Threaded hole maintenance and detection robot suitable for multi-specification valve bodies

Abstract

The utility model discloses a threaded hole maintenance and detection robot suitable for multi-specification valve bodies, which relates to the technical field of maintenance of each threaded hole in the valve bodies, and comprises an expansion positioning mechanism and a rotating mechanism arranged on the expansion positioning mechanism, a moving seat is fixedly arranged outside a radial nut of the radial lead screw moving mechanism, and an executing mechanism is arranged at the bottom of the moving seat; the executing mechanism comprises a driving assembly fixedly arranged at the bottom of the moving base, an output shaft of the driving assembly is connected with a main shaft extending downwards, and a threaded hole positioning tool, a washing and polishing tool, a suction and blow-drying tool and a view screen detecting assembly are evenly arranged on the outer edge of the rotary disc in the circumferential direction of the rotary disc. The beneficial effects of the utility model are that the work intensity of workers is greatly reduced, the maintenance efficiency of the threaded hole is greatly improved, and the threaded hole can be detected.

Description

Technical Field

[0001] The utility model relates to the technical field of maintaining various threaded holes in a valve body, in particular to a threaded hole maintenance and detection robot suitable for valve bodies with multiple specifications. Background Art

[0002] The structure of the valve body 1 used in a high-dose valve in a nuclear island is as follows Figures 1 and 2 As shown, the valve body 1 has a central hole 2 axially disposed at its center. Multiple threaded holes 3 are spaced apart circumferentially around the central hole 2 on the top surface of the valve body 1. The threaded holes 3 do not penetrate the bottom surface of the valve body 1. After a period of time, a large amount of burrs and dirt will adhere to the inner walls of each threaded hole 3 of the valve body 1. These burrs and dirt in the threaded holes 3 affect the normal use of the valve body 1. To ensure the normal use of the valve body 1, workers perform the following maintenance on each threaded hole 3 of the valve body 1:

[0003] S1. The worker first inserts the grinding head of the grinder into the threaded hole 3 and starts the grinder. The grinding head of the grinder grinds off the burrs in the first threaded hole 3. Repeating the above operation can grind off the burrs in each threaded hole 3 on the valve body 1; S2. After grinding off the burrs in each threaded hole 3, the worker inserts the cleaning head of the cleaning machine into the first threaded hole 3, and then starts the cleaning machine. The cleaning liquid sprayed from the cleaning head flushes away the dirt attached to the threaded hole 3. Repeating the above operation can clean the dirt in each threaded hole 3, thereby achieving the purpose of maintaining the threaded hole 3 and ensuring that the valve body 1 can be used normally.

[0004] However, although this method can maintain the valve body 1, it still has the following technical defects:

[0005] I. Manual operation of a grinder and a cleaning machine is required to maintain the threaded holes 3 of the valve body 1. The entire operation is completed manually, which undoubtedly increases the workload of the workers. In addition, there are many threaded holes 3 on the valve body 1, which requires a long time to maintain all the threaded holes 3, thereby reducing the maintenance efficiency of the threaded holes 3.

[0006] II. After the valve body 1 has been maintained, it is impossible to detect whether there are any remaining burrs and dirt in the valve body 1 that have not been removed.

[0007] Therefore, there is an urgent need for a threaded hole maintenance and detection robot and working method that can greatly reduce the workload of workers, greatly improve the efficiency of threaded hole maintenance, and detect threaded holes, which is suitable for valve bodies of multiple specifications. Utility Model Content

[0008] The purpose of the utility model is to overcome the shortcomings of the existing technology and provide a threaded hole maintenance and detection robot suitable for valve bodies of multiple specifications, which greatly reduces the workload of workers, greatly improves the efficiency of threaded hole maintenance, and can detect threaded holes.

