A changing tool for a mechanical hand clamp

Abstract

The application provides a mechanical hand clamp changing tool, which comprises a bottom plate, a vertical plate fixedly connected with the bottom plate, a clamp locking device arranged on a first side of the vertical plate and fixedly connected with the bottom plate, a clamp toe changing device arranged on a second side of the vertical plate and fixedly connected with the bottom plate, a clamp changing device fixedly connected on the surface of the second side of the vertical plate, a mechanical hand sleeve fixing seat dismounting device and a clamp positioning device. The scheme has the advantages of simple structure, simple working principle, increased maintenance space for personnel in the maintenance process, reduced radiation dose of workers in the maintenance process, greatly improved work efficiency, realized continuous and stable operation of the mechanical hand in the radioactive environment and ensured stable operation of the main process system.

Description

Technical Field

[0001] This invention relates to the field of nuclear industry technology, and in particular to a tooling for changing a robotic gripper. Background Technology

[0002] Articulated master-slave robotic arms are deployed in the analysis center's hot chamber, enabling remote operation of equipment within the chamber and assisting other equipment in performing complex tasks. These robotic arms possess excellent safety sealing capabilities, achieving atmospheric isolation between the hot chamber / maintenance area and the outside through sealing rings and bellows in the through-wall assembly. However, because the slave arm portion of the robotic arm is located within the radioactive hot chamber, maintenance personnel must enter the hot chamber multiple times during robotic arm maintenance, resulting in frequent radiation exposure and significantly increasing the difficulty of maintenance. Summary of the Invention

[0003] This invention provides a tooling for replacing robotic grippers, in order to solve the problems of difficult maintenance of robotic grippers and frequent radiation exposure for maintenance personnel.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0005] A tooling for changing the gripper of a robotic arm includes:

[0006] Base plate;

[0007] The upright plate is fixedly connected to the base plate;

[0008] A clamping locking device is provided on the first side of the upright plate and is fixedly connected to the base plate;

[0009] A clamp toe replacement device is installed on the second side of the upright plate and is fixedly connected to the base plate;

[0010] A clamp replacement device, a sleeve fixing seat removal device, and a clamp positioning device are fixedly connected to the second side surface of the upright plate.

[0011] Optionally, the clamp locking device includes:

[0012] Guide rod, the clamp locking device is fixedly connected to the base plate through the guide rod;

[0013] An upper pressure plate is fixedly connected to the end of the guide rod;

[0014] A slider fitted onto the guide rod;

[0015] A spring is sleeved on the guide rod and its two ends are respectively fixed on the upper pressure plate and the slider;

[0016] A support rod is provided on the slider;

[0017] A pull ring is provided at the middle position of the support rod;

[0018] The first and second posts are set on the slider;

[0019] A T-shaped handle is provided on the slider.

[0020] Optionally, the first column and the second column are set at a preset angle and are spaced apart by a preset distance;

[0021] Both the first column and the second column are equipped with at least two bearings.

[0022] Optionally, the clamp toe changing device includes:

[0023] The fixed plate, wherein the clamp toe changing device is fixedly connected to the base plate via the fixed plate;

[0024] The clamp toe replacement device column is fixedly connected to the fixed plate;

[0025] The support frame is fixedly connected to the column of the clamp toe changing device;

[0026] The toe-grip storage slot is fixedly connected to the support frame;

[0027] Slide rails fixed to the side of the support frame;

[0028] A toe-removing device with one end fixed to the toe-removing storage slot and the other end fixed to the support frame.

[0029] Optionally, the support frame is a U-shaped structure, and the toe storage slot and the toe removal device are fixed on the inner side of the U-shaped structure.

[0030] Optionally, the clamp changing device includes:

[0031] A column frustum, wherein the clamp replacement device is fixedly connected to the upright plate via the column frustum;

[0032] The hoof-shaped groove is fixed to the end of the column frustum.

