Special articulated manipulator for hot chamber

Abstract

The utility model relates to the technical field of manipulators, in particular to a special articulated manipulator for a hot chamber, which reduces the space occupation of the bottom of the hot chamber, has a simple structure, is convenient to mount and dismount, avoids being polluted and eroded, and has strong applicability. Comprising a multi-joint mechanical arm, a fixing assembly, a rotating assembly, a dismounting assembly and a protection assembly, the top of the multi-joint mechanical arm is installed at the top of a hot chamber through the fixing assembly, the rotating assembly is installed at the bottom of the fixing assembly, the output end of the rotating assembly is connected with the top of the multi-joint mechanical arm, and the dismounting assembly and an installation clamping component are installed at the bottom of the multi-joint mechanical arm; a protection assembly is installed outside the multi-joint mechanical arm.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a special articulated manipulator for hot chambers. Background Art

[0002] A hot cell is a shielded room for conducting high-radioactivity tests and operations. The hot cell is mainly used for operating highly radioactive materials, such as disassembly inspection, non-destructive testing, mechanical property testing, chemical analysis, and fuel preparation of fuel assemblies and components. Operations are usually performed remotely by a robotic arm to ensure the safety of the operator. For example, prior art publication No. CN115847462A proposes a three-joint manipulator clamp for a spent fuel reprocessing hot cell. The clamp comprises a wrist (1), a base plate (0), and a pair of separately arranged rotatable clamping claws (10); the wrist (1) is connected to the base plate (0), and a rotatable first gear part (7) is provided in the wrist (1); the clamping claw (10) is movably connected to the base plate (0) through at least two rotating arms (9); and the rotating arms (9) are fixedly provided with a second gear part (8) that matches the first gear part (7). However, in the hot cell environment, this makes the manipulator's driven arm more susceptible to contamination and erosion by the nuclear environment, greatly shortening the service life of the manipulator. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a hot chamber-specific articulated manipulator that reduces the space occupied by the bottom of the hot chamber, has a simple structure, is easy to install and disassemble, avoids pollution and erosion, and has strong applicability.

[0004] The utility model discloses a special articulated manipulator for a hot chamber, comprising a multi-joint manipulator arm, a fixed component, a rotating component, a disassembly component and a protective component. The top of the multi-joint manipulator arm is mounted on the top of the hot chamber through the fixed component, the bottom of the fixed component is mounted with a rotating component, the output end of the rotating component is connected to the top of the multi-joint manipulator arm, the bottom of the multi-joint manipulator arm is mounted with a disassembly component, a clamping component is installed, and a protective component is mounted on the outside of the multi-joint manipulator arm; the multi-joint manipulator arm is mounted on the top of the hot chamber through the fixed component, which reduces the space occupied by the bottom of the hot chamber and is convenient to use; the multi-joint manipulator arm can be rotated by the rotating component, which improves the flexibility of the multi-joint manipulator arm when used; the disassembly component facilitates the replacement of clamping components with different usage requirements; the protective component can protect the outside of the multi-joint manipulator arm, which can avoid contamination and erosion in the hot chamber environment of nuclear treatment; the structure is simple, the installation and disassembly are convenient, and the applicability is strong.

[0005] Preferably, the fixing assembly includes a mounting base, multiple fixing bolts, two groups of plugs and two shielding plates. The mounting base is located above the multi-joint robotic arm. Two rectangular grooves are provided at the left and right ends of the mounting base. The rectangular top is screwed with fixing bolts. The plugs are inserted into the rectangular grooves. The left and right plugs are fixedly connected by the shielding plates. The mounting base is placed on the top of the hot chamber, the fixing bolts are tightened to fix the mounting base, and then the plugs are inserted into the rectangular grooves to protect the fixing bolts, thereby fixing the multi-joint robotic arm to the top of the hot chamber, reducing the space occupied by the multi-joint robotic arm at the bottom of the hot chamber and improving practicality.

[0006] Preferably, the rotating assembly includes a protective motor box, a motor, a turntable, a connecting plate and a connecting sleeve. The protective motor box is fixedly installed at the bottom of the multi-joint robotic arm, the motor is installed inside the protective motor box, the connecting sleeve is installed at the bottom of the protective motor box, the turntable is rotatably installed inside the connecting sleeve, the bottom output end of the motor passes through the bottom of the protective motor box and is connected to the top of the turntable, the bottom output end of the turntable is connected to the connecting plate, and the top of the multi-joint robotic arm is connected to the bottom of the connecting plate; the starting motor drives the turntable to rotate in the connecting sleeve, and the turntable drives the connecting plate to rotate, which can enable the multi-joint robotic arm to rotate and improve the flexibility of the multi-joint robotic arm when used.

