CN115648283A - Long-arm unfolding high-flexibility disassembling robot - Google Patents
Long-arm unfolding high-flexibility disassembling robot Download PDFInfo
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- CN115648283A CN115648283A CN202211680918.6A CN202211680918A CN115648283A CN 115648283 A CN115648283 A CN 115648283A CN 202211680918 A CN202211680918 A CN 202211680918A CN 115648283 A CN115648283 A CN 115648283A
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- 239000012636 effector Substances 0.000 claims abstract description 21
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000005855 radiation Effects 0.000 abstract description 5
- 238000005520 cutting process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
The invention belongs to the field of special equipment, and particularly relates to a long-arm unfolding high-flexibility disassembling robot which comprises a main bearing moving platform, a multi-stage folding type main arm robot, a working robot and a disassembling tool set; one end of the multi-stage folding type main arm robot is arranged on the main bearing moving platform, the other end of the multi-stage folding type main arm robot is connected with one end of the working robot, and the other end of the working robot is provided with a robot side part of the quick-change device; the disassembling tool set comprises a plurality of end effectors, and the top end of each end effector is provided with a quick-change device tool side part. The long-arm unfolding high-flexibility disassembling robot can be used for protection operation and exploration in areas where personnel cannot reach under the environment of a strong radiation field, can carry end effectors such as a three-dimensional scanner and the like to acquire the working object condition in an equipment room needing disassembling operation, and disassemble equipment in the equipment room through the end effectors of a disassembling tool set, so that the working risk and the labor intensity of the operating personnel are reduced.
Description
Technical Field
The invention belongs to the field of special equipment, and particularly relates to a long-arm unfolding high flexible disassembling robot.
Background
In the real production life, the disassembling operation needs to be carried out in many operation places with high risk and limited activity space, and because the environment is complex, a manual operation mode has to be adopted usually, so that high safety risk is brought to operation personnel, and the labor cost of enterprises is increased continuously.
For example, in the field of nuclear industry, there are many workplaces with high radiation level and limited space, in recent years, in order to solve the technical problems in field radiation measurement and engineering implementation of partial nuclear facilities, related units introduce related robots from abroad to carry out field work, but because the difference of working objects and working environments and the field application range are narrow, secondary development is limited by foreigners, the cost is high, and the development of the nuclear industry in China is restricted.
Disclosure of Invention
Aiming at the problem that only manual disassembling operation can be carried out in a plurality of equipment rooms with high risk and limited activity space at present, the invention aims to provide a long-arm unfolding high-flexibility disassembling robot.
The purpose of the invention is realized by the following technical scheme:
a long-arm unfolding high-flexibility disassembling robot comprises a main bearing moving platform, a multi-stage folding type main arm robot, a working robot and a disassembling tool set;
one end of the multi-stage folding type main arm robot is mounted on the main bearing moving platform, the other end of the multi-stage folding type main arm robot is connected with one end of the operating robot, and the other end of the operating robot is provided with a robot side part of a quick-change device;
the disassembling tool set comprises a plurality of end effectors, and the top end of each end effector is provided with a tool side part of a quick-change device;
and a tool bracket is arranged on the main bearing moving platform and is used for respectively supporting each end effector of the disassembling tool set.
Multistage foldable main arm robot is divided into main arm robot gyration I axle, main arm robot swing II axle, main arm robot swing III axle, main arm robot swing IV axle, main arm robot swing V axle and main arm robot swing VI axle by one end to the other end in proper order.
The operation robot is divided into an operation robot rotation shaft I, an operation robot swing shaft II, an operation robot swing shaft III, an operation robot rotation shaft IV, an operation robot swing shaft V and an operation robot rotation shaft VI from one end to the other end in sequence.
And a camera A is arranged on the operating robot and close to the swinging shaft II of the operating robot.
