A hydraulic manipulator with pressure feedback function for nuclear industry

Abstract

The invention discloses a hydraulic manipulator for nuclear industry with a pressure feedback function, the manipulator comprises a base frame, a chassis, a servo motor, a turntable, a first articulated seat, a hydraulic crank arm and a back-pressure regulating clamping claw, the chassis, the servo motor and the turntable are all fixedly connected to the base frame, the output end of the servo motor is transmission-connected to the turntable, the first articulated seat is fixedly connected to the turntable, the hydraulic crank arm is articulated to the first articulated seat, the back-pressure regulating clamping claw is fixedly connected to the hydraulic crank arm, and the back-pressure regulating clamping claw is connected to the chassis through an electrical signal; the invention relates to the technical field of manipulators, the invention is highly automated, can detect the pressure of the clamping claw on the surface of an object when clamping an object, and can provide real-time feedback and adjustment to ensure that the clamping claw does not damage the surface of the object, and is suitable for clamping objects in some high-precision industries.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a hydraulic manipulator for the nuclear industry with a pressure feedback function. Background Art

[0002] In the nuclear industry, robots are widely used to clamp and transfer objects to prevent radiation from the production process from causing harm to the human body. Robots can replace workers in their work. Conventional robot control relies on chip control. This type of robot that relies on chip control is easily damaged in an environment full of radiation, and its working accuracy will be disturbed by radiation.

[0003] At the same time, when the mechanical gripper clamps objects of various specifications, due to the different shapes and volumes of the objects themselves, the stress limits on their surfaces are different. The same gripper clamping will cause extrusion deformation on the surface of some objects, resulting in damage to the objects during the clamping and transportation process, affecting the entire work process. Summary of the invention

[0004] The purpose of the present invention is to provide a method to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: A hydraulic manipulator for the nuclear industry with a pressure feedback function includes a chassis, a chassis, a servo motor, a turntable, a first articulated seat, a hydraulic crank arm and a back-pressure adjustment clamp. The chassis, the servo motor and the turntable are all fixedly connected to the chassis, the output end of the servo motor is transmission-connected to the turntable, the first articulated seat is fixedly connected to the turntable, the hydraulic crank arm is articulated to the first articulated seat, the back-pressure adjustment clamp is fixedly connected to the hydraulic crank arm, and the back-pressure adjustment clamp is connected to the chassis through electrical signals.

[0006] This robot is used to clamp a variety of objects in the nuclear industry. The servo motor outputs torque to the turntable. The universal hydraulic crank arm and the turntable cooperate to transfer the objects with six degrees of freedom. The back-pressure adjustment jaws detect the clamping pressure of the objects and feed back electrical signals to the chassis. The back-pressure adjustment jaws clamp the objects according to the feedback pressure to avoid damage to the objects by the jaws.

[0007] Furthermore, the back-pressure regulating clamp includes a chassis, a mounting frame, a retraction mechanism and a circle-holding mechanism. The chassis is fixedly connected to the hydraulic crank arm and the mounting frame, the mounting frame is fixedly connected to the retraction mechanism, the retraction mechanism is fixedly connected to the circle-holding mechanism, and the retraction mechanism and the circle-holding mechanism are both connected to the chassis through electrical signals.

[0008] The back-pressure regulating clamp is fixed on the hydraulic crank arm through the chassis and the mounting frame. It cooperates with the circle-holding mechanism through the contraction mechanism. The circle-holding mechanism contracts to grasp the object. The circle-holding mechanism detects the pressure when grasping the object, and at the same time feedback adjusts the pressure of the circle-holding mechanism on the object.

[0009] Furthermore, the retraction mechanism includes a first cylinder, a first slide rail, a first skateboard, a slide groove, a second slide rail, a second skateboard and a rotating column. The first cylinder, the first slide rail and the second slide rail are all fixedly connected to the mounting frame. The output end of the first cylinder is fixedly connected to the first skateboard. The first skateboard is slidably connected to the first slide rail. The second skateboard is rotatably connected to the rotating column. The first skateboard is provided with a slide groove. The rotating column is slidably connected to the slide groove. The second skateboard is slidably connected to the second slide rail. The first skateboard and the second skateboard are both fixedly connected to the embracing mechanism. The first cylinder is connected to the chassis through electrical signals.

