10 to rotate along the vertical plane. The vertical transmission mechanism 202 provides a driving force for driving the core graphite gripper structure and the graphite 10 to rotate along the horizontal plane, so as to achieve accurate positioning and grasping of the core graphite gripper structure and accurate placement of the graphite 10.

[0122] Specifically, Fig.14 and Fig.15 As shown, the horizontal transmission mechanism 201 includes a horizontal motor housing 2011, a horizontal motor 2012, a reducer 2013 and a vertical connection flange 2014. The horizontal motor 2012 and the reducer 2013 are connected inside the horizontal motor housing 2011. The vertical connection flange 2014 is located outside the horizontal motor housing 2011 and connected to the outer surface of the vertical transmission mechanism 202. The input end and the output end of the reducer 2013 are respectively connected to the horizontal motor 2012 and the vertical connection flange 2014. Among them, the positioning flange surface of the reducer 2013 is mounted on the end surface of the horizontal motor housing 2011, and the output flange of the reducer 2013 is connected to the vertical connection flange 2014.

[0123] The vertical transmission mechanism 202 includes a vertical motor housing 2021, a vertical motor 2022, a coupling 2023 and a gripper connection flange 2024, wherein the vertical connection flange 2014 is connected to the outer surface of the vertical motor housing 2021, the vertical motor 2022 is connected inside the vertical motor housing 2021, the coupling 2023 is connected to the output shaft of the vertical motor 2022 and the gripper connection flange 2024, and the gripper connection flange 2024 is connected to the top of the driving mechanism 1. The vertical motor 2022 is connected to the vertical motor housing 2021 by bolts, the gripper connection flange 2024 is connected to the driving mechanism 1 by bolts, and the outer surface of the vertical motor housing 2021 is welded with a flange surface connected to the flange surface of the vertical connection flange 2014.

[0124] The core graphite grabbing device also includes an image acquisition system 300, which faces the grabbing component 2 and the graphite 10 and is used to detect the grabbing component 2 and the graphite 10. The input end of the control system is electrically connected to the image acquisition system 300, and the output end of the control system is electrically connected to the truss robot 100, the transmission mechanism 200 and the drive mechanism 1. The image acquisition system 300 is used to adjust the circumferential posture of the grabbing component 2 and the graphite 10, realize accurate circumferential positioning and axial position positioning, realize clamping position control, and control the clamping force to meet the high-precision assembly requirements.

[0125] Specifically, Fig.12 and Fig.13 As shown, the image acquisition system 300 includes a first image acquisition component 301 and a second image acquisition component 302. The first image acquisition component 301 is installed and connected to the outer surface of the vertical motor cover 2021. The first image acquisition component 301 is used to locate the relative position between the grasping component 2 and the graphite 10, obtain the number of the graphite 10, and detect the flatness of the graphite 10 in combination with the detection platform; the second image acquisition component 302 is used to detect the relative position of the graphite 10 and the core bottom plate 30 during the assembly process and ensure the assembly quality.

[0126] The first image acquisition component 301 is a 2D camera. The second image acquisition component 302 is a 3D camera. The image acquisition system 300 further includes a base and a mechanical arm, wherein the bottom of the mechanical arm is mounted on the base, and the top of the mechanical arm is mounted and connected with the second image acquisition component 302. The mechanical arm is a six-degree-of-freedom mechanical arm.

[0127] like Fig.16 As shown, the elastic material 22 is coated on the outer surface of the finger 21. The elastic material 22 is installed and connected to the finger 21 in a sleeve manner, which makes installation and disassembly very convenient and facilitates the replacement of the elastic material 22. At the same time, the elastic material 22 is coated on the outer surface of the finger 21, so that the elastic material 22 is in contact with the graphite 10, while the outer surface of the finger 21 and the graphite 10 do not contact each other, and the clamping contact area is large, ensuring the effectiveness of the clamping area, meeting the grasping and assembly requirements of the core graphite 10. Preferably, the elastic material 22 can be installed and connected by bolts after being sleeved on the finger 21, or the elastic material 22 and the finger 21 can be bonded to each other to improve the connection strength.

[0128] In this embodiment, the elastic material 22 is a sleeve body, which wraps the outer side of the finger 21 and the contact area with the graphite 10. The top of the finger 21 is connected to the finger adapter block of the driving mechanism 1 through a threaded hole by bolts, and the graphite positioning member 23 is connected to the gripper body of the driving mechanism 1 by bolts. Among the multiple sides of the elastic material 22, the thickness of the side contacting the graphite 10 is inconsistent with that of the other sides, and the thickness of the contact surface with the graphite 10 is thicker than that of the other sides, so as to make up for the gap between the graphite 10 and the gripping component 2 during the gripping process of the graphite 10. At the same time, the contact surface can provide a larger friction coefficient.