[0009] The purpose of the utility model is achieved through the following technical solutions: a threaded hole maintenance and inspection robot suitable for valve bodies of multiple specifications, which includes an expansion positioning mechanism, a rotating mechanism arranged on the expansion positioning mechanism, a protective cover fixedly provided on the rotating table of the rotating mechanism, an axial screw motion mechanism arranged inside the protective cover, a connecting seat fixedly provided on the axial nut of the axial screw motion mechanism, a radial screw motion mechanism arranged on the connecting seat, a moving seat fixedly provided on the outside of the radial nut of the radial screw motion mechanism, and an actuator arranged on the bottom of the moving seat;

[0010] The actuator includes a drive assembly fixed to the bottom of the movable base, the output shaft of the drive assembly is connected to a main shaft extending downward, the bottom end of the main shaft is connected to a turntable, and threaded hole positioning tools, cleaning and polishing tools, suction and drying tools, and a video detection assembly are evenly arranged on the outer edge of the turntable and along its circumference.

[0011] The threaded hole positioning tool includes a mounting rod fixedly connected to the turntable, an adapter sleeve fixedly connected to the bottom of the mounting rod, and a diffuse reflection photoelectric switch is connected to the bottom of the adapter sleeve;

[0012] The scrubbing and polishing tool includes a hollow shaft motor fixedly mounted on the top surface of the turntable, the lower end of the hollow shaft of the hollow shaft motor downwardly penetrating the turntable, and a pipe is connected to the extended end, the outer cylindrical surface of the pipe is distributed with a plurality of liquid outlet holes connected thereto, and the outer cylindrical surface of the pipe is also fixed with a plurality of silicon carbide brushes; the upper end of the hollow shaft of the hollow shaft motor is connected to the liquid supply port of the cleaning machine;

[0013] The suction and drying tool includes an outer tube fixedly mounted on a turntable and an inner tube arranged inside the outer tube. The upper end of the outer tube is fixedly provided with a joint, which is connected to the working port of the air compressor. A plurality of air outlet holes connected to the working port are opened on the cylindrical surface of the outer tube, and the bottom end of the outer tube is closed. The bottom end of the inner tube is fixedly mounted on the closed end of the outer tube, and the bottom end of the inner tube passes through the closed end of the outer tube. The top end of the inner tube is connected to the wet and dry vacuum cleaner.

[0014] The video screen detection component comprises a mounting component fixed on the bottom surface of the turntable and a lens fixed on the bottom of the mounting component.

[0015] The expansion positioning mechanism includes a self-centering three-jaw chuck and a positioning plate fixed on the top surface of the self-centering three-jaw chuck. The outer ends of the three jaws of the self-centering three-jaw chuck are fixed with positioning claws, and the bottom surfaces of the three positioning claws are fixed with polyurethane pads.

[0016] The rotating mechanism includes a column base fixed on the top surface of the positioning plate, a gear ring fixed on the outer cylindrical surface of the column base, a rotating shaft rotatably installed in the column base, and a rotating table fixed on the top of the rotating shaft. A driving motor is fixed on the top surface of the rotating table. The output shaft of the driving motor passes through the rotating table downward, and a driving gear is connected to the extended end, and the driving gear is meshed with the gear ring.

[0017] The shield is fixed on the top surface of the rotating platform of the rotating mechanism, and the driving motor is located in the shield.

[0018] The axial screw motion mechanism includes an axial motor fixed on the top surface of the shield, an axial screw rotatably installed between the upper and lower ends of the shield, and an axial nut threadedly connected to the axial screw. The output shaft of the axial motor is connected to the top end of the axial screw; the axial screw motion mechanism also includes an axial guide rail fixed in the shield and vertically arranged.

[0019] The connecting seat is slidably mounted on the axial guide rail.

[0020] The radial screw motion mechanism includes a platform fixed on the connecting seat, a radial screw rotatably mounted on the top surface of the platform, a radial motor fixed on the top surface of the platform, and a radial nut threadedly connected to the radial screw, and the output shaft of the radial motor is connected to the right end of the radial screw; the radial screw motion mechanism also includes a radial guide rail fixed on the top surface of the platform.

