Clamping robot and nuclear engineering support installation vehicle

Abstract

The utility model provides a kind of clamping manipulator and nuclear engineering support installation car, it is related to the technical field of manipulator, the clamping manipulator includes first rotary electric cylinder, second rotary electric cylinder and manipulator assembly, rotary connection plate is rotationally arranged on the first rotary electric cylinder;One end of the rotary connection plate is connected with the first rotary electric cylinder, and the other end is fixedly provided with second rotary electric cylinder;Y-axis module is rotationally arranged on the second rotary electric cylinder, and X-axis module is provided on the Y-axis module;The manipulator assembly is provided on the X-axis module.The clamping manipulator provided by the utility model has first rotary electric cylinder, the manipulator assembly of first rotary electric cylinder moves in horizontal range, the second rotary electric cylinder makes manipulator assembly rotate, Y-axis module and X-axis module make manipulator accurately move in horizontal range, and then make manipulator assembly can quickly adjust workpiece from initial position to target installation position, and accurately adjust its attitude.

Description

Technical Field

[0001] This utility model relates to the technical field of robotic arms, and in particular to a clamping robotic arm and a nuclear engineering support installation vehicle. Background Technology

[0002] In nuclear power plant nuclear island installation projects, the traditional manual installation of electrical supports has many drawbacks. On the one hand, it is labor-intensive; workers need to carry and install heavy electrical steel for extended periods, easily leading to fatigue. This not only affects work efficiency but may also cause operational errors due to fatigue, potentially resulting in safety accidents. On the other hand, manual operation makes it difficult to precisely control the position and angle of the supports, which restricts construction efficiency and quality. With the advancement of automation in the nuclear industry, the requirements for production efficiency and installation quality are constantly increasing, and traditional installation methods can no longer meet the demands of large-scale, rapid, and precise installation. Utility Model Content

[0003] The purpose of this invention is to provide a clamping robot and a nuclear engineering support installation vehicle to alleviate the technical problems of low work efficiency, easy fatigue, and difficulty in accurately controlling the position and angle of workers installing electrical systems in nuclear island installation projects.

[0004] This utility model provides a clamping robot, including a first rotary electric cylinder, a second rotary electric cylinder, and a robot assembly. A rotating connecting plate is rotatably mounted on the first rotary electric cylinder. One end of the rotating connecting plate is connected to the first rotary electric cylinder, and the other end is fixedly mounted with the second rotary electric cylinder. A Y-axis module is mounted on the second rotary electric cylinder, and an X-axis module is mounted on the Y-axis module; the robotic arm assembly is mounted on the X-axis module.

[0005] In an optional embodiment, the lower end of the Y-axis module is provided with an assembly plate, which is used to connect to the second rotary electric cylinder. In an optional embodiment, the robotic arm assembly includes a connecting arm, a main gripper, and an auxiliary gripper, with one end of the connecting arm disposed on the X-axis module; The main gripper is mounted on the connecting arm, and one end of the auxiliary gripper is hinged to the main gripper.

[0006] In an optional embodiment, the main gripper is provided with a gripping cylinder, one end of which is hinged to the main gripper and the other end is hinged to the auxiliary gripper; the gripping cylinder is used to move the auxiliary gripper toward the main gripper and cooperate with the opening and closing of the main gripper.

[0007] In an optional embodiment, the main gripper is provided with an upper clamping plate, and the auxiliary gripper is provided with a lower clamping plate, wherein the upper clamping plate and the lower clamping plate cooperate to clamp the workpiece.

[0008] In an optional embodiment, both the upper clamping plate and the lower clamping plate are provided with anti-slip blocks.

[0009] In an optional embodiment, the Y-axis module has a Y-axis slider, and the X-axis module is disposed on the Y-axis slider; the X-axis module has an X-axis slider, and the robotic arm assembly is disposed on the X-axis slider. In an optional embodiment, the rotating connecting plate includes a first connecting portion, a second connecting portion, and a third connecting portion. The first connecting portion is used to connect with a first rotary electric cylinder, and the third connecting portion is used to connect with a second rotary electric cylinder. The two ends of the second connecting portion are respectively connected to the first connecting portion and the third connecting portion. The first connecting portion and the third connecting portion are not on the same plane. In an optional embodiment, a third rotary electric cylinder is also included, the robotic arm assembly being mounted on the third rotary electric cylinder, the third rotary electric cylinder being used to rotate the robotic arm assembly.