[0033] Optionally, a clamping slot slide rail is provided on the inner side of the horseshoe-shaped slot.

[0034] Optionally, the sleeve fixing seat disassembly device includes:

[0035] Connecting plate;

[0036] The sleeve fixing seat slot is fixedly connected to the connecting plate;

[0037] The sleeve fixing seat slot slide rail is provided on the sleeve fixing seat slot;

[0038] The end of the sleeve fixing seat slot slide rail is provided with a positioning bolt.

[0039] Optionally, the sleeve fixing seat groove has a hollow structure inside, and the sleeve fixing seat groove slide rail slides inside the sleeve fixing seat groove and is limited by the positioning bolt.

[0040] Optionally, the clamp positioning device includes:

[0041] Connectors;

[0042] A positioning device platform integrally formed with the connecting component.

[0043] The above-described solution of the present invention has at least the following beneficial effects:

[0044] The above-described solution of the present invention includes: a base plate; a vertical plate fixedly connected to the base plate; a clamp locking device disposed on a first side of the vertical plate and fixedly connected to the base plate; a clamp toe replacement device disposed on a second side of the vertical plate and fixedly connected to the base plate; and a clamp replacement device, a robotic glove sleeve fixing seat disassembly device, and a clamp positioning device fixedly connected to the surface of the second side of the vertical plate. The solution of the present invention has a simple structure and a simple working principle, increases the maintenance space for personnel during maintenance, reduces the radiation dose to workers during maintenance, greatly improves work efficiency, and enables continuous and stable operation of the robotic arm in a radioactive environment, ensuring the stable operation of the main process system. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the tooling for changing the gripper of the robotic arm provided in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the clamping locking device provided in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the clamp toe replacement device provided in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the clamp replacement device provided in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of the sleeve fixing seat disassembly device provided in an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the clamp positioning device provided in an embodiment of the present invention;

[0051] Figure 7 This is a perspective view of the clamps provided in an embodiment of the present invention;

[0052] Figure 8 This is a front view of the clamp provided in an embodiment of the present invention;

[0053] Figure 9 This is a schematic diagram of the toe clip provided in an embodiment of the present invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 11. Base plate; 12. Vertical plate; 13. Clamp locking device; 131. Guide rod; 132. Upper pressure plate; 133. Slider; 134. Support rod; 135. Pull ring; 1361. First column; 1362. Second column; 137. T-handle; 138. Bearing; 139. Spring; 14. Clamp toe replacement device; 141. Fixing plate; 142. Clamp toe replacement device column; 143. Support frame; 144. Toe storage slot; 145. Slide rail; 146. Toe removal device; 5. Clamp changing device; 151. Column truncated cone; 152. Horseshoe-shaped groove; 153. Clamp groove slide rail; 16. Sleeve fixing seat disassembly device; 161. Connecting plate; 162. Sleeve fixing seat groove; 163. Sleeve fixing seat groove slide rail; 164. Positioning bolt; 17. Clamp positioning device; 171. Connecting piece; 172. Positioning device platform; 2. Clamp; 21. Clamp column groove; 22. Clamp toe arm; 23. Clamp toe arm slider; 24. Toe; 25. Toe locking cylindrical pin. Detailed Implementation

[0056] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0057] like Figure 1 As shown, an embodiment of the present invention provides a tooling for changing the gripper of a robotic arm, comprising:

[0058] Base plate 11;

[0059] The upright plate 12 is fixedly connected to the base plate 11;

[0060] A clamping locking device 13 is provided on the first side of the upright plate 12 and is fixedly connected to the base plate 11;

[0061] The clamp toe replacement device 14 is disposed on the second side of the upright plate 12 and fixedly connected to the base plate 11;

[0062] The clamp replacement device 15, the mechanical glove sleeve fixing seat removal device 16, and the clamp positioning device 17 are fixedly connected to the second side surface of the upright plate 12.