[0021] The movable seat is slidably mounted on the radial guide rail.

[0022] The robot also includes a controller, which is electrically connected to the diffuse reflection photoelectric switch, the hollow shaft motor, the axial motor, the radial motor and the drive motor.

[0023] The utility model has the following advantages: greatly reducing the work intensity of workers, greatly improving the maintenance efficiency of threaded holes, and being able to detect threaded holes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the valve body;

[0025] Figure 2 for Figure 1 A top view of

[0026] Figure 3 It is a structural diagram of the utility model;

[0027] Figure 4 It is a structural diagram of the expansion positioning mechanism;

[0028] Figure 5 It is a structural diagram of the rotating mechanism;

[0029] Figure 6 It is a schematic diagram of the connection between the shield, the axial screw motion mechanism and the radial screw motion mechanism;

[0030] Figure 7 for Figure 6 The main view;

[0031] Figure 8 It is a structural diagram of the actuator;

[0032] Figure 9 It is a structural diagram of the threaded hole positioning tool;

[0033] Figure 10 It is a structural diagram of the washing and polishing tool;

[0034] Figure 11 for Figure 10 A partial enlarged view of part A;

[0035] Figure 12 It is a structural diagram of the suction and drying tool;

[0036] Figure 13 for Figure 12 The main cross-sectional diagram of

[0037] Figure 14 for Figure 13 A partial enlarged view of part B;

[0038] Figure 15 It is a structural diagram of the video detection component;

[0039] Figure 16 A schematic diagram showing how to position and install the robot on the valve body;

[0040] In the picture:

[0041] 1-valve body, 2-center hole, 3-threaded hole;

[0042] 4-expansion positioning mechanism, 5-rotation mechanism, 6-shield, 7-axial screw motion mechanism, 8-connecting seat, 9-radial screw motion mechanism, 10-moving seat, 11-actuator;

[0043] 12-drive assembly, 13-spindle, 14-turntable, 15-threaded hole positioning tool, 16-washing and polishing tool, 17-suction and drying tool, 18-screen detection assembly;

[0044] 19-Mounting rod, 20-Adapter sleeve, 21-Diffuse reflection photoelectric switch, 22-Hollow shaft motor, 23-Hollow shaft, 24-Pipe, 25-Liquid outlet, 26-Silicon carbide brush, 27-Outer tube, 28-Inner tube, 29-Connector, 30-Air outlet, 31-Lens;

[0045] 32-self-centering three-jaw chuck, 33-positioning plate, 34-positioning claw, 35-polyurethane pad;

[0046] 36-column, 37-gear ring, 38-rotating table, 39-driving motor, 40-driving gear;

[0047] 41- axial motor, 42- axial screw, 43- axial nut, 44- platform, 45- radial screw, 46- radial motor, 47- radial nut. DETAILED DESCRIPTION

[0048] The present invention is further described below in conjunction with the accompanying drawings. The scope of protection of the present invention is not limited to the following:

[0049] like Figures 3 to 15 As shown, a threaded hole maintenance and inspection robot suitable for valve bodies of multiple specifications includes an expansion positioning mechanism 4, a rotating mechanism 5 arranged on the expansion positioning mechanism 4, a protective cover 6 is fixed on the rotating table 38 of the rotating mechanism 5, an axial screw motion mechanism 7 is arranged in the protective cover 6, and a connecting seat 8 that passes through the protective cover 6 to the left is fixed on the axial nut 43 of the axial screw motion mechanism 7, a radial screw motion mechanism 9 is arranged on the connecting seat 8, a moving seat 10 is fixed on the outside of the radial nut 47 of the radial screw motion mechanism 9, and an actuator 11 is arranged at the bottom of the moving seat 10; the actuator 11 includes a driving assembly 12 fixed to the bottom of the moving seat 10, a main shaft 13 extending downward is connected to the output shaft of the driving assembly 12, a turntable 14 is connected to the bottom end of the main shaft 13, and a threaded hole positioning tool 15, a washing and polishing tool 16, a suction and drying tool 17 and a video detection assembly 18 are evenly arranged on the outer edge of the turntable 14 and along its circumferential direction.