[0010] The first cylinder pushes the first slide plate, and the first slide plate slides along the first slide rail. The first slide plate is connected to the second slide plate by a rotating column and a slide groove. When the two first slide plates slide toward each other, the two second slide plates are driven to slide toward each other along the second slide rail. The two first slide plates and the second slide plates slide toward each other, so that the circle-holding mechanism completes the clamping and grasping of the object.

[0011] Furthermore, the holding mechanism includes a connecting seat, a clamping chain, an adjusting mechanism, a feedback mechanism and a circular track. The connecting seat is fixedly connected to the first slide, the circular track is fixedly connected to the second slide, the connecting seat is fixedly connected to the clamping chain, the clamping chain is slidably connected to the circular track, the adjusting mechanism is fixedly connected to the clamping chain, the feedback mechanism is fixedly connected to the adjusting mechanism, and the adjusting mechanism and the feedback mechanism are both connected to the chassis through electrical signals.

[0012] The first slide pushes the two groups of clamping chains to move toward each other, and the second slide pushes the two groups of circular tracks to move toward each other. The clamping chains slide along the circular tracks. Driven by the clamping chains embracing a circle, the feedback mechanism performs multi-point pressure detection on the surface of the clamped object. Through the feedback electrical signal, the adjustment mechanism adjusts the pressure between the feedback mechanism and the clamping chain, so that the feedback mechanism completely clamps the object.

[0013] Furthermore, the clamping chain includes a base plate, a rebound hinge and a connecting rod seat. The base plate is provided with several groups. One group of base plates is fixedly connected to the connecting seat. The rebound hinge and the connecting rod seat are both fixedly connected to the base plate. The connecting rod seat is slidably connected to the circular track, and the base plate is fixedly connected to the adjustment mechanism.

[0014] When the circle-holding mechanism grasps an object in a circle, the connecting rod seat slides along the circular track, and the adjacent bottom plates are connected by rebound hinges, so that the clamping chain itself can hold and restore along the circular track.

[0015] Furthermore, the adjusting mechanism includes a base, a third slide rail, a second cylinder, a top plate, a first spring and a first pressure sensor. The base is fixedly connected to the bottom plate, the third slide rail is fixedly connected to the base, the second cylinder is slidably connected to the third slide rail, the output end of the second cylinder is fixedly connected to the top plate, the top plate is fixedly connected to the first pressure sensor, the first spring is fixedly connected to the base and the top plate, the second cylinder and the first pressure sensor are connected to the chassis through electrical signals, and the second cylinder is fixedly connected to the feedback mechanism.

[0016] When the holding mechanism holds the object in a circle, the feedback mechanism pushes the second cylinder to slide along the third slide rail, and the top plate squeezes the first pressure sensor to send an electrical signal. The feedback mechanism detects the pressure at multiple points on the surface of the clamped object and feedbacks the electrical signal. When the pressure on the first pressure sensor is greater than the pressure of the feedback mechanism, the second cylinder pushes the top plate to compress the first spring, increasing the pressure between the feedback mechanism and the object. The holding mechanism stops holding the object in a circle and completes the complete clamping of the object.

[0017] Furthermore, the feedback mechanism includes a mounting seat, a second pressure sensor, a second spring and a mounting ring. The mounting seat is fixedly connected to the second cylinder, the second pressure sensor is fixedly connected to the mounting seat and the mounting ring, the second spring is fixedly connected to the mounting seat and the mounting ring, and the second pressure sensor chassis is connected via an electrical signal.

[0018] When the circle-holding mechanism grasps the object in a circle, a number of second pressure sensors squeeze the surface of the object. By squeezing the second spring, the pressure of the second pressure sensors on the surface of the object is offset, thereby reducing damage to the surface of the object. The detected pressure is converted into an electrical signal and sent to the chassis. The second pressure sensors push the second cylinder through the mounting seat.