[0063] In this embodiment, the tooling for changing the robotic gripper can be adapted to change grippers under different working conditions, as detailed below:

[0064] Operating Condition 1: Installing a new clamp. Fixture Status: Clamp locking device 13 is in the upper limit position.

[0065] The new clamp 2 is transported to its destination via a horizontal conveyor. A robotic arm places the new clamp 2, in its naturally open and perpendicular position to the horizontal plane, onto the clamp positioning device 17 and pushes it into the horseshoe-shaped slot 152 of the clamp changing device 15. Another robotic arm pulls the pull ring 135 of the clamp locking device 13, causing the column portion to clamp the clamp 2. Then, the robotic arm that needs to install the clamp 2 is operated to insert the connecting device into the clamp. The wrist is pressed down, and the handle is rotated until it connects with the clamp. After completion, the connection is checked for correctness by the clamping action.

[0066] Operating Condition 2: Disassembling the clamps. Tooling status: Clamp locking device 13 is in the upper limit position.

[0067] Operate the main arm of the robotic arm to position the clamp 2 perpendicular to the horizontal plane. Place it on the clamp positioning device 17 and push it into the shoe-shaped slot 152 of the clamp changing device 15. Use another robotic arm to pull the pull ring 135 of the locking device 13 to clamp the clamp 2 with the column part. Then pull the clamp 2 upward, twist the arm 90°, and pull the arm upward to pull it out of the clamp 2, thus detaching the clamp 2 from the wrist.

[0068] Working condition 3: Changing the gripper toe of the robotic arm. Tooling status: Gripper locking device 13 is in the upper / lower limit position.

[0069] The new gripper toe 24 is transported to its destination via a horizontal conveyor. Another robotic arm places the new gripper toe 24 into the gripper storage slot 144. Then, the damaged gripper toe 24 is placed on the gripper removal device 146, causing the gripper locking cylindrical pin 25 to engage with the device. Pressing down removes the gripper toe 24. The gripper toe arm slider 23 is then placed into the slide rail 145 on the gripper storage slot 144, and the robotic arm gripper is pulled to complete the installation.

[0070] Operating Condition 4: Remove the sleeve fixing seat. Tooling status: Clamp locking device 13 is in the upper / lower limit position.

[0071] After removing the clamps, insert the robotic glove sleeve fixing seat into the sleeve fixing seat removal device 16, then pull the clamps upward, twist 90°, and then lift them upward to separate the robotic hand from the sleeve fixing seat.

[0072] The replacement fixture for the robotic gripper described in this embodiment has a simple structure and working principle. It increases the maintenance space for personnel during the maintenance process, reduces the radiation dose to workers during the maintenance process, greatly improves work efficiency, and enables the robotic arm to operate continuously and stably in a radioactive environment, ensuring the stable operation of the main process system.

[0073] In an optional embodiment of the present invention, the clamp locking device 13 includes:

[0074] Guide rod 131, the clamp locking device 13 is fixedly connected to the base plate 11 through the guide rod 131;

[0075] An upper pressure plate 132 is fixedly connected to the end of the guide rod 131;

[0076] A slider 133 is sleeved on the guide rod 131;

[0077] A spring 139 is sleeved on the guide rod 131 and its two ends are respectively fixed on the upper pressure plate 132 and the slider 133;

[0078] Support rod 134 is provided on the slider 133;

[0079] A pull ring 135 is provided at the middle position of the support rod 134;

[0080] The first column 1361 and the second column 1362 are provided on the slider 133;

[0081] A T-shaped handle 137 is provided on the slider 133.

[0082] In this embodiment, the clamp 2 is clamped by the clamp locking device 13, so that the column inside the clamp 2 rises and is maintained in this state, which facilitates the docking of the internal slot of the robotic arm clamp adapter with the column.

[0083] The T-handle 137 is the power supply part in the locking device. When disassembling the clamp, first pull up the T-handle 137, the slider 133 rises and compresses the spring 139, and the two support rods 134 form a dead point on a line to support and keep the slider 133 in the upper limit position.

