Joint type mechanical arm rapid disassembling and assembling system under nuclear radiation environment

Abstract

The invention relates to a tool device under the nuclear radiation environment, in particular to a joint type mechanical arm rapid disassembling and assembling system under the nuclear radiation environment. The joint type mechanical arm rapid disassembling and assembling system mainly comprises a mechanical arm linkage system, a mechanical arm assembling piece, an assembling and disassembling mechanism and a control system. The mechanical arm linkage system is connected with the mechanical arm assembling piece in a linked mode. The assembling and disassembling mechanism is a disassembling and assembling tool of the mechanical arm assembling piece. The mechanical arm linkage system is mainly composed of a suspended wall type linkage movement frame, a hanging type linkage telescopic cylinder and a coupler. The mechanical arm assembling piece is composed of multiple joint mechanical arms and comprises a brake part and a drive part. The brake part mainly comprises a large arm, a middle arm and a small arm which are connected with one another from top to bottom. The drive part mainly comprises a servo drive motor, a speed reducer and a worm and worm wheel transmission mechanism. The assembling and disassembling mechanism mainly comprises an upper shell body assembling and disassembling structure, a lower shell body assembling and disassembling structure, a cylinder drive lifting table, an assembling and disassembling supporting frame and a movement base. The joint type mechanical arm rapid disassembling and assembling system is used for disassembling and assembling of joints of nuclear radiation internal joint type mechanical arms, and therefore components of the mechanical arms can be conveniently maintained and replaced.

Description

technical field [0001] The invention relates to a tooling device in a nuclear radiation environment, in particular to a fast disassembly system for an articulated mechanical arm in a nuclear radiation environment. Background technique [0002] With the development of my country's nuclear industry science and technology, scientific workers have also made considerable progress in the research and exploration of nuclear industry technology, and the safety and reliability of operations have also been greatly improved. In the early days of the nuclear industry, personal injury accidents occurred frequently due to improper operation of personnel during maintenance, maintenance and accidents, or excessive radioactive doses of nuclear materials in the nuclear environment. Therefore, remote control operation technology is an indispensable element of the nuclear industry. Remote control The operation technology is used in the maintenance and replacement of the tooling of the internal ...

AI Technical Summary

Problems solved by technology

[0003] The remote control maintenance technology in the nuclear radiation environment is a flexible operating system. In the nuclear radiation environment, there are many equipments, various pipelines are intricate, the passage is narrow, and the working space is small, but various maintenance tools can be operated through the remote control technology. The indispensable tooling equipment in the remote control maintenance system is the power manipulator, and in order to meet the radiation protection requirements for the tooling equipment in the nuclear radiation environment, there are also high requirements for the structural design and performance of the power manipulator. Flexible requirements, its structural design is also relatively complex

When today's operating technology is used to lift, transfer or replace and maintain tooling equipment and even small parts in a nuclear radiation environment, due to environmental restrictions, the work is difficult and the operator is more fatigued. If the handling of details is a little careless If it is not rigorous enough, it will have a great impact on the work results in the nuclear radiation environment. Therefore, the requirements for working conditions in the nuclear radiation environment are relatively high. Not only careful operation steps and planning are required, but also good tooling design is required.

[0004] For the disassembly and assembly of the joints of the articulated manipulators inside the nuclear radiation site, the existing articulated manipulators all adopt fixed connections, that is, the joints of the manipulators are connected by many bolts and nuts. Bolts, nuts, and cable connectors need to be pulled out manually. The process is very complicated and time-consuming, which also makes disassembly and assembly inconvenient.

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