Metal bucket lid opening and closing robot

Abstract

This utility model relates to a metal bucket lid-opening robot, which uses a visual recognition system in conjunction with an intelligent screw-tightening mechanism and a multi-functional metal bucket lid adsorption mechanism to quickly complete the opening and closing of metal bucket lids. It includes a six-axis robotic arm assembly, an intelligent screw-tightening mechanism, a visual recognition mechanism, and a multi-functional metal bucket lid adsorption mechanism. The intelligent screw-tightening mechanism includes a drive unit, a torque control unit, and a floating sleeve mechanism for the torque control unit. The multi-functional metal bucket lid adsorption mechanism includes an adsorption unit with an elastic buffer layer around its perimeter, which automatically triggers a protection mechanism when the collision force is ≤50N. The visual recognition mechanism includes a 3D structured light camera and a laser ranging module. The 3D structured light camera is used for precise positioning of the bucket lid and screws, and the laser ranging module is used for accurate measurement of the distance between the device and the metal bucket lid.

Description

Technical Field

[0001] This utility model relates to equipment used in special occasions, and is a specially designed equipment for handling nuclear power plant waste. Specifically, it is a metal barrel opening and closing robot for use in metal waste barrels of nuclear power plants. Background Technology

[0002] Radioactive waste generated during the operation of nuclear power plants needs to be stored in special metal containers. Traditional opening and closing methods rely on manual operation, which exposes operators to the radioactive environment, posing a significant health risk. Manual operation is inefficient, making it difficult to open and close multiple metal containers in a short time. The sealing reliability is subject to human error. Furthermore, existing opening and closing devices are difficult to quickly match metal containers of different sizes.

[0003] Therefore, it is essential to develop an automatic opening and closing device for metal barrels that requires no manual contact and offers high safety.

[0004] Therefore, it is necessary to provide a robot for opening and closing metal barrel lids to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a robot for opening and closing metal barrel lids.

[0006] The technical solution is as follows:

[0007] A metal bucket opening and closing robot, which uses a visual recognition system in conjunction with an intelligent screw-tightening mechanism and a multi-functional metal bucket lid adsorption mechanism to quickly complete the opening and closing action of the metal bucket, includes a six-axis robotic arm assembly, an intelligent screw-tightening mechanism, a visual recognition mechanism and a multi-functional metal bucket lid adsorption mechanism.

[0008] The six-axis robotic arm assembly includes a robotic arm, which is a mechanism with high load capacity and high positioning accuracy, uses a servo motor, and is equipped with a redundant braking system;

[0009] Intelligent screw tightening mechanism: includes a drive unit, a torque control unit, a floating sleeve mechanism for the torque control unit; the drive unit uses a servo motor plus a planetary geared motor, which has high torque and adjustable speed; the torque control unit uses an integrated high-precision strain gauge torque sensor to accurately control the loosening and tightening of the nut; the nut adsorption module uses electromagnetic adsorption technology, which can quickly adsorb the nut when removing and installing it without manual intervention; the floating sleeve mechanism allows for small radial and axial deviations and automatically compensates for positioning errors;

[0010] The multi-functional metal bucket lid adsorption mechanism includes an adsorption unit, which uses a negative pressure suction cup for vacuum adsorption. An elastic buffer layer is set around the adsorption unit. When the collision force is ≤50N, the protection mechanism is automatically triggered. A detection system is also set, which includes a pressure sensor, a vibration sensor, and an acceleration sensor.

[0011] The visual recognition mechanism includes a 3D structured light camera and a laser ranging module; the 3D structured light camera is used for precise positioning of the bucket lid and screws, and the laser ranging module is used for accurate measurement of the distance between the device and the metal bucket lid.

[0012] Compared with existing technologies, this utility model eliminates the need for close human contact, offering high safety and efficiency, and can quickly adapt to the automatic opening and closing of metal drums of different sizes; specifically:

[0013] 1) Full-process automation: Achieving one-stop processing from opening to closing the lid;

[0014] 2) Enhanced safety: Reduces human contact with radioactive materials and lowers operational risks;

[0015] 3) Increased efficiency: Compared with existing technologies, operation time is reduced by more than 20%;

[0016] 4) Enhanced reliability: Redundant design of key components and self-diagnostic system improve system reliability by 150%;

[0017] 5) Data traceability: Complete records of operation processes and parameters to meet the compliance requirements of nuclear power plants. Attached Figure Description

[0018] Figure 1 This is one of the structural schematic diagrams of this utility model.