[0050] The threaded hole positioning tool 15 includes a mounting rod 19 fixedly connected to the turntable 14 and an adapter sleeve 20 fixedly connected to the bottom of the mounting rod 19 . A diffuse reflection photoelectric switch 21 is connected to the bottom of the adapter sleeve 20 .

[0051] The scrubbing and polishing tool 16 includes a hollow shaft motor 22 fixedly mounted on the top surface of the turntable 14. The lower end of the hollow shaft 23 of the hollow shaft motor 22 extends downwardly through the turntable 14, and a pipe 24 is connected to the extended end. The outer cylindrical surface of the pipe 24 is provided with a plurality of liquid outlet holes 25 connected thereto, and a plurality of silicon carbide brushes 26 are also fixedly mounted on the outer cylindrical surface of the pipe 24. The upper end of the hollow shaft 23 of the hollow shaft motor 22 is connected to the liquid supply port of the cleaning machine.

[0052] The suction and drying tool 17 includes an outer tube 27 fixed on the turntable 14 and an inner tube 28 arranged in the outer tube 27. The upper end of the outer tube 27 is fixed with a joint 29, which is connected to the working port of the air compressor. A plurality of air outlet holes 30 connected to the cylindrical surface of the outer tube 27 are provided, and the bottom end of the outer tube 27 is closed; the bottom end of the inner tube 28 is fixed on the closed end of the outer tube 27, and the bottom end of the inner tube 28 passes through the closed end of the outer tube 27, and the top end of the inner tube 28 is connected to the wet and dry vacuum cleaner; the video detection component 18 includes a mounting component fixed on the bottom surface of the turntable 14 and a lens 31 fixed at the bottom of the mounting component.

[0053] The expansion positioning mechanism 4 includes a self-centering three-jaw chuck 32 and a positioning plate 33 fixed on the top surface of the self-centering three-jaw chuck 32. The outer ends of the three jaws of the self-centering three-jaw chuck 32 are fixed with positioning claws 34, and the bottom surfaces of the three positioning claws 34 are fixed with polyurethane pads 35.

[0054] The rotating mechanism 5 includes a column base 36 fixed on the top surface of the positioning plate 33, a ring gear 37 fixed on the outer cylindrical surface of the column base 36, a rotating shaft rotatably installed in the column base 36, and a rotating platform 38 fixed on the top of the rotating shaft. A driving motor 39 is fixed on the top surface of the rotating platform 38. The output shaft of the driving motor 39 passes through the rotating platform 38 downward, and a driving gear 40 is connected to the extended end. The driving gear 40 is meshed with the ring gear 37; the protective cover 6 is fixed on the top surface of the rotating platform 38 of the rotating mechanism 5, and the driving motor 39 is located inside the protective cover 6.

[0055] The axial screw motion mechanism 7 includes an axial motor 41 fixed on the top surface of the shield 6, an axial screw 42 rotatably installed between the upper and lower ends of the shield 6, and an axial nut 43 threadedly connected to the axial screw 42. The output shaft of the axial motor 41 is connected to the top end of the axial screw 42; the axial screw motion mechanism 7 also includes an axial guide rail fixed in the shield 6 and vertically arranged; the connecting seat 8 is slidably installed on the axial guide rail.