[0084] After installing the clamps, gently pull the pull ring 135. At this time, the elastic force of the spring 139 plus the gravity of the slider 133 will move the column downward. When the column moves downward, the first column 1361 will contact the clamp toe arm 22 first. At this time, the clamp opening angle is large, making it easy to clamp inward.

[0085] After the clamp 2 descends to a certain height, the second column 1362 begins to contact the clamp toe arm 22, enabling the clamp 2 to reach the state where the internal column of the clamp rises.

[0086] In an optional embodiment of the present invention, the first column 1361 and the second column 1362 are at a preset angle and are spaced apart by a preset distance.

[0087] At least two bearings 138 are provided on both the first column 1361 and the second column 1362.

[0088] In this embodiment, the first column 1361 and the second column 1362 are set at a certain tilt angle and interval distance. The angle and interval distance are determined according to the shape and volume of the robotic gripper. The first column 1361 and the second column 1362 are set at the angle and interval distance, which enables the robotic gripper to clamp the gripper, so that the column inside the gripper is in an upward state.

[0089] Each column is equipped with a bearing 138, which changes the sliding motion of the column to rolling motion when it contacts the clamp toe arm 22. This greatly reduces friction, allowing the clamp to reach the installation position.

[0090] In an optional embodiment of the present invention, the clamp toe changing device 14 includes:

[0091] The clamp toe changing device 14 is fixedly connected to the base plate 11 via the fixing plate 141;

[0092] The clamp toe changing device column 142 is fixedly connected to the fixed plate 141;

[0093] Support frame 143 is fixedly connected to the column 142 of the clamp toe changing device;

[0094] The toe clip storage slot 144 is fixedly connected to the support frame 143;

[0095] The slide rail 145 is fixed to the side of the support frame 143;

[0096] A toe-removing device 146, one end of which is fixed to the toe-removing storage slot 144 and the other end of which is fixed to the support frame 143.

[0097] In this embodiment, the gripper toes 24 are transferred to the heated chamber via a horizontal conveyor. Another robotic arm places the grippers toes into the gripper storage slot 144, which can hold four grippers toes 24. After placing the grippers toes 24, the gripper toe arm 22 is placed on the slide rail 145 and moved along the slide rail 145 to complete the installation of the grippers toes 24.

[0098] When disassembling the toe clip 24, place the toe clip locking cylindrical pin 25 above the toe clip disassembly device 146 and apply downward force to remove the toe clip 24.

[0099] The clamp toe replacement device 146 uses two clamp toe replacement device columns 142 connected to the base plate 11, so that the clamp toe replacement device 14 is fixed to the base plate and is not easy to loosen.

[0100] In an optional embodiment of the present invention, the support frame 143 is a U-shaped structure, and the toe storage groove 144 and the toe removal device 146 are fixed on the inner side of the U-shaped structure.

[0101] In this embodiment, the middle part of the U-shaped structure of the support frame 143 has sufficient space, the clip 24 is inserted into the clip storage slot 144, and there is enough space at the bottom of the clip 24 to avoid the bottom of the clip 24 from touching the device.

[0102] When the toe removal device 146 removes the toe 24, it needs to push the toe 24 downwards. Therefore, the space of the U-shaped support frame 143 can prevent the toe 24 from touching the device when it moves downwards, thus avoiding damage to the device or the toe 24.

[0103] In an optional embodiment of the present invention, the clamp changing device 15 includes:

[0104] The column frustum 151, and the clamp replacement device 15 are fixedly connected to the upright plate 12 via the column frustum 151;

[0105] The hoof-shaped groove 152 is fixed to the end of the column frustum 151.

[0106] In an optional embodiment of the present invention, a clamping groove slide rail 153 is provided on the inner side of the hoof-shaped groove 152.

