Multifunctional gripper mechanism for full-automatic welding production line of uranium hexafluoride transport container

Abstract

The utility model belongs to the technical field of nuclear fuel processing equipment, and particularly relates to a multifunctional gripper mechanism for a uranium hexafluoride transport container full-automatic welding production line, which comprises a clamping jaw base, a plurality of connecting rods, a central positioning ring, a plurality of clamping cylinders, a plurality of sliding seats and a plurality of clamping jaws. And the central positioning ring is arranged at the central position of the clamping jaw base. And one ends of the connecting rods are uniformly connected in the circumferential direction of the central positioning ring. The other ends of the connecting rods are connected with the sliding seats in a one-to-one mode. The multiple clamping jaws are installed on the multiple sliding seats in a one-to-one mode. The clamping air cylinder is installed between the clamping jaw base and the sliding base. The two clamping air cylinders are evenly arranged on the two sides of the sliding seats, and each sliding seat is driven by the two clamping air cylinders to be opened and closed to drive the clamping jaws to move front and back. According to the utility model, the structure of the central positioning ring and the connecting rod is adopted, and the clamping cylinders are arranged around the clamping jaws, so that the problems of high manual dependence degree and unstable welding quality in the manufacturing process of the traditional uranium hexafluoride transportation container are solved.

Description

Technical Field

[0001] This utility model belongs to the technical field of nuclear fuel processing equipment, specifically relating to a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers. Background Technology

[0002] Uranium is a rare radioactive element in nature, with a uranium-235 isotope abundance of only about 0.7% in natural ores. To meet the requirements of nuclear power, uranium-235 enrichment processes (such as gaseous diffusion, centrifugation, or laser enrichment) are used to increase the uranium-235 enrichment. Uranium hexafluoride (UF6) is a key medium in the uranium enrichment process, and the manufacturing quality of its transport container directly affects the safety of nuclear fuel production.

[0003] The traditional manufacturing process for uranium hexafluoride transport containers has the following drawbacks:

[0004] 1. High dependence on manual labor: Domestic uranium enrichment plants generally use manual operation of overhead cranes to grab, move and assemble container components, which is inefficient and prone to damage due to operational errors.

[0005] 2. Unstable welding quality: Manual shielded metal arc welding is greatly affected by the skill level of the personnel, resulting in poor weld consistency and the risk of defects such as porosity and lack of fusion. Utility Model Content

[0006] In view of this, this utility model aims to provide a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers. By adopting a structure of a central positioning ring and connecting rod, and setting clamping cylinders around the grippers, it solves the problems of high manual dependence and unstable welding quality in the traditional manufacturing process of uranium hexafluoride transport containers.

[0007] This utility model provides a multi-functional gripper mechanism for a fully automated welding production line of uranium hexafluoride transport containers. The multi-functional gripper mechanism includes a claw base, multiple connecting rods, a central positioning ring, multiple clamping cylinders, multiple slides, and multiple claws. The central positioning ring is located at the center of the claw base. One end of each of the multiple connecting rods is evenly connected to the circumference of the central positioning ring. The other end of each of the multiple connecting rods is connected one-to-one with each of the multiple slides. Each claw is mounted one-to-one on each of the multiple slides. Clamping cylinders are installed between the claw base and the slides. Two clamping cylinders are evenly distributed on both sides of each slide, and each slide is driven to open and close by two clamping cylinders, causing the claws to move back and forth.

[0008] In one specific implementation of this utility model, the number of multiple connecting rods, multiple slides, and multiple pawls are all four. The four pawls are respectively mounted on four slides. The four slides are constrained by a central positioning ring and four connecting rods.

[0009] In one specific implementation of this utility model, the central positioning ring is hollow.

[0010] In one specific implementation of this utility model, the claw base has a hollow structure.

[0011] In one specific implementation of this utility model, the chuck base is divided into an annular portion and multiple extended portions extending from the annular portion. A central positioning ring is disposed in the annular portion of the chuck base. Multiple slides are respectively disposed in the multiple extended portions.

[0012] In one specific implementation of this utility model, the end of the gripper is designed as a universal structure capable of grasping a variety of components.

[0013] In one specific implementation of this utility model, multiple components include a head, a skirt, and a head-skirt assembly.