[0019] Figure 2 This is the second structural schematic diagram of this utility model.

[0020] Figure 3 This is the third structural schematic diagram of this utility model.

[0021] Figure 4 This is the fourth structural schematic diagram of this utility model.

[0022] Figure 5 This is the fifth structural schematic diagram of this utility model. Detailed Implementation

[0023] Example:

[0024] Please see Figure 1-5 This embodiment demonstrates a metal barrel lid opening and closing robot, including a six-axis robotic arm assembly 1, an intelligent screw-tightening mechanism 2, a multi-functional barrel lid adsorption mechanism 3, a visual recognition mechanism 4, a visual recognition mechanism adjustment rod 5, and a rotating connecting plate 6.

[0025] The six-axis robotic arm assembly 1 includes a robotic arm, the end of which is connected to a rotating connecting plate 6 via a bearing, and a rotary motor is mounted on the other end of the bearing.

[0026] The intelligent screw-tightening mechanism 2 is fixed to the left side of the rotating connecting plate 6 by screws, and the multi-functional bucket lid adsorption mechanism 3 is fixed to the right side of the rotating connecting plate 6 by screws.

[0027] The visual recognition mechanism 4 is set on the side of the six-axis robotic arm assembly 1 via the visual recognition mechanism adjustment rod 5, and the visual recognition system adjustment rod 5 is fixed to the bottom of the six-axis robotic arm assembly 1.

[0028] The intelligent screw-tightening mechanism 2 includes a sleeve, a motor housing 8, a motor base plate 9, a thrust bearing 10, a bearing pressure plate 11, a bearing fixing block 12, an adapter clamp 13, a sleeve chuck 14, a pressure block 15, a chuck mouth 16, a sleeve gripper 17, a connecting pipe 18, a spring adjusting block 19, a guide pin 20, a spring adjusting block 21, a motor side plate 22, a motor rear plate 23, a spring 24, a guide rail slider plate 25, a cylinder mounting plate 26, a pin screw 27, a buffer mounting seat 28, a guide rod fixing block 29, a chuck mouth mounting seat 30, a limit block 31, a guide rail plate 32, a guide rail plate 33, an air column 34, a sensor mounting strip 35, a guide rail limit block 36, a miniature cylinder 37, and a cylinder connector 38.

[0029] The motor housing 8 is fixed to the top of the motor base plate 9 by bolts. The motor housing contains a motor, torque control module, circuit board and sensor. The motor base plate 9 is fixed to the motor side plate 22 and motor rear plate 23 below the base plate by bolts.

[0030] The thrust bearing 10 is locked to the motor shaft inside the upper motor housing 8 by screws through the clamping clamp above the bearing. The thrust bearing 10 is locked to the adapter shaft by the clamping clamp below. The adapter shaft is mounted on the bearing fixing block 12 through the adapter clamp 13. Two bearings are mounted on the outer ring of the adapter shaft. The outer side of the bearings contacts the bearing fixing block 12. The bearing pressure plate 11 is fixed above the bearing fixing block 12 by bolts, pressing down the lower bearing.

[0031] The sleeve chuck 14 is locked below the adapter shaft by the adapter chuck block 13. The lower part of the sleeve chuck 14 is directly connected to the sleeve 7. The lower part of the sleeve 7 is connected to the chuck mouth 16 and the sleeve jaw 17. The chuck mouth 16 and the sleeve jaw 17 are fixed together by bolts. The pressure block 15 is fixed above the chuck mouth 16 by bolts. The connecting pipe 18 is fixed to the upper side of the chuck mouth 16 by nuts. The upper part of the connecting pipe passes through the bearing fixing block 12 and the round hole of the motor base plate 9.

[0032] The chuck 16 is fixed to the bottom left side of the chuck mounting base 30 by bolts. The guide rod fixing block 29 is installed on both sides of the chuck mounting base 30 by bolts. The lower part of the guide pin 20 passes through the guide rod fixing block 29 and the upper part passes through the bearing fixing block 12. Two spring adjusting blocks 21 are installed on the upper part of the guide pin 20. The spring 24 passes through the guide pin 20 and is fixed on the lower outer side.