[0010] The clamping robot provided by this utility model has a first rotary electric cylinder, which moves the robot assembly within a horizontal range. A second rotary electric cylinder rotates the robot assembly. Y-axis and X-axis modules enable precise horizontal movement of the robot, allowing it to quickly adjust the workpiece from its initial position to the target installation position and precisely adjust its posture. Through multi-degree-of-freedom coordinated motion, the two vertical sides of the workpiece cross-section can be quickly adjusted to be parallel to or coincide with the target side, significantly shortening the installation time.

[0011] This utility model provides a nuclear engineering support installation vehicle, including the clamping manipulator described in any of the foregoing embodiments.

[0012] Compared with the prior art, the nuclear engineering support installation vehicle provided by this utility model has the clamping manipulator provided by this utility model, and thus has all the beneficial effects of the clamping manipulator provided by this utility model. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 A schematic diagram of the gripping robot is provided for an embodiment of this utility model; Figure 2 for Figure 1The diagram shows the connection structure of the gripper assembly, Y-axis module, and X-axis module of the clamping robot. Figure 3 for Figure 2 The diagram shows a structural schematic of the connection between the gripper assembly, Y-axis module, and X-axis module of the clamping robot from another angle. Figure 4 for Figure 1 The diagram shows the structure of the rotating connecting plate of the gripping robot.

[0015] Icons: 100-First rotary electric cylinder; 200-Second rotary electric cylinder; 300-Rotating connecting plate; 301-First connecting part; 302-Second connecting part; 303-Third connecting part; 400-Y-axis module; 401-Y-axis slider; 402-Assembly plate; 500-X-axis module; 501-X-axis slider; 600-Robot arm assembly; 601-Connecting arm; 602-Auxiliary gripper; 603-Main gripper; 604-Upper clamping plate; 605-Clamping cylinder; 606-Lower clamping plate; 700-Workpiece. Detailed Implementation

[0016] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0017] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0018] In the description of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0019] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0020] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings.

[0021] Example Reference Figures 1-4 This utility model provides a clamping robot, including a first rotary electric cylinder 100, a second rotary electric cylinder 200 and a robot assembly 600. A rotating connecting plate 300 is rotatably disposed on the first rotary electric cylinder 100. One end of the rotating connecting plate 300 is connected to the first rotary electric cylinder 100, and the other end is fixedly disposed on the second rotary electric cylinder 200. The second rotary electric cylinder 200 is equipped with a Y-axis module 400, and an X-axis module 500 is provided on the Y-axis module 400; the robot arm assembly 600 is provided on the X-axis module 500.

[0022] In some embodiments, the rotating end of the first rotary electric cylinder 100 is connected to the rotating connecting plate 300, and the first rotary electric cylinder 100 can drive the rotating connecting plate 300 to rotate. One end of the rotating connecting plate 300 is connected to the first rotary electric cylinder 100, and the other end is fixedly mounted on the second rotary electric cylinder 200, and the rotating connecting plate 300 can drive the second rotary electric cylinder 200 to rotate in the horizontal plane. The rotating end of the second rotary electric cylinder 200 is connected to the Y-axis module 400, and an X-axis module 500 is provided on the Y-axis module 400. A robot arm assembly 600 is provided on the X-axis module 500. The second rotary electric cylinder 200 can cause the robot arm assembly 600 to rotate. The X-axis module 500 and the Y-axis module 400 cooperate to make the robot arm assembly move precisely in the horizontal plane, realizing the precise adjustment of the robot arm assembly 600. This enables the robot arm assembly 600 to quickly adjust the workpiece 700 from the initial position to the target installation position and precisely adjust its posture. Through multi-degree-of-freedom coordinated motion, the two vertical sides of the workpiece's 700 section can be quickly adjusted to be parallel to and coincide with the target side, greatly shortening the installation time.

[0023] The gripping robot integrates a first rotary electric cylinder 100, a second rotary electric cylinder 200, an X-axis module 500, and a Y-axis module 400 to achieve multi-degree-of-freedom motion capabilities.

[0024] Reference Figure 3 In an optional embodiment, the lower end of the Y-axis module 400 is provided with an assembly plate 402, which is used to connect with the second rotary electric cylinder 200. An assembly plate 402 is provided on the lower end face of the Y-axis module 400. The assembly plate 402 is used to connect with the rotating end of the second rotary electric cylinder 200, that is, the second rotary electric cylinder 200 can make the Y-axis module 400 rotate, thereby realizing the rotation of the robot arm assembly 600.

[0025] Reference Figure 2In an optional embodiment, the robotic arm assembly 600 includes a connecting arm 601, a main gripper 603, and an auxiliary gripper 602, with one end of the connecting arm 601 disposed on the X-axis module 500. The main gripper 603 is disposed on the connecting arm 601, and one end of the auxiliary gripper 602 is hinged to the main gripper 603.