[0007] Preferably, it also includes a limiting swivel and a sealing swivel, a limiting guide groove is provided inside the connecting sleeve, the limiting swivel is slidably installed in the limiting guide groove, the limiting swivel is connected to the outer wall of the turntable, a sealing groove is provided at the bottom of the connecting sleeve, the sealing swivel is rotatably installed in the sealing groove, and the bottom of the sealing swivel is fixedly connected to the top of the connecting plate; when the motor drives the turntable to rotate, the turntable drives the limiting swivel to rotate in the limiting guide groove, limiting and guiding the turntable to ensure stability, and at the same time, when the turntable drives the connecting plate to rotate, the connecting plate drives the sealing swivel to rotate in the sealing groove to ensure sealing.

[0008] Preferably, the disassembly component includes a connecting seat, multiple studs and multiple arc-shaped clamping blocks. The connecting seat is installed at the bottom end of the multi-joint robotic arm. An insertion slot is provided at the bottom of the connecting seat, and an annular storage cavity is provided in the insertion slot. Multiple studs are axially screwed on the outer wall of the connecting seat, and a nut is provided at the outer end of the stud. An arc-shaped clamping block is rotatably installed on the other end of the stud. A plug is installed on the upper part of the clamping component, and multiple arc-shaped clamping slots are provided on the outer wall of the plug; the plug on the upper part of the clamping component is inserted into the insertion slot, and the stud is driven to rotate by the nut, so that the multiple arc-shaped clamping blocks approach each other and enter the arc-shaped clamping slot, and the plug is clamped and fixed, which is convenient for replacing clamping components with different usage requirements. The structure is simple and easy to install and disassemble.

[0009] Preferably, the protective component includes a protective sleeve and multiple rotating joints. The protective sleeve is sleeved on the outside of the rotating joint. The top of the protective sleeve is connected to the bottom of the connecting plate, and the lower end of the protective sleeve is connected to the outer wall of the connecting seat. The protective sleeve and the multi-joint robotic arm are installed at the joint. The protective sleeve and the rotating joint are made of polyethylene material, and the rotating joint is retractable. The multi-joint robotic arm can be protected by the protective sleeve. The protective sleeve and the rotating joint are made of polyethylene material, which can prevent it from being contaminated and eroded in the hot chamber environment of nuclear processing. The retractable rotating joint can ensure that the multi-joint robotic arm does not interfere with its work, thereby improving its service life.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: the multi-joint robotic arm is installed on the top of the hot chamber through a fixed component, which reduces the space occupied by the bottom of the hot chamber and is convenient to use; the multi-joint robotic arm can be rotated by rotating the component, which improves the flexibility of the multi-joint robotic arm when in use; the clamping components with different usage requirements can be easily replaced by disassembling the component; the outside of the multi-joint robotic arm can be protected by the protective component, which can avoid contamination and erosion in the hot chamber environment of nuclear processing; the structure is simple, the installation and disassembly are convenient, and the applicability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural diagram of the utility model;

[0012] Figure 2 This is an axonometric structural diagram of the present utility model;

[0013] Figure 3 It is a schematic diagram of the internal structure of the utility model;

[0014] Figure 4 It is a front cross-sectional structural schematic diagram of the utility model;

[0015] Figure 5 It is a structural diagram of the disassembly assembly of the utility model;

[0016] Markings in the accompanying drawings: 1. Multi-joint robotic arm; 2. Mounting base; 3. Fixing bolt; 4. Block; 5. Shielding plate; 6. Protective motor box; 7. Motor; 8. Turntable; 9. Limit swivel; 10. Connecting plate; 11. Sealing swivel; 12. Connecting base; 13. Stud; 14. Arc-shaped block; 15. Plug; 16. Protective cover; 17. Rotating joint; 18. Connecting sleeve. DETAILED DESCRIPTION