[0033] The chuck mounting base 30 is bolted to the side of the lower guide rail slider plate 25. The motor rear plate 23 is bolted to the side of the upper guide rail slider plate 25. The cylinder mounting plate 26 is bolted to the bottom of the motor rear plate 23. The miniature cylinder 37 and the air column 33 are mounted on the side of the cylinder mounting plate 26 with nuts. The bottom of the miniature cylinder 37 is connected to the cylinder connector 38. The bottom of the cylinder connector 38 is bolted to the side of the guide rail plate 32.

[0034] The guide rail plate 32 is fixed to the side of the rotating connecting plate 6 by bolts.

[0035] The intelligent screw-tightening mechanism 2 is equipped with a nut adsorption module on the top, which can adsorb loosened nuts.

[0036] The intelligent screw-tightening system 2 uses a floating sleeve structure, allowing for a radial deviation of ±2mm and an angular deviation of ±5°.

[0037] The intelligent screw-tightening mechanism 2 has a torque control module that integrates a high-precision strain gauge torque sensor with a measurement accuracy of ±0.5%, ensuring that the nut is fully tightened or loosened.

[0038] The multi-functional bucket lid adsorption mechanism 5 includes a box, a connecting rod 43, a guide rod 44, an air pipe connection port 45, and a powerful suction cup 46.

[0039] The multi-functional bucket lid adsorption mechanism 5 has a box installed on top, which contains a piston, circuit board and sensor; the box is fixed to the side of the rotating connecting plate 6 by bolts, the connecting rod 43 and the guide rod 44 are fixed to the bottom of the box by nuts, the air pipe connection port 45 is fixed to the bottom of the guide rod 44 by nuts, and the powerful suction cup 46 is integrated with the air pipe connection port 45.

[0040] The multi-functional bucket lid adsorption mechanism 5 includes a pressure sensor, a vibration sensor, and an acceleration sensor;

[0041] The multi-functional bucket lid adsorption mechanism 5 includes an anti-collision system, with an elastic buffer layer and a collision sensor on the outside;

[0042] The box body is fixed to the side of the rotating connecting plate 6 by bolts, the connecting rod 43 and the guide rod 44 are fixed to the bottom of the box body by nuts, the air pipe connection port 45 is fixed to the bottom of the guide rod 44 by nuts, and the powerful suction cup 46 is integrated with the air pipe connection port 45.

[0043] The left side of the rotating connecting plate 6 is equipped with a guide rail, which can be used to quickly adjust the vertical position of the screw-tightening mechanism.

[0044] When performing the lid opening operation, the metal bucket is conveyed to the designated position via an external conveyor belt. The position of the lid and the distribution of screws are identified by the vision recognition mechanism 4. The robotic arm switches its front end to the intelligent screw-tightening mechanism 2 via the rotating connecting plate 6. After the screws are removed in sequence, the nuts are automatically adsorbed and stored in the designated position. Rotating the rotating connecting plate 6 switches to the multi-functional lid adsorption mechanism 3, which lowers the negative pressure suction cup to the surface of the metal lid. The negative pressure pump is started, and after the pressure sensor identifies that the adsorption is firm, the lid is stored in the designated position, and the lid opening operation is completed.

[0045] When performing the lid-closing operation, the automatic lid-opening and closing device for the metal bucket identifies the screw distribution through the vision recognition mechanism 4. The robotic arm switches its front end to the functional lid adsorption mechanism 3 via the rotating connecting plate 6. After the negative pressure suction cup descends and picks up the lid stored in the designated position, it identifies that the screw holes of the lid are aligned with the screws on the bucket body. Then, it lowers the lid vertically. The robotic arm switches its front end to the intelligent screw-tightening mechanism 2 via the rotating connecting plate 6. After adsorbing the nuts stored in the designated position, it tightens the nuts one by one until the torque monitoring device confirms that they are tightened. The lid-closing operation is then completed.