[0026] In some implementations, the robotic arm assembly 600 includes a connecting arm 601 for connection to an X-axis module 500. The robotic arm assembly 600 moves along with the X-axis module 500. A main gripper 603 is hinged to the connecting arm 601, and one end of an auxiliary gripper 602 is hinged to the main gripper 603. The main gripper 603 and the auxiliary gripper 602 cooperate to clamp the workpiece 700, thereby enabling the workpiece 700 to rotate and move precisely on the plane. This allows the two vertical sides of the workpiece 700 cross-section to be quickly adjusted to be parallel and coincident with the target side, greatly shortening the installation time.

[0027] The 600 robotic arm component is suitable for tubing cross-sectional sizes ranging from 50-180mm and supports a maximum workpiece weight of 700kg.

[0028] In an optional embodiment, a clamping cylinder 605 is provided on the main gripper 603. One end of the clamping cylinder 605 is hinged to the main gripper 603, and the other end is hinged to the auxiliary gripper 602. The clamping cylinder 605 is used to move the auxiliary gripper 602 toward the main gripper 603 and cooperate with the main gripper 603 to open and close.

[0029] In some embodiments, the main gripper 603 is provided with a clamping cylinder 605. When the main gripper 603 and the auxiliary gripper 602 need to clamp the workpiece 700, the clamping cylinder 605 causes the auxiliary gripper 602 to move toward the main gripper, thereby achieving the clamping of the workpiece 700. At the same time, it is equipped with a gripper cylinder pressure monitoring function to ensure that the clamping force is always within a safe range.

[0030] In an optional embodiment, the main gripper 603 is provided with an upper clamping plate 604, and the auxiliary gripper 602 is provided with a lower clamping plate 606. The upper clamping plate 604 and the lower clamping plate 606 cooperate to clamp the workpiece 700.

[0031] In an optional embodiment, both the upper clamping plate 604 and the lower clamping plate 606 are provided with anti-slip blocks.

[0032] In some embodiments, an upper clamping plate 604 is provided on the main jaw 603, and a lower clamping plate 606 is provided on the auxiliary jaw 602, and the upper clamping plate 604 and the lower clamping plate 606 cooperate to clamp the workpiece 700; in order to prevent the workpiece 700 from slipping, anti-slip blocks are provided on both the upper clamping plate 604 and the lower clamping plate 606, and both the upper clamping plate 604 and the lower clamping plate 606 abut against the workpiece 700 through the anti-slip blocks.

[0033] In an optional embodiment, the Y-axis module 400 has a Y-axis slider 401, and the X-axis module 500 is disposed on the Y-axis slider 401. In an optional embodiment, the X-axis module 500 has an X-axis slider 501, and the robotic arm assembly 600 is disposed on the X-axis slider 501.

[0034] The X-axis module 500 is mounted on the Y-axis slider 401 of the Y-axis module 400, and the robot arm assembly 600 is mounted on the X-axis slider 501. The X-axis module 500 and the Y-axis module 400 achieve 200mm stroke fine adjustment through servo control, with a control accuracy of 0.1mm, ensuring the accurate positioning of the workpiece 700 in complex installation environments.

[0035] Reference Figure 4 In an optional embodiment, the rotating connecting plate 300 includes a first connecting portion 301, a second connecting portion 302, and a third connecting portion 303. The first connecting portion 301 is used to connect with the first rotary electric cylinder 100, and the third connecting portion 303 is used to connect with the second rotary electric cylinder 200. The two ends of the second connecting portion 302 are respectively connected to the first connecting portion 301 and the third connecting portion 303. The first connecting portion 301 and the third connecting portion 303 are not on the same plane.

[0036] In some embodiments, the first connecting portion 301 and the third connecting portion 303 of the rotating connecting plate 300 are not on the same plane, one end of the second connecting portion 302 is connected to the first connecting portion 301 and the other end is connected to the third connecting portion 303, so that the first connecting portion 301 and the third connecting portion 303, which are not on the same plane, can move synchronously. In an optional embodiment, a third rotary electric cylinder is also included, on which the robotic arm assembly 600 is disposed, the third rotary electric cylinder being used to rotate the robotic arm assembly 600.

[0037] To better position the robotic arm assembly 600 in a vertical or other state, a third rotary electric cylinder is installed on the X-axis module 500. The robotic arm assembly 600 is mounted on the third rotary electric cylinder, which is used to adjust the verticality of the robotic arm assembly 600.