[0129] The elastic material 22 is made of polyurethane, which is a consumable. As the number of clamping times increases, it can be replaced, avoiding the need to directly replace the finger 21 and reducing the use cost of the product.

[0130] The core graphite gripper structure also includes a plurality of travel positioning members 7, which correspond one to one with the plurality of fingers 21. The travel positioning members 7 are connected to the drive mechanism 1, and the travel positioning members 7 are used to abut against the side of the fingers 21 facing away from the graphite 10. The travel positioning members 7 are connected to the gripper body of the drive mechanism 1 and abut against the fingers 21 to achieve the travel control of the fingers 21 to meet the requirements of the gripping of graphite 10 of different sizes.

[0131] The travel positioning member 7 includes a mounting plate and an adjusting member, wherein the mounting plate is fixedly mounted on the driving mechanism 1, and the adjusting member is connected to the mounting plate and can move in a direction close to or away from the finger 21 to achieve travel control and adjustment of the finger 21. The mounting plate has a threaded hole, and the adjusting member is a flat-bottomed adjusting bolt, which is threadedly connected in the threaded hole, so that the adjustment is very convenient.

[0132] Although the specific implementations of the utility model are described above, those skilled in the art should understand that this is only an example, and the protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these implementations without departing from the principle and essence of the utility model, but these changes and modifications fall within the protection scope of the utility model.

Claims

1. A core graphite gripper structure, characterized in that: It includes a driving mechanism, a grasping component and multiple pressure sensors, the grasping component includes multiple fingers and multiple elastic materials, the driving mechanism is connected to the multiple fingers and is used to drive the multiple fingers to move closer to each other or open apart from each other, the multiple pressure sensors, the multiple fingers and the multiple elastic materials correspond one to one, one end of the pressure sensor is connected to the driving mechanism, the other end of the pressure sensor is against the finger, one side of the elastic material is connected to the finger, and the other side of the elastic material is exposed on the outer surface of the finger and is used to fit against the outer surface of the graphite.

2. The core graphite gripper structure according to claim 1, characterized in that: The inner side surface of the finger is provided with a groove, and the elastic material is arranged in the groove.

3. The core graphite gripper structure according to claim 2, characterized in that: The gripping component further comprises a metal connecting plate, one side of which is connected to the inner surface of the groove of the finger, and the other side of which is connected to the elastic material.

4. The core graphite gripper structure according to claim 1, characterized in that: The elastic material is coated on the outer surface of the finger.

5. The core graphite gripper structure according to claim 1, characterized in that: A side surface of the elastic material facing the graphite is a curved surface or a flat surface.

6. The core graphite gripper structure according to claim 1, characterized in that: The gripping component further comprises a graphite positioning piece, the top of which is connected to the driving mechanism and is located between the plurality of fingers, and the bottom of which is used to extend into the positioning hole of the graphite.

7. The core graphite gripper structure according to claim 1, characterized in that: The core graphite gripper structure also includes a plurality of stroke positioning members, which correspond one-to-one to the plurality of fingers. The stroke positioning members are connected to the driving mechanism, and the stroke positioning members are used to abut against a side of the fingers that is away from the graphite.

8. A core graphite grabbing device, characterized in that: It comprises a core graphite gripper structure as described in any one of claims 1-7.

9. The core graphite grabbing device according to claim 8, characterized in that: The core graphite grasping device includes a truss robot and a transmission mechanism, wherein the truss robot is connected to one end of the transmission mechanism and is used to drive the transmission mechanism to move along the X-axis, the Y-axis, and the Z-axis, and the other end of the transmission mechanism is connected to the drive mechanism and is used to drive the rotation of the drive mechanism.

10. The core graphite grabbing device according to claim 9, characterized in that: The transmission mechanism includes a horizontal transmission mechanism and a vertical transmission mechanism. The truss robot is connected to the top of the horizontal transmission mechanism. The movable end of the horizontal transmission mechanism is connected to the vertical transmission mechanism and is used to drive the rotation of the vertical transmission mechanism. The bottom of the vertical transmission mechanism is connected to the driving mechanism and is used to drive the rotation of the driving mechanism.

Images