[0046] Compared with existing technologies, this utility model eliminates the need for close human contact, offering high safety and efficiency, and can quickly adapt to the automatic opening and closing of metal drums of different sizes; specifically:

[0047] 1) Full-process automation: Achieving one-stop processing from opening to closing the lid;

[0048] 2) Enhanced safety: Reduces human contact with radioactive materials and lowers operational risks;

[0049] 3) Increased efficiency: Compared with existing technologies, operation time is reduced by more than 20%;

[0050] 4) Enhanced reliability: Redundant design of key components and self-diagnostic system improve system reliability by 150%;

[0051] 5) Data traceability: Complete records of operation processes and parameters to meet the compliance requirements of nuclear power plants.

[0052] For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A robot for opening and closing the lid of a metal bucket, characterized in that: The system uses a visual recognition system in conjunction with an intelligent screw-tightening mechanism and a multi-functional metal bucket lid adsorption mechanism to quickly complete the opening and closing of the metal bucket lid. This includes a six-axis robotic arm assembly, an intelligent screw-tightening mechanism, a visual recognition mechanism, and a multi-functional metal bucket lid adsorption mechanism. Intelligent screw-tightening mechanism: includes a drive unit, a torque control unit, a torque control unit floating sleeve mechanism; The multi-functional metal bucket lid adsorption mechanism includes an adsorption unit with an elastic buffer layer around its perimeter. When the impact force is ≤50N, a protection mechanism is automatically triggered. The visual recognition mechanism includes a 3D structured light camera and a laser ranging module; the 3D structured light camera is used for precise positioning of the bucket lid and screws, and the laser ranging module is used for accurate measurement of the distance between the device and the metal bucket lid.

2. The metal barrel lid opening and closing robot according to claim 1, characterized in that: The six-axis robotic arm assembly includes a robotic arm, which is a high-load-capacity and high-positioning mechanism, using servo motors and equipped with a redundant braking system.

3. The metal barrel lid opening and closing robot according to claim 2, characterized in that: The floating sleeve mechanism allows for small radial and axial deviations and automatically compensates for positioning errors.

4. The metal barrel lid opening and closing robot according to claim 3, characterized in that: The drive unit uses a servo motor plus a planetary geared motor, which has high torque and adjustable speed; the torque control unit uses an integrated high-precision strain gauge torque sensor to accurately control the loosening and tightening of the nut.

5. A metal barrel lid-opening robot according to claim 4, characterized in that: The nut adsorption module uses electromagnetic adsorption technology, which can quickly adsorb the nut when disassembling and installing it without manual intervention.

6. A metal barrel lid-opening robot according to claim 5, characterized in that: The adsorption unit uses vacuum adsorption with a negative pressure suction cup.

7. A metal barrel lid-opening robot according to claim 6, characterized in that: The multi-functional metal bucket lid adsorption mechanism is also equipped with a detection system, which includes a pressure sensor, a vibration sensor, and an acceleration sensor.

8. A metal barrel lid-opening robot according to claim 7, characterized in that: When performing the lid opening operation, the metal bucket is conveyed to the designated position via an external conveyor belt. The position of the lid and the distribution of screws are identified by a vision recognition mechanism. The robotic arm switches its front end to the intelligent screw-tightening mechanism via a rotating connecting plate. After the screws are removed one by one, the nuts are automatically adsorbed and stored in the designated position. Rotating the rotating connecting plate switches to the multi-functional lid adsorption mechanism, lowering the negative pressure suction cup to the surface of the metal lid. The negative pressure pump is started, and after the pressure sensor confirms that the adsorption is firm, the lid is stored in the designated position, and the lid opening operation is completed.

9. A metal barrel lid-opening robot according to claim 7, characterized in that: When performing the lid-closing operation, the automatic lid-opening and closing device for the metal bucket identifies the screw distribution through a visual recognition mechanism. The robotic arm switches its front end to the functional lid adsorption mechanism via a rotating connecting plate. After the negative pressure suction cup descends and picks up the lid stored in the designated position, it identifies the alignment of the screw holes on the lid with the screws on the bucket body, and then lowers the lid vertically. The robotic arm then switches its front end to the intelligent screw-tightening mechanism via a rotating connecting plate, adsorbs the nuts stored in the designated position, and tightens the nuts one by one until the torque monitoring device confirms that they are tightened, thus completing the lid-closing operation.

Images