The main moving platform that bears includes bearing platform frame, main arm robot flange board and platform truckle, main arm robot flange board install in on the bearing platform frame top surface, the one end of multistage foldable main arm robot install in on the main arm robot flange board, multistage foldable main arm robot is whole to be located main arm robot flange board downside, the bottom of bearing platform frame is equipped with a plurality of the platform truckle.
The bearing platform frame is of a rectangular frame structure.
The bottom of the bearing platform frame is also provided with a plurality of adjustable supporting legs.
The tool bracket is arranged at the lower part in front of the bearing platform frame.
And a camera B is arranged on the operating robot close to the side part of the quick-change device robot.
The main bearing mobile platform is provided with a plurality of cameras for observing the motion condition of the robot above the ground and the equipment state in the environment space.
The invention has the advantages and positive effects that:
1. the long-arm unfolding high-flexibility disassembling robot can be used for protection operation and exploration in areas where personnel cannot reach under the environment of a strong radiation field, can carry the end effectors such as a three-dimensional scanner and the like to acquire the working object condition in an equipment room needing disassembling operation, and disassemble equipment in the equipment room through the end effectors of a disassembling tool set, so that the working risk and labor intensity of the operators are reduced.
2. For retirement dismantling and waste cleaning of the concrete shielding chamber below the zero plane, the retirement difficulty is extremely high due to the restriction of factors such as high radiation level, complex spatial arrangement, narrow operation space and the like; the long-arm unfolding high-flexibility disassembling robot is suitable for operation of underground space and overground narrow space of nuclear facilities through the arrangement of the end effector, the cameras and the cameras, and can achieve the aims of sensing indoor environment of equipment, disassembling pipe fittings such as process equipment, pipelines and valves, cutting and disassembling wastes and the like.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a main bearing mobile platform of the present invention;
FIG. 3 is a schematic structural diagram of the multi-stage folding main arm robot of the present invention;
fig. 4 is a schematic view of the construction of a working robot according to the invention;
FIG. 5 is a schematic diagram of the overall mechanism of the robot of the present invention;
FIG. 6 is a schematic view of the shear tool arrangement of the present invention;
FIG. 7 is a schematic view of the arrangement of the sawing tool according to the present invention;
FIG. 8 is a schematic view of the arrangement of the plasma cutting torch of the present invention;
FIG. 9 is a schematic view of the configuration of the sucking tool of the present invention;
fig. 10 is a schematic view of the arrangement structure of the three-dimensional scanner of the present invention.
In the figure: 1 is a main bearing moving platform, 101 is a bearing platform frame, 102 is a main arm robot connecting flange plate, 103 is a platform caster, 104 is an adjustable supporting leg, and 105 is a tool bracket;
2, a multistage folding type main arm robot, 201, 202, 203, 204, 205 and 206, wherein the main arm robot rotates an axis I, swings an axis II, swings an axis III, swings an axis IV, swings the axis V and swings the axis VI;
3 is an operation robot, 301 is an operation robot rotation I shaft, 302 is an operation robot swing II shaft, 303 is an operation robot swing III shaft, 304 is an operation robot rotation IV shaft, 305 is an operation robot swing V shaft, and 306 is an operation robot rotation VI shaft;
4, a disassembling tool set, 401, 402, a sawing tool, 403, a plasma cutting gun, 404, an absorbing tool and 405, a three-dimensional scanner;
501 is a robot side part of the quick-change device, and 502 is a tool side part of the quick-change device;
cameras A and B and 8 are cameras 6 and 7 respectively.
Detailed Description
The invention is described in further detail below with reference to figures 1-10.
A long-arm unfolding high-flexibility disassembling robot is shown in figures 1-10 and comprises a main bearing moving platform 1, a multi-stage folding main-arm robot 2, a working robot 3 and a disassembling tool set 4.
One end of the multi-stage folding type main arm robot 2 is installed on the main bearing moving platform 1, the other end of the multi-stage folding type main arm robot is connected with one end of the working robot 3, and the other end of the working robot 3 is provided with a robot side part 501 of a quick-change device.