[0056] The radial screw motion mechanism 9 includes a platform 44 fixed on the connecting seat 8, a radial screw 45 rotatably mounted on the top surface of the platform 44, a radial motor 46 fixed on the top surface of the platform 44, and a radial nut 47 threadedly connected to the radial screw 45. The output shaft of the radial motor 46 is connected to the right end of the radial screw 45; the radial screw motion mechanism 9 also includes a radial guide rail fixed on the top surface of the platform 44; the moving seat 10 is slidably mounted on the radial guide rail.

[0057] The robot also includes a controller, which is electrically connected to the diffuse reflection photoelectric switch 21, the hollow shaft motor 22, the axial motor 41, the radial motor 46 and the drive motor 39. Workers can control the start or stop of the hollow shaft motor 22, the axial motor 41, the radial motor 46 and the drive motor 39 through the controller, thereby facilitating the workers' operation.

[0058] A working method of a threaded hole maintenance and inspection robot applicable to valve bodies of various specifications, comprising the following steps:

[0059] S1. Position and install the robot as follows: Figures 1 and 2 On the valve body 1 shown, the specific operating steps are:

[0060] S11. A worker places the three polyurethane pads 35 of the expansion and positioning mechanism 4 into the central hole 2 of the valve body 1 and ensures that the three positioning claws 34 of the expansion and positioning mechanism 4 are supported on the top surface of the valve body 1.

[0061] S12. The worker pulls out one of the positioning claws 34, which drives the polyurethane pad 35 to move toward the inner wall of the center hole 2 of the valve body 1. At the same time, the other two positioning claws 34 also synchronously drive the polyurethane pad 35 to move toward the inner wall of the center hole 2 of the valve body 1. When the three polyurethane pads 35 are all against the inner wall of the center hole 2 of the valve body 1, the robot is positioned and installed on the valve body 1. Figure 16 As shown, at this time, the central axis of the self-centering three-jaw chuck 32 of the expansion positioning mechanism 4, the central axis of the rotating table 38 of the rotating mechanism 5, and the central axis of the valve body 1 are exactly coaxial;

[0062] If the specifications of the valve body 1 change, that is, if the size of the center hole 2 changes, the radial motor 46 can be controlled to rotate forward or reverse, and the radial motor 46 drives the radial screw 45 to rotate forward or reverse. The radial nut 47 moves outward or inward along the radial screw 45. The radial nut 47 drives the movable seat 10 to move synchronously, and the movable seat 10 drives the drive assembly 12 of the actuator 11 to move synchronously, thereby ensuring that the actuator 11 can move to the inspection position of the valve body 1. Therefore, it can be seen that this robot can maintain the threaded holes 3 of valve bodies 1 with different specifications.

[0063] S2. Maintain the first threaded hole 3 in the valve body 1. The specific steps are as follows:

[0064] S21, the driving motor 39 of the control rotating mechanism 5 is started, the driving motor 39 drives the driving gear 40 to rotate, and the driving gear 40 rotates around the ring gear 37 which is in a stationary state. When the driving gear 40 rotates around the ring gear 37, the rotating platform 38 rotates around its own axis, and the rotating platform 38 drives the shield 6 to rotate synchronously. The shield 6 drives the axial screw motion mechanism 7, the radial screw motion mechanism 9 and the actuator 11 thereon to rotate synchronously. The actuator 11 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17 and the video detection component 18 thereon to move synchronously. When the diffuse reflection photoelectric switch 21 of the threaded hole positioning tool 15 detects that its own center line is aligned with the center line of the first threaded hole 3, the diffuse reflection photoelectric switch 21 sends an electrical signal to the controller. After the controller receives the electrical signal, the controller immediately controls the driving motor 39 to turn off, thereby completing the positioning of the actuator 11 and the threaded hole 3.

[0065] S22. The drive assembly 12 is controlled to start. The drive assembly 12 drives the main shaft 13 to rotate. The main shaft 13 drives the turntable 14 to rotate. The turntable 14 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17, and the video detection assembly 18 thereon to rotate synchronously. When the turntable 14 rotates to the set angle, the controller immediately controls the drive assembly 12 to shut down. At this time, the cleaning and polishing tool 16 is just above the threaded hole 3.

