CN-117817699-B - Workpiece transferring tool

CN117817699BCN 117817699 BCN117817699 BCN 117817699BCN-117817699-B

Abstract

The invention discloses a workpiece transferring tool, which relates to the technical field of workpiece transferring equipment and comprises a connecting mechanism, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism and a fifth driving mechanism, wherein the connecting mechanism can be detachably connected with a workpiece, the first driving mechanism drives the connecting mechanism to deflect relative to a pipeline, the second driving mechanism drives the first driving mechanism to linearly move in a direction away from or close to the outer surface of the pipeline on the outer side of the pipeline, the third driving mechanism drives the fourth driving mechanism and the second driving mechanism to linearly move in a direction parallel to the axial direction of the pipeline on the outer side of the pipeline, the fourth driving mechanism drives the second driving mechanism to deflect in a direction away from or close to the outer surface of the pipeline on the outer side of the pipeline, and the fifth driving mechanism drives the third driving mechanism to rotate in an axis perpendicular to the outer surface of the pipeline on the outer side of the pipeline. The workpiece transferring tool provided by the invention is convenient for transferring the workpieces with complex transferring paths, and improves the working efficiency.

Inventors

TAN JIE
GAO DONG
NI WEI
LIU YUHONG
ZHOU QUAN
XIANG SIHENG
TAN NING
FAN NAIJI
ZHAO YUANQING
SU CHUNZHOU

Assignees

中国工程物理研究院激光聚变研究中心

Dates

Publication Date: 20260508
Application Date: 20240118

Claims (8)

1. A workpiece transferring tool is characterized by comprising: the connecting mechanism is used for disassembling the workpiece connected to the process hole; the first driving mechanism is connected with the connecting mechanism and can drive the connecting mechanism and the workpiece to synchronously deflect relative to the pipeline; The second driving mechanism is connected with the first driving mechanism and can drive the first driving mechanism and the connecting mechanism to synchronously and linearly move on the outer side of the pipeline along the direction far away from or near to the outer surface of the pipeline; The third driving mechanism is connected with the second driving mechanism and can drive the second driving mechanism, the first driving mechanism and the connecting mechanism to synchronously and linearly move along the direction parallel to the axial direction of the pipeline outside the pipeline; the fourth driving mechanism is connected with the second driving mechanism and the third driving mechanism and can drive the second driving mechanism, the first driving mechanism and the connecting mechanism to synchronously deflect at the outer side of the pipeline along the direction far away from or near to the outer surface of the pipeline; The fifth driving mechanism is connected with the third driving mechanism and can drive the fourth driving mechanism, the third driving mechanism, the second driving mechanism, the first driving mechanism and the connecting mechanism to synchronously rotate along an axis vertical to the outer surface of the pipeline outside the pipeline; The connecting mechanism comprises a connecting frame, a clamping assembly and an unlocking assembly, wherein the connecting frame is connected with the first driving mechanism, the clamping assembly is arranged on the connecting frame and can clamp the workpiece, and the unlocking assembly is arranged on the connecting frame and can control the clamping assembly to release the clamping of the workpiece; the clamping assembly comprises a connecting frame, a clamping assembly and a clamping assembly, wherein the connecting frame is arranged in a U-shaped manner, the clamping assembly comprises two sleeves which are fixedly arranged in the connecting frame in parallel, locking blocks which are respectively arranged at two ends of the sleeves and respectively pass through two side arms opposite to the connecting frame in a sliding manner are arranged at two ends of each sleeve, elastic parts are respectively arranged in the two ends of each sleeve, each locking block is arranged in the sleeve in a sliding manner, one end of each locking block can extend out of each side arm, each locking block can slide towards the inside of the sleeve and compress the corresponding elastic part, and the restoring force of each elastic part has a trend of pushing the corresponding locking block to slide towards the outside of the sleeve; The unlocking component is arranged between the two sleeves and connected with each locking block, and can push each locking block to slide towards the corresponding sleeve so as to unclamp the workpiece.
2. The workpiece transferring tool of claim 1, wherein the unlocking assembly comprises an unlocking screw rod and two unlocking pieces, the unlocking screw rod is arranged between the two sleeves in parallel, the unlocking screw rod is rotationally connected with the two side arms, the two unlocking pieces are sleeved at the two ends of the unlocking screw rod in a threaded manner and can be abutted against the opposite side surfaces of the two sleeves, and a limiting piece fixedly connected with the connecting frame is rotationally connected in the middle of the unlocking screw rod; the unlocking screw rod is characterized in that two ends of the unlocking screw rod are both driving ends and can extend out of the two side arms respectively, the driving ends are used for enabling the unlocking screw rod to rotate under the driving of external driving, and enabling the two unlocking pieces to move in opposite directions under the guiding of the two sleeves so as to drive the locking pieces to slide in the sleeves.
3. The workpiece transferring tool according to claim 1, wherein the first driving mechanism comprises a first supporting frame, a guide frame and a first driving piece, one end of the first supporting frame is connected with the second driving mechanism, the other end of the first supporting frame is fixedly connected with the guide frame, the guide frame comprises a movable frame and two opposite and spaced arc-shaped guide plates, the two arc-shaped guide plates are fixedly connected with the first supporting frame, arc-shaped guide grooves are formed in two opposite side surfaces of the two arc-shaped guide plates, the movable frame is arranged between the two arc-shaped guide plates and is in sliding connection with the two arc-shaped guide grooves, the movable frame is fixedly connected with the connecting mechanism, the first driving piece is arranged on the first supporting frame, and the free end of the first driving piece is movably connected with the movable frame; the first driving piece can adjust the length of the first driving piece to drive the movable frame and the connecting mechanism to slide along the arc-shaped guide groove so as to synchronously deflect.
4. The workpiece transferring tool of claim 1, wherein the second driving mechanism comprises a second supporting frame and a second driving piece, the second supporting frame is connected with the third driving mechanism and the fourth driving mechanism, the first driving mechanism is arranged on the second supporting frame in a sliding mode, the second driving piece is arranged on the second supporting frame and connected with the first driving mechanism, and the second driving piece can drive the first driving mechanism to linearly move relative to the second supporting frame in a direction away from or close to the outer surface of the pipeline.
5. The workpiece transferring tool according to claim 1, wherein the third driving mechanism comprises a third supporting frame and a third driving member, the third supporting frame is connected with the fourth driving mechanism, the fifth driving mechanism and the second driving mechanism, the third driving member is arranged on the third supporting frame and connected with the fourth driving mechanism and the second driving mechanism, and the third driving member can drive the second driving mechanism and the fourth driving mechanism to linearly move outside the pipeline along a direction parallel to the axial direction of the pipeline.
6. The workpiece transfer tool of claim 1 further comprising two force sensors respectively disposed on the third and fourth drive mechanisms, the fourth drive mechanism being capable of adjusting its length to drive the second drive mechanism to deflect outside the pipe in a direction away from or toward the outer surface of the pipe.
7. The workpiece transferring tool as set forth in claim 1, wherein the fifth driving mechanism comprises a mounting plate and a supporting base, the mounting plate and the supporting base are rotatably connected along an axis perpendicular to the outer surface of the pipeline, the mounting plate is fixedly connected to the pipeline, the third driving mechanism is arranged on the supporting base, and the supporting base can rotate relative to the mounting plate and drive the third driving mechanism to synchronously rotate.
8. The workpiece transfer tool of claim 6 further comprising a control mechanism and a traveling mechanism, wherein the control mechanism is in communication connection with and controls the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the force sensor, and the fifth driving mechanism can be arranged on the traveling mechanism.