[0014] The beneficial effects of this utility model's technical solution are as follows: By adopting a structure with a central positioning ring and connecting rod, the traditional bulky concentric bevel gear + lead screw mechanism or coiled bevel gear central positioning mechanism is replaced, thus reducing the overall weight. Furthermore, by using clamping cylinders around the gripper, and with the slide block driven by two clamping cylinders to open and close, thereby moving the gripper back and forth, redundant transmission mechanisms are eliminated, further reducing the overall weight and increasing reliability. In addition, the overall structure of this multi-functional gripper mechanism for the fully automated welding production line of uranium hexafluoride transport containers is simple. It can minimize the robot's empty weight while meeting the weight requirements for handling, saving energy, and effectively reducing reliance on manual labor, ensuring consistent welding quality. Attached Figure Description

[0015] Figure 1 The image shown is a partial bottom view of a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers, according to an embodiment of this utility model.

[0016] Figure 2 The image shown is a front view schematic diagram of a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers, according to an embodiment of this utility model.

[0017] Figure 3 The image shown is a partial bottom view of a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers, according to an embodiment of this utility model.

[0018] Figure 4 The image shown is a bottom view of the claw base in a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers, according to an embodiment of this utility model.

[0019] Figure 5 As shown Figure 4The diagram shows a side view of the chuck base.

[0020] Figure 6 The diagram shown is a schematic representation of the state of a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers gripping a sealing head, according to an embodiment of this utility model.

[0021] Figure 7 The diagram shown is a schematic representation of a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers gripping a skirt support, according to an embodiment of this utility model.

[0022] Figure 8 The diagram shown is a schematic representation of a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers gripping a head and skirt assembly, according to another embodiment of this utility model.

[0023] In the diagram, 1. Claw base; 2. Connecting rod; 3. Center positioning ring; 4. Clamping cylinder; 5. Slide; 6. Claw; a. Center cable through hole; b. Weight reduction hole. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] At least one embodiment of this utility model provides a multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers. (See reference...) Figure 1 , Figure 2 and Figure 3 The multi-functional gripper mechanism used in this fully automated welding production line for uranium hexafluoride transport containers includes a gripper base 1, multiple connecting rods 2, a central positioning ring 3, multiple clamping cylinders 4, multiple slides 5, and multiple grippers 6. The central positioning ring 3 is located at the center of the gripper base 1. One end of each of the multiple connecting rods 2 is evenly connected to the circumference of the central positioning ring 3. The other end of each of the multiple connecting rods 2 is connected one-to-one with each of the multiple slides 5. Each of the multiple grippers 6 is mounted one-to-one on each of the multiple slides 5. Clamping cylinders 4 are installed between the gripper base 1 and the slides 5. Two clamping cylinders 4 are evenly distributed on both sides of each slide 5, and each slide 5 is driven to open and close by two clamping cylinders 4, causing the grippers 6 to move back and forth.

[0026] According to the technical solution provided by this utility model, by adopting a structure of a central positioning ring 3 and a connecting rod 2, the traditional bulky concentric bevel gear + lead screw mechanism or coiled bevel gear central positioning mechanism is replaced, thus reducing the overall weight. Furthermore, by using clamping cylinders 4 around the gripper 6, the slide 5 is driven by two clamping cylinders 4 to open and close, thereby moving the gripper 6 back and forth. This eliminates unnecessary transmission mechanisms, further reducing the overall weight and increasing reliability. Simultaneously, the two clamping cylinders 4 are evenly distributed on both sides of the slide 5, ensuring the dynamic stability of each slide 5 of the multi-functional gripper mechanism and preventing deformation and damage to some parts due to uneven local force. In addition, the overall structure of this multi-functional gripper mechanism for the fully automated welding production line of uranium hexafluoride transport containers is simple. It can minimize the robot's empty weight while meeting the weight requirements for handling, saving energy and effectively reducing reliance on manual labor, ensuring consistent welding quality.

[0027] In at least one embodiment of this utility model, the number of multiple connecting rods 2, multiple slides 5, and multiple pawls 6 are all four. The four pawls 6 are respectively mounted on the four slides 5. The four slides 5 are constrained by a central positioning ring 3 and the four connecting rods 2. Thus, by setting the four slides 5 to be constrained by the central positioning ring 3 and the four connecting rods 2, the opening and closing of the four slides 5 are synchronized and concentric.