The disassembly kit 4 includes several end effectors, each of which is provided at its tip with a quick-change device tool-side portion 502. In this embodiment, the quick-change device robot side portion 501 and the quick-change device tool side portion 502 are commercially available. By the provision of the quick change means comprising the quick change means robot-side part 501 and the quick change means tool-side part 502, the working robot 3 can be quickly connected to or disconnected from the respective end effector.
The main carriage moving platform 1 is provided with a tool bracket 105, and the tool bracket 105 supports each end effector of the disassembling tool set 4.
Specifically, as shown in fig. 1 and fig. 2, the main supporting mobile platform 1 in this embodiment includes a supporting platform frame 101, a main arm robot connecting flange plate 102 and platform casters 103, where the supporting platform frame 101 in this embodiment is a rectangular frame structure, and has sufficient strength, rigidity, stability and good anti-seismic property, so as to meet the requirement of the comprehensive positioning accuracy of the robot. The main arm robot flange board 102 is installed on the top surface of the bearing platform frame 101, one end of the multi-stage folding type main arm robot 2 is installed on the main arm robot flange board 102, the multi-stage folding type main arm robot 2 is integrally located on the lower side of the main arm robot flange board 102, and four platform casters 103 are evenly arranged at the bottom of the bearing platform frame 101. Four adjustable support legs 104 are uniformly arranged at the bottom of the bearing platform frame 101, the adjustable support legs 104 can be used for leveling and supporting the main bearing mobile platform 1 on the surface of equipment below the indoor ground, and the arrangement structures of the adjustable support legs 104 are all the prior art. The tool carriage 105 is disposed at a lower front portion of the carriage frame 101, and facilitates connection of the working robot 3 to various end effectors of the disassembling tool group 4 on the tool carriage 105.
Specifically, as shown in fig. 1 and fig. 2, a plurality of cameras 8 for observing the motion condition of the robot above the ground and the equipment state in the environmental space are arranged on the bearing platform frame 101 of the main bearing mobile platform 1, and the cameras 8 may be pan-tilt cameras or straight-tube cameras. In this embodiment, the load-bearing platform frame 101 is provided with two pan-tilt cameras and two straight-tube cameras, which are respectively in video data communication with the central control room equipment.
Specifically, as shown in fig. 3, in the present embodiment, the multi-stage folding type main arm robot 2 is divided into a main arm robot rotation i axis 201, a main arm robot swing ii axis 202, a main arm robot swing iii axis 203, a main arm robot swing iv axis 204, a main arm robot swing v axis 205, and a main arm robot swing vi axis 206 in this order from one end to the other end. That is, the multi-stage folding type main arm robot 2 has a structure of one rotation axis and five tandem parallel swing axes orthogonal to the rotation axis. The internal structure of the multi-stage folding type main arm robot 2 in the embodiment is the prior art, and the operation is controlled by the central control room equipment.
Specifically, as shown in fig. 4, the working robot 3 in this embodiment is divided into a working robot swing i-axis 301, a working robot swing ii-axis 302, a working robot swing iii-axis 303, a working robot swing iv-axis 304, a working robot swing v-axis 305, and a working robot swing vi-axis 306 in this order from one end to the other end. The working robot 3 in this embodiment is a six-axis robot developed for the requirements of a large working range and a high load and light weight, and its internal structure is the prior art and is controlled by a central control room device.
Specifically, as shown in fig. 4, in the present embodiment, a camera A6 is provided on the working robot 3 near the swing ii axis 302 of the working robot, and a camera B7 is provided on the working robot 3 near the robot side portion 501 of the quick change device. In this embodiment, the camera A6 and the camera B7 are both commercially available products, and perform video data communication with the central control indoor device, respectively. The camera A6 and the camera B7 are respectively used for observing the environment and the state and the position of the end effector so as to guide an operator to carry out remote control operation. The display equipment in the central control room is responsible for displaying the acquired real-time images and video information, and operating, monitoring and managing the video data through the operating terminal.