[0017] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0018] like Figures 1 to 5 As shown, the mounting base 2 is located above the multi-joint robotic arm 1, and two rectangular grooves are provided at the left and right ends of the mounting base 2. A fixing bolt 3 is screwed on the top of the rectangle, and a plug 4 is inserted into the rectangular groove. The left and right plugs 4 are fixedly connected by a shielding plate 5. The protective motor box 6 is fixedly installed at the bottom of the multi-joint robotic arm 1, and a motor 7 is installed inside the protective motor box 6. The connecting sleeve 18 is installed at the bottom of the protective motor box 6. The turntable 8 is rotatably installed inside the connecting sleeve 18. The bottom output end of the motor 7 passes through the bottom of the protective motor box 6 and is connected to the top of the turntable 8. The bottom output end of the turntable 8 is connected to a connecting plate 10. The top of the multi-joint robotic arm 1 is connected to the bottom of the connecting plate 10. A limiting guide groove is provided inside the connecting sleeve 18, and a limiting swivel 9 is slidably installed in the limiting guide groove. The limiting swivel 9 is connected to the outer wall of the turntable 8. A sealing swivel groove is provided at the bottom of the connecting sleeve 18. The sealing swivel 11 is rotatably installed in the sealing swivel groove, the bottom of the sealing swivel 11 is fixedly connected to the top of the connecting plate 10, the connecting seat 12 is installed at the bottom end of the multi-joint robotic arm 1, and an insertion slot is provided at the bottom of the connecting seat 12, and an annular receiving cavity is provided in the insertion slot. A plurality of studs 13 are axially screwed on the outer wall of the connecting seat 12, and a nut is provided at the outer end of the stud 13. An arc-shaped block 14 is rotatably installed on the other end of the stud 13, and a plug 15 is installed on the upper part of the clamping component. A plurality of arc-shaped slots are provided on the outer wall of the plug 15, and a protective sleeve 16 is sleeved on the outside of the rotary joint 17. The top of the protective sleeve 16 is connected to the bottom of the connecting plate 10, and the lower end of the protective sleeve 16 is connected to the outer wall of the connecting seat 12. A rotary joint 17 is installed at the joint of the protective sleeve 16 and the multi-joint robotic arm 1, and the protective sleeve 16 and the rotary joint 17 are made of polyethylene material, and the rotary joint 17 is retractable;

[0019] Place the mounting base 2 on the top of the hot chamber, tighten the fixing bolts 3 to fix the mounting base 2, and then insert the plug 4 into the rectangular groove to protect the fixing bolts 3, thereby fixing the multi-joint robotic arm 1 on the top of the hot chamber, reducing the space occupied by the multi-joint robotic arm 1 on the bottom of the hot chamber and improving practicality. Start the motor 7 to drive the turntable 8 to rotate in the connecting sleeve 18, and the turntable 8 drives the connecting plate 10 to rotate, which can make the multi-joint robotic arm 1 rotate and improve the flexibility of the multi-joint robotic arm 1 when used. When the motor 7 drives the turntable 8 to rotate, the turntable 8 drives the limiting swivel 9 to rotate in the limiting guide groove, and limits the turntable 8 to ensure stability. At the same time, when the turntable 8 drives the connecting plate 10 to rotate, The connecting plate 10 drives the sealing swivel 11 to rotate in the sealing swivel groove to ensure sealing. The plug 15 on the upper part of the clamping component is inserted into the insertion groove, and the stud 13 is rotated by the nut to make multiple arc-shaped blocks 14 approach each other and enter the arc-shaped slot. The plug 15 is clamped and fixed, which is convenient for replacing clamping components with different usage requirements. The structure is simple and easy to install and disassemble. The multi-joint robot arm 1 can be protected by the protective cover 16. The protective cover 16 and the rotary joint 17 are made of polyethylene material to avoid contamination and erosion in the hot chamber environment of nuclear treatment. The retractable rotary joint 17 can ensure that the multi-joint robot arm 1 does not interfere with its work and improve its service life.

[0020] like Figures 1 to 5 As shown, the utility model is a special articulated manipulator for hot chambers. When working, the mounting base 2 is placed on the top of the hot chamber, the fixing bolts 3 are tightened to fix the mounting base 2, and then the plug 4 is inserted into the rectangular groove to protect the fixing bolts 3, thereby fixing the multi-joint manipulator 1 on the top of the hot chamber. The motor 7 is started to drive the turntable 8 to rotate in the connecting sleeve 18, and the turntable 8 drives the connecting plate 10 to rotate, so that the multi-joint manipulator 1 can be rotated, and the plug 15 on the upper part of the clamping component is inserted into the insertion groove. The stud 13 is driven to rotate by the nut, so that multiple arc-shaped blocks 14 are close to each other and enter the arc-shaped slot. The plug 15 is clamped and fixed, which is convenient for replacing clamping components with different usage requirements. The multi-joint manipulator 1 can be protected by the protective cover 16. The protective cover 16 and the rotating joint 17 are made of polyethylene material, which can prevent it from being contaminated and eroded in the hot chamber environment of nuclear treatment. The retractable rotating joint 17 can ensure that the multi-joint manipulator 1 is not interfered with its work.