[0028] In at least one embodiment of this invention, the central positioning ring 3 is hollow. Thus, due to the large central opening of the central positioning ring 3, the hollow central positioning ring 3 is lightweight, effectively meeting the requirements for connection and rotation of the robot's end effector tubing and cables.

[0029] For example, refer to Figure 1 and Figure 3 The central positioning ring 3 has a central cable through hole a, which makes the central positioning ring 3 hollow. The central cable through hole a is used for the transition connection between the robot's end effector cable and the gripper 6.

[0030] In at least one embodiment of this utility model, reference is made to Figure 1 , Figure 4 and Figure 5 The claw base 1 has a hollow structure. In this way, while ensuring structural strength, the weight of the claw base 1 is further reduced by designing it as a hollow structure.

[0031] Specifically, refer to Figure 4 At least one weight-reducing hole b can be provided in the non-critical part of the claw base 1, so that the claw base 1 has a hollow structure.

[0032] In at least one embodiment of this utility model, the claw base 1 is divided into an annular portion and multiple extended portions extending from the annular portion. A central positioning ring 3 is disposed in the annular portion of the claw base 1. Multiple slides 5 are respectively disposed in the multiple extended portions.

[0033] In at least one embodiment of this invention, the end of the gripper 6 is designed as a universal structure capable of grasping multiple components. Thus, by designing the end of the gripper 6 as a universal structure capable of grasping multiple components, a single gripper can be used for multiple purposes, eliminating the cumbersome process of changing grippers and the associated mechanical and electrical structures required when grasping different parts. This further reduces the overall weight, the number of parts and processing costs, increases reliability, improves the work cycle, and reduces the problem of reduced positioning accuracy caused by gripper replacement. Furthermore, due to the multi-purpose nature of the gripper, the workload is reduced and labor efficiency is improved when programming and controlling the robot.

[0034] For example, various components include end caps, skirts, and end cap / skirt assemblies. The gripping portion of the claw 6 is designed in an L-shape. The L-shape has at least one step, see reference. Figure 2 At least one step consists of two steps. Thus, the multi-functional gripper mechanism of this fully automated welding production line for uranium hexafluoride transport containers can be used to grip the head, skirt, and head-skirt assembly (see reference). Figure 6 , Figure 7 and Figure 8 ).

[0035] It should be noted that the combination of the technical features in the embodiments of this utility model is not limited to the combination methods recorded in the embodiments of this utility model or the combination methods recorded in specific embodiments. All technical features recorded in this utility model can be freely combined or combined in any way, unless there is a contradiction between them.

[0036] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers, characterized in that, Includes a chuck base, multiple connecting rods, a central positioning ring, multiple clamping cylinders, multiple slides, and multiple chucks. The central positioning ring is located at the center of the claw base. One end of each of the multiple connecting rods is evenly connected to the circumference of the central positioning ring. The other end of each of the multiple connecting rods is connected to each of the multiple slides in a one-to-one manner. Each of the multiple claws is installed on each of the multiple slides in a one-to-one manner. The clamping cylinder is installed between the claw base and the slide. Two clamping cylinders are evenly arranged on both sides of the slide. Each slide is driven to open and close by the two clamping cylinders, which in turn drive the claws to move back and forth.

2. The multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers according to claim 1, characterized in that, The number of the plurality of connecting rods, the plurality of slides, and the plurality of pawls are all four, with the four pawls respectively mounted on the four slides, and the four slides being limited by the central positioning ring and the four connecting rods.

3. The multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers according to claim 1, characterized in that, The central positioning ring is hollow.

4. The multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers according to claim 1, characterized in that, The claw base has a hollow structure.

5. The multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers according to claim 1, characterized in that, The claw base is divided into an annular portion and multiple extension portions extending from the annular portion. The central positioning ring is disposed in the annular portion of the claw base, and multiple slides are respectively disposed in the multiple extension portions.

6. A multi-functional gripper mechanism for a fully automated welding production line for uranium hexafluoride transport containers according to any one of claims 1 to 5, characterized in that, The end of the gripper is designed as a universal structure capable of grasping a variety of components.

7. The multi-functional gripper mechanism for a fully automated welding production line of uranium hexafluoride transport containers according to claim 6, characterized in that, The various components include a head, a skirt, and a head-skirt assembly.

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