Specifically, as shown in fig. 6 to 10, the disassembling tool set 4 in this embodiment includes a shearing tool 401, a sawing tool 402, a plasma cutting gun 403, an absorbing tool 404, and a three-dimensional scanner 405. The shearing tool 401, the sawing tool 402, the plasma cutting torch 403, the suction tool 404 and the three-dimensional scanner 405 are all prior art, as are the connections to the quick-change device tool-side part 502. Before operation or at a certain stage, the three-dimensional scanner 405 is responsible for three-dimensional modeling of the environment in the operation area, and provides necessary environment information for the subsequent operation of the operation robot 3; in operation, the shearing tool 401, the sawing tool 402 and the plasma cutting gun 403 are responsible for disassembling the working objects, different working objects and process flows can be executed according to the characteristics of the types of the tools, and high efficiency and high reliability of the operation process are realized; after the work object is disassembled, the suction tool 404 is responsible for discharging along with the disassembly and retrieving the waste scattered on the ground.
The working principle is as follows:
the main bearing mobile platform 1 can realize good positioning support on the multistage folding main arm robot 2 and can move rapidly under the pushing of external acting force; the multistage folding type main arm robot 2 is arranged on the main bearing moving platform 1, is connected with the working robot 3 at the lower end, is used for controlling the lifting of the working robot 3 and the end effector in the working area, and bears the self weight and the operation reaction force of the working robot 3 and the end effector; the multistage folding type main arm robot 2 is used as a carrier of the working robot 3, the working range of the working robot 3 is expanded, and multi-arm coordinated motion is realized through an electric servo control technology so that the working robot 3 can reach a working area; the operation robot 3 is installed at the lower end of the multi-stage folding type main arm robot 2, reaches an operation position after being unfolded and lifted along with the multi-stage folding type main arm robot 2, withdraws from an operation environment along with the multi-stage folding type main arm robot 2 after an operation task is completed, and the operation robot 3 is respectively connected with various end effectors through a quick-change device according to process requirements and performs operation.
Claims (10)
1. The utility model provides a flexible robot of disassembling of long arm exhibition height which characterized in that: comprises a main bearing moving platform (1), a multi-stage folding type main arm robot (2), an operating robot (3) and a disassembling tool set (4);
one end of the multi-stage folding type main arm robot (2) is installed on the main bearing moving platform (1), the other end of the multi-stage folding type main arm robot is connected with one end of the operating robot (3), and the other end of the operating robot (3) is provided with a quick-change device robot side part (501);
the disassembling tool set (4) comprises a plurality of end effectors, and the top end of each end effector is provided with a quick-change device tool side part (502);
and a tool bracket (105) is arranged on the main bearing moving platform (1), and the tool bracket (105) is used for respectively supporting each end effector of the disassembling tool set (4).
2. The long arm unfolding high flexibility dismantling robot as claimed in claim 1, wherein: the multi-stage folding type main arm robot (2) is sequentially divided into a main arm robot rotation I shaft (201), a main arm robot swing II shaft (202), a main arm robot swing III shaft (203), a main arm robot swing IV shaft (204), a main arm robot swing V shaft (205) and a main arm robot swing VI shaft (206) from one end to the other end.
3. The long arm unfolding high flexibility dismantling robot as claimed in claim 1, wherein: the operation robot (3) is divided into an operation robot rotation I shaft (301), an operation robot swing II shaft (302), an operation robot swing III shaft (303), an operation robot rotation IV shaft (304), an operation robot swing V shaft (305) and an operation robot rotation VI shaft (306) from one end to the other end in sequence.
4. The long-arm unfolding high-flexibility disassembling robot according to claim 3, characterized in that: a camera A (6) is arranged on the operating robot (3) and close to the swinging II shaft (302) of the operating robot.