[0021] The multi-joint robot arm 1, protective motor box 6 and motor 7 of the hot chamber special articulated robot of the utility model are purchased on the market. The technicians in this industry only need to install and operate them according to the accompanying instruction manual without the need for creative labor by the technicians in this field.

[0022] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A special articulated manipulator for hot chamber, characterized in that: The invention comprises a multi-joint mechanical arm (1), a fixed component, a rotating component, a disassembly component and a protective component. The top of the multi-joint mechanical arm (1) is mounted on the top of a hot chamber via the fixed component. The rotating component is mounted on the bottom of the fixed component. The output end of the rotating component is connected to the top of the multi-joint mechanical arm (1). The disassembly component is mounted on the bottom of the multi-joint mechanical arm (1) and a clamping component is mounted. The protective component is mounted on the outside of the multi-joint mechanical arm (1).

2. The hot chamber-specific articulated manipulator according to claim 1, characterized in that: The fixing assembly comprises a mounting base (2), a plurality of fixing bolts (3), two groups of plugs (4) and two shielding plates (5). The mounting base (2) is located above the multi-joint mechanical arm (1). Two rectangular grooves are provided at the left and right ends of the mounting base (2). The fixing bolts (3) are screwed onto the top of the rectangles. The plugs (4) are inserted into the rectangular grooves. The left and right plugs (4) are fixedly connected via the shielding plates (5).

3. The articulated manipulator for hot chamber according to claim 2, characterized in that: The rotating assembly comprises a protective motor box (6), a motor (7), a turntable (8), a connecting plate (10) and a connecting sleeve (18); the protective motor box (6) is fixedly mounted on the bottom of the multi-joint mechanical arm (1); the motor (7) is mounted inside the protective motor box (6); the connecting sleeve (18) is mounted on the bottom of the protective motor box (6); the turntable (8) is rotatably mounted inside the connecting sleeve (18); the bottom output end of the motor (7) passes through the bottom of the protective motor box (6) and is connected to the top of the turntable (8); the bottom output end of the turntable (8) is connected to the connecting plate (10); and the top of the multi-joint mechanical arm (1) is connected to the bottom of the connecting plate (10).

4. The articulated manipulator for hot chambers according to claim 3, characterized in that: The utility model also includes a limit swivel (9) and a sealing swivel (11). A limit guide groove is provided inside the connecting sleeve (18). The limit swivel (9) is slidably installed in the limit guide groove. The limit swivel (9) is connected to the outer wall of the turntable (8). A sealing groove is provided at the bottom of the connecting sleeve (18). The sealing swivel (11) is rotatably installed in the sealing groove. The bottom of the sealing swivel (11) is fixedly connected to the top of the connecting plate (10).

5. The articulated manipulator for hot chamber according to claim 1, characterized in that: The disassembly assembly comprises a connecting seat (12), a plurality of studs (13) and a plurality of arc-shaped clamping blocks (14); the connecting seat (12) is mounted on the bottom end of the multi-joint mechanical arm (1); a plug-in slot is provided at the bottom of the connecting seat (12); an annular receiving cavity is provided in the plug-in slot; the plurality of studs (13) are axially screwed on the outer wall of the connecting seat (12); a nut is provided at the outer end of the stud (13); an arc-shaped clamping block (14) is rotatably mounted on the other end of the stud (13); a plug (15) is mounted on the upper part of the clamping component; and a plurality of arc-shaped clamping slots are provided on the outer wall of the plug (15).

6. The articulated manipulator for hot chambers according to claim 5, characterized in that: The protective assembly comprises a protective sleeve (16) and a plurality of rotating joints (17). The protective sleeve (16) is sleeved on the outside of the rotating joint (17). The top of the protective sleeve (16) is connected to the bottom of the connecting plate (10). The lower end of the protective sleeve (16) is connected to the outer wall of the connecting seat (12). The rotating joint (17) is installed at the joint between the protective sleeve (16) and the multi-joint mechanical arm (1). The protective sleeve (16) and the rotating joint (17) are made of polyethylene material, and the rotating joint (17) is elastic.

Images