[0107] In the above embodiments, the clamp changing device 15 can realize the placement and replacement of clamps. A spring is installed on the column frustum 151 of the clamp changing device 15, and this part is mounted on the tooling plate 12. The clamp 2 is placed into position by the clamp slot slide rail 153 on the clamp changing device 15. The plane of the clamp slot slide rail 153 is set as a wedge-shaped surface, which makes it easier for the clamp to be locked into position.

[0108] After clamping the clamps, pull upwards and then rotate 90° to remove the clamps. Press downwards and rotate 90° to install the clamps.

[0109] In an optional embodiment of the present invention, the sleeve fixing seat disassembly device 16 includes:

[0110] Connector plate 161;

[0111] The sleeve fixing seat slot 162 is fixedly connected to the connecting plate 161;

[0112] Sleeve fixing seat slot slide rail 163 is provided on the sleeve fixing seat slot 162;

[0113] The end of the sleeve fixing seat slot slide rail 163 is provided with a positioning bolt 164.

[0114] In this embodiment, when the sleeve fixing seat disassembly device 16 is working, the clamp disassembly device is first used to remove the clamp, and then the entire mechanical glove sleeve fixing seat is pulled outwards until it does not interfere with the horseshoe-shaped groove 152. The clamp adapter is then inserted into the sleeve fixing seat groove 162 and pushed inwards so that the clamp adapter slides into the horseshoe-shaped groove 152. Then it is pulled upwards and rotated 90° to disassemble the mechanical glove sleeve fixing seat.

[0115] After the sleeve fixing device 16 is used to remove the robotic arm sleeve fixing seat, the entire robotic arm can be pulled out outside the hot chamber area. However, the sleeve is still fixed to the hot chamber wall. The sleeve fixing seat and the sleeve do not separate, so that the atmosphere inside the hot chamber does not overflow and will not cause unnecessary cross-contamination.

[0116] During installation, the original sleeve and sleeve holder are discarded as waste. The new sleeve and sleeve holder are installed on the whole hand outside the heat room, and then the sleeve and the whole hand are installed together.

[0117] In an optional embodiment of the present invention, the sleeve fixing seat groove 162 has a hollow structure inside, the sleeve fixing seat groove slide rail 163 slides inside the sleeve fixing seat groove 162, and is limited by the positioning bolt 164.

[0118] In this embodiment, the sleeve fixing seat slot 162 is a rectangular cavity structure with a rectangular through hole on one side. The sleeve fixing seat slot slide rail 163 passes through the through hole and is disposed inside the cavity of the sleeve fixing seat slot 162, and can slide inside the cavity.

[0119] A positioning bolt 164 is provided at the end of the sleeve fixing seat slot slide rail 163 away from the cavity. The positioning bolt 164 limits the sleeve fixing seat slot slide rail 163 to prevent it from sliding excessively and completely sliding into the cavity, making it impossible to pull out.

[0120] In an optional embodiment of the present invention, the clamp positioning device 17 includes:

[0121] Connector 171;

[0122] The positioning device platform 172 is integrally formed with the connector 171.

[0123] In this embodiment, the clamp positioning device 17 is fixedly connected to the upright plate 12 through the connector 171. The clamp positioning device 17 is used to place the clamp and realize the first positioning of the clamp.

[0124] First, place the clamp wrist joint base on the positioning device platform 172. The clamp positioning device 17 contacts the clamp before the clamp changing device 15 to achieve vertical positioning of the clamp, so that the clamp changing device 15 can slide into the slot on the upper part of the clamp.

[0125] The tooling for changing the robotic gripper described in the above embodiments of the present invention has the following advantages:

[0126] 1. Improves the convenience of tooling replacement and maintenance for articulated master-slave robotic grippers. It enables remote operation outside the hot chamber to replace robotic grippers, change gripper toes, and disassemble the glove sleeve mounting base, reducing the number of times maintenance personnel need to enter the hot chamber and significantly decreasing exposure time.

[0127] 2. The tooling for changing the gripper of the robotic arm allows for quick assembly and disassembly of the gripper, gripper toe, and sleeve fixing seat, reducing the difficulty of operation, shortening the maintenance time for maintenance personnel, and improving work efficiency.