[0066] S23. Control the axial motor 41 of the axial screw motion mechanism 7 to rotate forward. The axial motor 41 drives the axial screw 42 to rotate. The axial nut 43 moves downward along the axial screw 42. The axial nut 43 drives the connecting seat 8 to move downward. The connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move downward synchronously. The actuator 11 drives the cleaning and polishing tool 16 to move downward synchronously. The pipe 24 and the silicon carbide brush 26 of the cleaning and polishing tool 16 enter the threaded hole 3.

[0067] S24, control the hollow shaft motor 22 of the cleaning and polishing tool 16 to start, the hollow shaft motor 22 drives the hollow shaft 23 to rotate around its own axis, the hollow shaft 23 drives the pipe 24 to rotate synchronously, and the pipe 24 drives the silicon carbide brush 26 to rotate in the threaded hole 3. During the rotation process, the silicon carbide brush 26 removes the burrs attached to the threaded hole 3; at the same time, control the cleaning machine to start, and the cleaning machine pumps the cleaning agent into the upper end of the hollow shaft 23 through its liquid supply port. The cleaning agent passes through the inner cavity of the hollow shaft 23, the pipe 24, the liquid outlet 25 in sequence, and finally sprays onto the inner wall of the threaded hole 3, thereby washing away the dirt attached to the threaded hole 3, and the washed waste liquid remains in the threaded hole 3;

[0068] S25. Control the axial motor 41 of the axial screw motion mechanism 7 to reverse, so that the axial nut 43 drives the connecting seat 8 to move upward. The connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move upward. The actuator 11 drives the cleaning and polishing tool 16 to move upward synchronously, thereby causing the pipe 24 and the silicon carbide brush 26 of the cleaning and polishing tool 16 to be disengaged from the threaded hole 3.

[0069] S26. The drive assembly 12 is controlled to start. The drive assembly 12 drives the main shaft 13 to rotate. The main shaft 13 drives the turntable 14 to rotate. The turntable 14 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17, and the video detection assembly 18 thereon to rotate synchronously. When the turntable 14 rotates to the set angle, the controller immediately controls the drive assembly 12 to shut down. At this time, the suction and drying tool 17 is just above the threaded hole 3.

[0070] S27. Control the axial motor 41 of the axial screw motion mechanism 7 to rotate forward, the axial nut 43 drives the connecting seat 8 to move downward, the connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move downward, and the actuator 11 drives the suction and drying tool 17 to move downward synchronously, and the outer layer tube 27 and the inner layer tube 28 of the suction and drying tool 17 both enter the threaded hole 3;

[0071] S28, control the wet and dry vacuum cleaner to start, and the waste liquid in the threaded hole 3 is sequentially drawn through the bottom port of the inner tube 28, the inner cavity of the inner tube 28, and the top port of the inner tube 28, and finally drawn into the wet and dry vacuum cleaner, thereby draining the waste liquid in the threaded hole 3; then start the air compressor, and the air compressor produces pressurized air, which sequentially passes through the joint 29, the inner cavity of the outer tube 27, and the air outlet 30 on the outer tube 27, and finally is sprayed onto the inner wall of the threaded hole 3, thereby drying the threaded hole 3. After drying, the maintenance of the first threaded hole 3 in the valve body 1 is finally completed;

[0072] S3. After the first threaded hole 3 is maintained, the threaded hole 3 is inspected. The specific operation steps are as follows:

[0073] S31. Control the axial motor 41 of the axial screw motion mechanism 7 to reverse, the axial nut 43 drives the connecting seat 8 to move upward, the connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move upward, and the actuator 11 drives the suction and drying tool 17 to move upward synchronously, thereby causing the outer tube 27 and the inner tube 28 of the suction and drying tool 17 to be disengaged from the threaded hole 3;

[0074] S32. The drive assembly 12 is controlled to start. The drive assembly 12 drives the main shaft 13 to rotate. The main shaft 13 drives the turntable 14 to rotate. The turntable 14 drives the threaded hole positioning tool 15, the cleaning and polishing tool 16, the suction and drying tool 17, and the video detection assembly 18 thereon to rotate synchronously. When the turntable 14 rotates to the set angle, the controller immediately controls the drive assembly 12 to close. At this time, the video detection assembly 18 is just above the threaded hole 3.