5. The long arm unfolding high flexibility dismantling robot as claimed in claim 1, wherein: the main bearing mobile platform (1) comprises a bearing platform frame (101), a main arm robot connecting flange plate (102) and platform trundles (103), wherein the main arm robot connecting flange plate (102) is installed on the top surface of the bearing platform frame (101), one end of a multi-stage folding main arm robot (2) is installed on the main arm robot connecting flange plate (102), the multi-stage folding main arm robot (2) is integrally located on the lower side of the main arm robot connecting flange plate (102), and the bottom of the bearing platform frame (101) is provided with a plurality of platform trundles (103).
6. The long arm unfolding high flexibility dismantling robot as claimed in claim 5, wherein: the bearing platform frame (101) is of a rectangular frame structure.
7. The long arm unfolding high flexibility dismantling robot as claimed in claim 5, wherein: the bottom of the bearing platform frame (101) is also provided with a plurality of adjustable supporting legs (104).
8. The long arm unfolding high flexibility dismantling robot as claimed in claim 5, wherein: the tool bracket (105) is arranged at the front lower part of the bearing platform frame (101).
9. The long-arm unfolding high-flexibility disassembling robot according to claim 1, characterized in that: and a camera B (7) is arranged on the operating robot (3) close to the robot side part (501) of the quick-change device.
10. The long arm unfolding high flexibility dismantling robot as claimed in claim 1, wherein: the main bearing mobile platform (1) is provided with a plurality of cameras (8) for observing the motion condition of the robot above the ground and the equipment state in the environmental space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211680918.6A CN115648283A (en) | 2022-12-27 | 2022-12-27 | Long-arm unfolding high-flexibility disassembling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211680918.6A CN115648283A (en) | 2022-12-27 | 2022-12-27 | Long-arm unfolding high-flexibility disassembling robot |
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| CN115648283A true CN115648283A (en) | 2023-01-31 |
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| CN202211680918.6A Pending CN115648283A (en) | 2022-12-27 | 2022-12-27 | Long-arm unfolding high-flexibility disassembling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117291476A (en) * | 2023-11-27 | 2023-12-26 | 南京如昼信息科技有限公司 | Urban drainage pipeline evaluation method and system based on remote control robot |
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| US20090071281A1 (en) * | 2007-09-13 | 2009-03-19 | Fisk Allan T | Robot arm assembly |
| CN102026781A (en) * | 2008-05-15 | 2011-04-20 | 波音公司 | Robot system comprising a foldable robot arm |
| CN104070535A (en) * | 2014-07-14 | 2014-10-01 | 中国科学院合肥物质科学研究院 | Multi-section folding type remote operation mechanical arm |
| CN112060109A (en) * | 2020-09-29 | 2020-12-11 | 南京工程学院 | Indoor bullet removal robot and working method thereof |
| CN112518708A (en) * | 2020-12-26 | 2021-03-19 | 张学莉 | Large-scale cargo handling robot |
| CN114131651A (en) * | 2021-11-09 | 2022-03-04 | 杭州景业智能科技股份有限公司 | Mechanical arm device |
-
2022
- 2022-12-27 CN CN202211680918.6A patent/CN115648283A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090071281A1 (en) * | 2007-09-13 | 2009-03-19 | Fisk Allan T | Robot arm assembly |
| CN102026781A (en) * | 2008-05-15 | 2011-04-20 | 波音公司 | Robot system comprising a foldable robot arm |
| CN104070535A (en) * | 2014-07-14 | 2014-10-01 | 中国科学院合肥物质科学研究院 | Multi-section folding type remote operation mechanical arm |
| CN112060109A (en) * | 2020-09-29 | 2020-12-11 | 南京工程学院 | Indoor bullet removal robot and working method thereof |
| CN112518708A (en) * | 2020-12-26 | 2021-03-19 | 张学莉 | Large-scale cargo handling robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117291476A (en) * | 2023-11-27 | 2023-12-26 | 南京如昼信息科技有限公司 | Urban drainage pipeline evaluation method and system based on remote control robot |
| CN117291476B (en) * | 2023-11-27 | 2024-02-13 | 南京如昼信息科技有限公司 | Urban drainage pipeline evaluation method and system based on remote control robot |
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Application publication date: 20230131 |
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