[0128] 3. The tooling structure for changing the robotic gripper is simple and compact. One tooling integrates the functions of assembling and disassembling the gripper, gripper toe, and sleeve fixing seat, reducing the tooling's footprint in the hot chamber and not interfering with other work.

[0129] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tooling for changing grippers in a robotic arm, characterized in that, include: Base plate (11); The upright plate (12) is fixedly connected to the base plate (11); A clamp locking device (13) is provided on the first side of the upright plate (12) and is fixedly connected to the bottom plate (11). A clamp toe replacement device (14) is provided on the second side of the upright plate (12) and is fixedly connected to the bottom plate (11). A clamp replacement device (15), a sleeve fixing seat disassembly device (16), and a clamp positioning device (17) are fixedly connected to the second side surface of the upright plate (12); wherein, the clamp locking device (13) includes: Guide rod (131), the clamp locking device (13) is fixedly connected to the base plate (11) through the guide rod (131); The upper pressure plate (132) is fixedly connected to the end of the guide rod (131); A slider (133) sleeved on the guide rod (131); A spring (139) is sleeved on the guide rod (131) and its two ends are fixed on the upper pressure plate (132) and the slider (133) respectively. The support rod (134) is provided on the slider (133). A pull ring (135) is provided at the middle position of the support rod (134); The first column (1361) and the second column (1362) are provided on the slider (133). A T-shaped handle (137) is provided on the slider (133).

2. The tooling for changing the gripper of the robotic arm according to claim 1, characterized in that, The first column (1361) and the second column (1362) are set at a preset angle and are spaced apart by a preset distance; At least two bearings (138) are provided on both the first column (1361) and the second column (1362).

3. The tooling for changing the gripper of the robotic arm according to claim 1, characterized in that, The clamp toe changing device (14) includes: The clamp toe changing device (14) is fixedly connected to the base plate (11) via the fixing plate (141); The clamp toe changing device column (142) is fixedly connected to the fixing plate (141). A support frame (143) is fixedly connected to the column (142) of the clamp toe changing device. A toe-grip storage slot (144) is fixedly connected to the support frame (143). Slide rail (145) fixed to the side of the support frame (143); A toe-removal device (146) with one end fixed to the toe-removal storage slot (144) and the other end fixed to the support frame (143).

4. The tooling for changing the gripper of the robotic arm according to claim 3, characterized in that, The support frame (143) has a U-shaped structure, and the toe storage groove (144) and the toe removal device (146) are fixed on the inside of the U-shaped structure.

5. The tooling for changing the gripper of the robotic arm according to claim 1, characterized in that, The clamp changing device (15) includes: A column frustum (151) is provided with a spring. The hoof-shaped groove (152) is fixed at the end of the column frustum (151).

6. The tooling for changing the gripper of the robotic arm according to claim 5, characterized in that, The inner side of the horseshoe-shaped groove (152) is provided with a clamp groove slide rail (153).

7. The tooling for changing the gripper of the robotic arm according to claim 1, characterized in that, The sleeve fixing seat disassembly device (16) includes: Connecting plate (161); The sleeve fixing seat slot (162) is fixedly connected to the connecting plate (161); The sleeve fixing seat slot slide rail (163) is provided on the sleeve fixing seat slot (162); The end of the sleeve fixing seat slot slide rail (163) is provided with a positioning bolt (164).

8. The tooling for changing the gripper of the robotic arm according to claim 7, characterized in that, The sleeve fixing seat slot (162) has a hollow structure inside. The sleeve fixing seat slot slide rail (163) slides inside the sleeve fixing seat slot (162) and is limited by the positioning bolt (164).

9. The tooling for changing the gripper of the robotic arm according to claim 1, characterized in that, The clamp positioning device (17) includes: Connector (171); A positioning device platform (172) integrally formed with the connector (171).

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