[0075] S33: Control the axial motor 41 of the axial screw motion mechanism 7 to rotate forward, and the axial nut 43 drives the connecting seat 8 to move downward. The connecting seat 8 drives the radial screw motion mechanism 9 and the actuator 11 to move downward. The actuator 11 drives the video detection assembly 18 to move downward synchronously. The lens 31 of the video detection assembly 18 enters the threaded hole 3, captures an image of the threaded hole 3, and sends the image to the controller. The worker can then check on the controller whether there are any residual burrs or dirt in the threaded hole 3.

[0076] S4. The worker repeats the operations of steps S2 to S3 to continuously maintain the threaded holes 3 in the valve body 1.

[0077] Among them, from steps S2 to S4, it can be seen that the robot can remove burrs and dirt from each threaded hole 3 on the valve body 1 by simply coordinating the expansion positioning mechanism 4, the rotation mechanism 5, the axial screw movement mechanism 7, and the actuator 11, thereby completing the maintenance of each threaded hole 3 on the valve body 1. There is no need for manual maintenance of each threaded hole 3 of the valve body 1 using a grinder and a cleaning machine, thereby greatly reducing the workload of workers. In addition, the robot can maintain each threaded hole 3 on the valve body 1 by simply coordinating the expansion positioning mechanism 4, the rotation mechanism 5, the axial screw movement mechanism 7, and the actuator 11. Compared with manual maintenance by workers, the maintenance efficiency of the threaded holes is greatly improved.

[0078] In addition, it can be seen from step S3 that after maintaining a threaded hole 3, the video detection component 18 of the actuator 11 also detects whether there are any residual burrs and dirt in the threaded hole 3. If there are any, the maintenance work on the threaded hole 3 will continue, thereby ensuring that there are no residual burrs and dirt in each threaded hole 3 of the valve body 1, thereby ensuring that the valve body 1 can be used normally.

[0079] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A threaded hole maintenance and inspection robot suitable for valve bodies of various specifications, characterized by: It comprises an expansion positioning mechanism (4), a rotating mechanism (5) arranged on the expansion positioning mechanism (4), a protective cover (6) fixedly arranged on the rotating platform (38) of the rotating mechanism (5), an axial screw motion mechanism (7) arranged inside the protective cover (6), a connecting seat (8) which passes through the protective cover (6) to the left fixedly arranged on the axial nut (43) of the axial screw motion mechanism (7), a radial screw motion mechanism (9) arranged on the connecting seat (8), a moving seat (10) fixedly arranged outside the radial nut (47) of the radial screw motion mechanism (9), and an actuator (11) arranged at the bottom of the moving seat (10); The actuator (11) includes a driving assembly (12) fixed to the bottom of the movable seat (10); the output shaft of the driving assembly (12) is connected to a main shaft (13) extending downward; the bottom end of the main shaft (13) is connected to a turntable (14); and threaded hole positioning tools (15), cleaning and polishing tools (16), suction and drying tools (17), and a video detection assembly (18) are uniformly arranged on the outer edge of the turntable (14) and along its circumference. The threaded hole positioning tool (15) comprises a mounting rod (19) fixedly connected to the turntable (14), an adapter sleeve (20) fixedly connected to the bottom of the mounting rod (19), and a diffuse reflection photoelectric switch (21) is connected to the bottom of the adapter sleeve (20); The scrubbing and polishing tool (16) comprises a hollow shaft motor (22) fixed on the top surface of the turntable (14); the lower end of the hollow shaft (23) of the hollow shaft motor (22) passes through the turntable (14) downward, and a pipe (24) is connected to the extended end; a plurality of liquid outlet holes (25) connected to the outer cylindrical surface of the pipe (24) are distributed and connected thereto; a plurality of silicon carbide brushes (26) are also fixed on the outer cylindrical surface of the pipe (24); the upper end of the hollow shaft (23) of the hollow shaft motor (22) is connected to the liquid supply port of the cleaning machine; The suction and drying tool (17) comprises an outer tube (27) fixed on the turntable (14) and an inner tube (28) arranged in the outer tube (27); a joint (29) is fixed on the upper end of the outer tube (27); the joint (29) is connected to the working port of the air compressor; a plurality of air outlet holes (30) connected to the cylindrical surface of the outer tube (27) are provided; the bottom end of the inner tube (28) is fixed on the closed end of the outer tube (27), and the bottom end of the inner tube (28) passes through the closed end of the outer tube (27); the top end of the inner tube (28) is connected to the wet and dry vacuum cleaner; The video screen detection assembly (18) comprises a mounting assembly fixed on the bottom surface of the turntable (14) and a lens (31) fixed on the bottom of the mounting assembly.

2. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 1 is characterized in that: The expansion positioning mechanism (4) comprises a self-centering three-jaw chuck (32) and a positioning plate (33) fixed on the top surface of the self-centering three-jaw chuck (32); the outer ends of the three jaws of the self-centering three-jaw chuck (32) are fixed with positioning claws (34); and the bottom surfaces of the three positioning claws (34) are fixed with polyurethane pads (35).

3. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 2 is characterized in that: The rotating mechanism (5) includes a column base (36) fixed on the top surface of the positioning plate (33), a gear ring (37) fixed on the outer cylindrical surface of the column base (36), a rotating shaft rotatably installed in the column base (36), and a rotating platform (38) fixed on the top of the rotating shaft. A driving motor (39) is fixed on the top surface of the rotating platform (38). The output shaft of the driving motor (39) passes through the rotating platform (38) downward, and a driving gear (40) is connected to the extended end. The driving gear (40) is meshed with the gear ring (37).

4. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 3 is characterized in that: The protective cover (6) is fixed on the top surface of the rotating platform (38) of the rotating mechanism (5), and the driving motor (39) is located inside the protective cover (6).

5. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 4 is characterized in that: The axial screw motion mechanism (7) comprises an axial motor (41) fixed on the top surface of the shield (6), an axial screw (42) rotatably mounted between the upper and lower ends of the shield (6), and an axial nut (43) threadedly connected to the axial screw (42); the output shaft of the axial motor (41) is connected to the top end of the axial screw (42); the axial screw motion mechanism (7) further comprises an axial guide rail fixed in the shield (6) and arranged vertically.

6. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 5, characterized in that: The connecting seat (8) is slidably mounted on the axial guide rail.

7. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 6, characterized in that: The radial screw motion mechanism (9) comprises a platform (44) fixed on the connecting seat (8), a radial screw (45) rotatably mounted on the top surface of the platform (44), a radial motor (46) fixed on the top surface of the platform (44), and a radial nut (47) threadedly connected to the radial screw (45), wherein the output shaft of the radial motor (46) is connected to the right end of the radial screw (45); the radial screw motion mechanism (9) further comprises a radial guide rail fixed on the top surface of the platform (44).

8. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 7, characterized in that: The movable seat (10) is slidably mounted on the radial guide rail.

9. The threaded hole maintenance and inspection robot suitable for valve bodies of various specifications according to claim 8, characterized in that: The robot also includes a controller, which is electrically connected to the diffuse reflection photoelectric switch (21), the hollow shaft motor (22), the axial motor (41), the radial motor (46) and the drive motor (39).

Images