Description

Workpiece transferring tool Technical Field The invention relates to the technical field of workpiece transfer equipment, in particular to a workpiece transfer tool. Background In the occasions of high temperature, high pressure, low temperature, low pressure, dust, noise, odor, radioactivity or other toxic pollution and narrow working space, the direct operation by the hands is dangerous or impossible, and the equipment such as a mechanical arm and the like can be used for partially or completely replacing people to safely finish the operation, so that the labor condition is improved. The method has the advantages that the path for automatic transfer and loading and unloading operation of the workpieces in exposure and vision is quite simple, the operation space is quite large, the installed or removed workpieces are quite exposed in the vision, the workpieces can be transferred without a complex motion path, but some important workpieces are required to be shaped and installed in sealing parts such as pipelines or spheres and the like, the workpieces are required to be put in or taken out from process holes of the sealing parts, the workpieces can be taken out or loaded in due to the fact that the loading and unloading motion channel of the workpieces is narrow, the repeated rotation, translation and other actions of the workpieces are required, the transfer path is quite complex, the traditional manipulator equipment is difficult to realize the multiple degree of freedom motion of the workpieces, the transfer of the workpieces is quite long, and the work efficiency is affected. Disclosure of Invention The invention aims to provide a workpiece transferring tool, which solves the problems in the prior art, is convenient for transferring workpieces with complex transferring paths and improves the working efficiency. In order to achieve the above object, the present invention provides the following solutions: The invention provides a workpiece transferring tool, which comprises a connecting mechanism, a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism and a fifth driving mechanism, wherein the connecting mechanism is used for disassembling a workpiece connected to a process hole, the first driving mechanism is connected with the connecting mechanism and can drive the connecting mechanism and the workpiece to synchronously deflect relative to a pipeline, the second driving mechanism is connected with the first driving mechanism and can drive the first driving mechanism and the connecting mechanism to synchronously and linearly move on the outer side of the pipeline in a direction away from or close to the outer surface of the pipeline, the third driving mechanism is connected with the second driving mechanism and can drive the second driving mechanism, the first driving mechanism and the connecting mechanism to synchronously and linearly move on the outer side of the pipeline in a direction parallel to the axial direction of the pipeline, the fourth driving mechanism is connected with the second driving mechanism and the third driving mechanism and can drive the second driving mechanism and the connecting mechanism to synchronously move on the outer side of the pipeline in a direction away from or close to the outer surface of the pipeline, and the third driving mechanism and the fourth driving mechanism and the third driving mechanism can synchronously move on the outer side of the pipeline in a direction away from or close to the outer surface of the pipeline. Preferably, the connecting mechanism comprises a connecting frame, a clamping assembly and an unlocking assembly, the connecting frame is connected with the first driving mechanism, the clamping assembly is arranged on the connecting frame and can clamp the workpiece, and the unlocking assembly is arranged on the connecting frame and can control the clamping assembly to release the clamping of the workpiece. The connecting frame is preferably U-shaped, the clamping assembly comprises two sleeves which are fixedly arranged in the connecting frame in parallel, locking blocks which are respectively arranged at two ends of each sleeve in a sliding penetrating mode and are arranged on two opposite side arms of the connecting frame, elastic parts are arranged in two ends of each sleeve, each locking block is arranged in each sleeve in a sliding mode, one end of each locking block can extend out of each side arm, each locking block can slide towards the inside of each sleeve and compress the corresponding elastic parts, restoring force of each elastic part has a trend of pushing the corresponding locking block to slide towards the outside of each sleeve, the clamping assembly further comprises locking bolts which are arranged on the outer walls of the two side arms, each locking block at two ends of each sleeve can extend out of the corresponding side arm and are used for respectively supporting two h