[0038] The clamping robot provided by this utility model has a first rotary electric cylinder 100, which moves the robot arm assembly 600 within a horizontal range. A second rotary electric cylinder 200 rotates the robot arm assembly 600. A Y-axis module 400 and an X-axis module 500 enable precise horizontal movement of the robot arm, allowing the robot arm assembly 600 to quickly adjust the workpiece 700 from its initial position to the target installation position and precisely adjust its posture. Through multi-degree-of-freedom coordinated motion, the two vertical sides of the workpiece 700's cross-section can be quickly adjusted to be parallel to and coincide with the target side, greatly shortening the installation time. Compared with traditional manual installation methods, it reduces the time and error of manual adjustment, increasing installation efficiency by approximately three times.

[0039] The gripping robot has a built-in torque detection sensor that monitors the gripping load and the workpiece's contact torque in real time to prevent overload damage. When the load exceeds the limit, the system automatically triggers an alarm and stops operation, ensuring the robot's safe operation.

[0040] To address the pain points of traditional installation methods, improve the efficiency, accuracy, and safety of electrical support installation, and promote the development of the nuclear industry installation field towards intelligence and automation.

[0041] This utility model provides a nuclear engineering support installation vehicle, including the clamping manipulator described in any of the foregoing embodiments.

[0042] Compared with the prior art, the nuclear engineering support installation vehicle provided by this utility model has the clamping manipulator provided by this utility model, and thus has all the beneficial effects of the clamping manipulator provided by this utility model.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A gripping robotic arm, characterized in that, It includes a first rotary electric cylinder (100), a second rotary electric cylinder (200), and a robotic arm assembly (600). A rotating connecting plate (300) is rotatably mounted on the first rotary electric cylinder (100). One end of the rotating connecting plate (300) is connected to the first rotary electric cylinder (100), and the other end is fixedly mounted with the second rotary electric cylinder (200). A Y-axis module (400) is rotatably mounted on the second rotary electric cylinder (200), and an X-axis module (500) is mounted on the Y-axis module (400); the robotic arm assembly (600) is mounted on the X-axis module (500).

2. The gripping robot according to claim 1, characterized in that, The lower end of the Y-axis module (400) is provided with an assembly plate (402), which is used to connect to the second rotary electric cylinder (200).

3. The gripping robot according to claim 2, characterized in that, The robotic arm assembly (600) includes a connecting arm (601), a main gripper (603), and an auxiliary gripper (602), with one end of the connecting arm (601) disposed on the X-axis module (500); The main gripper (603) is disposed on the connecting arm (601), and one end of the auxiliary gripper (602) is hinged to the main gripper (603).

4. The gripping robot according to claim 3, characterized in that, The main gripper (603) is provided with a gripping cylinder (605). One end of the gripping cylinder (605) is hinged to the main gripper (603), and the other end is hinged to the auxiliary gripper (602). The gripping cylinder (605) is used to move the auxiliary gripper (602) toward the main gripper (603) and cooperate with the opening and closing of the main gripper (603).

5. The gripping robot according to claim 4, characterized in that, The main gripper (603) is provided with an upper clamping plate (604), and the auxiliary gripper (602) is provided with a lower clamping plate (606). The upper clamping plate (604) and the lower clamping plate (606) cooperate to clamp the workpiece (700).

6. The gripping robot according to claim 5, characterized in that, Both the upper clamping plate (604) and the lower clamping plate (606) are provided with anti-slip blocks.

7. The gripping robot according to claim 1, characterized in that, The Y-axis module (400) has a Y-axis slider (401), and the X-axis module (500) is disposed on the Y-axis slider (401); The X-axis module (500) has an X-axis slider (501), and the robotic arm assembly (600) is disposed on the X-axis slider (501).

8. The gripping robot according to claim 1, characterized in that, The rotating connecting plate (300) includes a first connecting part (301), a second connecting part (302) and a third connecting part (303). The first connecting part (301) is used to connect with the first rotary electric cylinder (100), and the third connecting part (303) is used to connect with the second rotary electric cylinder (200). The two ends of the second connecting part (302) are respectively connected to the first connecting part (301) and the third connecting part (303). The first connecting part (301) and the third connecting part (303) are not on the same plane.

9. The gripping robot according to claim 1, characterized in that, It also includes a third rotary electric cylinder, on which the robotic arm assembly (600) is mounted, the third rotary electric cylinder being used to rotate the robotic arm assembly (600).

10. A nuclear engineering support installation vehicle, characterized in that, Includes the gripping manipulator as described in any one of claims 1-9.

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