A double-acting manipulator

Abstract

The invention relates to a double-acting manipulator. The double-acting manipulator comprises a base, a waist part, a large arm, a small arm and a terminal actuator, wherein the base, the waist part, the large arm, the small arm and the terminal actuator are connected through hollow joint shafts in sequence; wires are arranged in the manipulator; the base and the waist part are connected through a waist part hollow joint shaft; the waist part and the large arm are connected through a shoulder part hollow joint shaft; the large arm and the small arm are connected through an elbow part hollow joint shaft; and the small arm and the terminal actuator are connected through a wrist part pitching hollow joint shaft. The double-acting manipulator is characterized in that axles of the waist part hollow joint shaft and the shoulder part joint shaft are perpendicular and are intersected in one point; the shoulder part hollow joint shaft, the elbow part hollow joint shaft and the wrist part pitching hollow joint shaft are parallel; the terminal actuator includes an electric spanner, a jaw, a terminal actuator box, a jaw rotating direct-current servo motor and a jaw opening / closing direct-current servo motor; and the electric spanner and the terminal actuator box are connected through a wrist part deflection hollow joint shaft.

Description

technical field [0001] The invention relates to the technical field of nuclear power plant robots, in particular to a double-acting manipulator. Background technique [0002] At present, nuclear power plant reactors in the world use the chain fission reaction of materials such as metal uranium or plutonium to generate huge heat energy. During the fission process, certain radioactive pollutants will be produced. The chemical and volume control system (RCV) uses a large number of RCV003 / 004FI filters to maintain the water quality of the nuclear power plant circuit. The filter elements in these filters need to be replaced regularly to avoid excessive radioactive pollutants in the circuit. [0003] PREDATOR, a 7-degree-of-freedom hydraulically driven operating arm developed by RoboProbe Technologies in the United States, is used for maintenance and repair of nuclear plant equipment and nuclear material processing. It adopts master-slave control with force feedback to improve the...

AI Technical Summary

Problems solved by technology

[0005] Existing related grabbing manipulators, such as the roller grabbing manipulator disclosed in the Chinese patent application number 201511002154.5, have two claws that are semicircular with the same diameter, and can only grab cylindrical objects of the same specification. For objects of different diameters, it is necessary to replace the mechanical fingers of different specifications to complete the task; for example, the Chinese patent No. ZL201310291512.3 discloses the manipulator and the grabbing mechanism of the drying equipment, and the two claws are L-shaped respectively. , although it can grasp cylinders with different diameters, each claw has only one contact line with the cylindrical object, and can only grasp objects with relatively light weight

Moreover, the above-mentioned two inventive manipulators only have a single grabbing function, cannot perform long-term operations in high-radiation environments, and cannot be directly applied to the replacement of filter elements in RCV003 / 004FI filters.

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