[0019] Furthermore, the feedback mechanism also includes a spring hinge seat, a folding hinge rod, a hinge ring seat, an elastic ring piece and a third spring. The spring hinge seat is fixedly connected to the mounting ring, the hinge ring seat is fixedly connected to the second pressure sensor, the folding hinge rod is hinged to the spring hinge seat and the hinge ring seat, the elastic ring piece is fixedly connected to the folding hinge rod, and the third spring is fixedly connected to the mounting ring and the hinge ring seat.

[0020] When several groups of feedback mechanisms contact an object at multiple points, the contact unit area is increased through the elastic ring piece. The elastic ring piece compresses the spring through the spring hinge seat, the folded hinge rod, and the third spring, thereby reducing the pressure of the second pressure sensor on the surface of the object. The hinge ring seat moves toward the direction close to the mounting ring, and the second pressure sensor detects the pressure of the surface of the clamped object at multiple points and feedbacks the electrical signal. The pressure on the second pressure sensor is less than the pressure detected by the first pressure sensor. Then the pressure between the elastic ring piece and the surface of the object is greater than the deformation limit of the surface of the object. The first cylinder stops pushing, the circle holding mechanism stops holding, and the second cylinder pushes the top plate to compress the first spring, thereby increasing the pressure between the feedback mechanism and the object, thereby achieving complete clamping of the object without damage.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention designs a back-pressure regulating clamping claw, which cooperates with the circle-holding mechanism through a contraction mechanism, the circle-holding mechanism contracts to grasp the object, the circle-holding mechanism detects the pressure when grasping the object, and at the same time feedback adjusts the pressure of the circle-holding mechanism on the object, so as to achieve multi-point stable clamping without damaging the surface of the object; the present invention designs a feedback mechanism and an adjustment mechanism, and when multiple points contact the object, the unit area of ​​contact is increased by an elastic ring sheet, and the elastic ring sheet compresses the spring through a spring hinge seat, a folded hinge rod, and a third spring to reduce the pressure of the second pressure sensor on the surface of the object, and the hinge ring seat moves toward the direction close to the mounting ring, and the second pressure sensor The device performs multi-point pressure detection on the surface of the clamped object and feeds back an electrical signal. The feedback mechanism pushes the second cylinder to slide along the third slide rail, and the top plate squeezes the first pressure sensor to send an electrical signal. The pressure between the elastic ring and the surface of the object is greater than the deformation limit of the surface of the object, the first cylinder stops pushing, the circle holding mechanism stops holding, and the second cylinder pushes the top plate to compress the first spring, increasing the pressure between the feedback mechanism and the object to achieve complete clamping of the object without damage. The present invention is highly automated and can detect the pressure of the clamping claws on the surface of the object when clamping the object, and make real-time feedback adjustments to ensure that the clamping claws will not damage the surface of the object. It is suitable for clamping objects in some high-precision industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the back pressure regulating clamp of the present invention;

[0025] Figure 3 It is a schematic diagram of the contraction mechanism structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the circle-holding mechanism of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the clamping chain of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the regulating mechanism of the present invention;

[0029] Figure 7 yes Figure 6 A local enlarged schematic diagram of area A;

[0030] Figure 8 It is an isometric structural diagram of the feedback mechanism of the present invention;

[0031] In the figure: 1, chassis; 2, chassis; 3, servo motor; 4, turntable; 5, first articulated seat; 6, hydraulic crank arm; 7, back pressure regulating jaw; 71, chassis; 72, mounting frame; 73, retracting mechanism; 731, first cylinder; 732, first slide rail; 733, first slide plate; 734, slide groove; 735, second slide rail; 736, second slide plate; 737, rotating column; 74, circle holding mechanism; 741, connecting seat; 742, clamping chain; 7421, bottom plate; 7422, rebound hinge; 7423, Connecting rod seat; 743, adjusting mechanism; 7431, base; 7432, third slide rail; 7433, second cylinder; 7434, top plate; 7435, first spring; 7436, first pressure sensor; 744, feedback mechanism; 7441, mounting seat; 7442, second pressure sensor; 7443, second spring; 7444, mounting ring; 7445, spring hinge seat; 7446, folding hinge rod; 7447, hinge ring seat; 7448, elastic ring sheet; 7449, third spring; 745, circular track. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The present invention provides a technical solution:

[0034] like Figure 1 As shown, the manipulator includes a base frame 1, a chassis 2, a servo motor 3, a turntable 4, a first articulated seat 5, a hydraulic crank arm 6 and a back-pressure adjusting jaw 7. The chassis 2, the servo motor 3 and the turntable 4 are all fixedly connected to the base frame 1, the output end of the servo motor 3 is transmission-connected to the turntable 4, the first articulated seat 5 is fixedly connected to the turntable 4, the hydraulic crank arm 6 is articulated to the first articulated seat 5, the back-pressure adjusting jaw 7 is fixedly connected to the hydraulic crank arm 6, and the back-pressure adjusting jaw 7 is connected to the chassis 2 via electrical signals.

[0035] The manipulator is used to clamp various objects in the nuclear industry. The servo motor 3 outputs torque to the turntable 4. The universal hydraulic crank arm 6 cooperates with the turntable 4 to transfer the objects with six degrees of freedom. The back-pressure regulating jaws 7 detect the clamping pressure of the objects and feed back electrical signals to the chassis 2. The back-pressure regulating jaws 7 clamp the objects according to the fed-back pressure to avoid damage to the objects by the jaws.

[0036] like Figure 2As shown, the back-pressure regulating clamp 7 includes a chassis 71, a mounting frame 72, a retracting mechanism 73 and a circle-embracing mechanism 74. The chassis 71 is fixedly connected to the hydraulic crank arm 6 and the mounting frame 72. The mounting frame 72 is fixedly connected to the retracting mechanism 73. The retracting mechanism 73 is fixedly connected to the circle-embracing mechanism 74. The retracting mechanism 73 and the circle-embracing mechanism 74 are both connected to the chassis 2 through electrical signals.

[0037] The back-pressure regulating clamp 7 is fixed on the hydraulic crank arm 6 through the chassis 71 and the mounting frame 72, and cooperates with the encircling mechanism 74 through the contraction mechanism 73. The encircling mechanism 74 contracts to grasp the object. The encircling mechanism 74 detects the pressure when grasping the object, and at the same time feedback adjusts the pressure of the encircling mechanism 74 on the object.

[0038] like Figure 3 As shown, the contraction mechanism 73 includes a first cylinder 731, a first slide rail 732, a first slide plate 733, a slide groove 734, a second slide rail 735, a second slide plate 736 and a rotating column 737. The first cylinder 731, the first slide rail 732 and the second slide rail 735 are all fixedly connected to the mounting frame 72. The output end of the first cylinder 731 is fixedly connected to the first slide plate 733. The first slide plate 733 is slidably connected to the first slide rail 732. The second slide plate 736 is rotatably connected to the rotating column 737. The first slide plate 733 is provided with a slide groove 734. The rotating column 737 is slidably connected to the slide groove 734. The second slide plate 736 is slidably connected to the second slide rail 735. The first slide plate 733 and the second slide plate 736 are all fixedly connected to the embracing mechanism 74. The first cylinder 731 is connected to the chassis 2 via an electrical signal.

[0039] The first cylinder 731 pushes the first slide plate 733, and the first slide plate 733 slides along the first slide rail 732. The first slide plate 733 is connected to the second slide plate 736 through the rotating column 737 and the slide groove 734. When the two first slide plates 733 slide toward each other, the two second slide plates 736 are driven to slide toward each other along the second slide rail 735. The two first slide plates 733 and the second slide plates 736 slide toward each other, so that the embracing mechanism 74 completes the clamping and grasping of the object through the sliding toward each other between the two first slide plates 733 and the second slide plates 736.

[0040] like Figure 4 As shown, the holding mechanism 74 includes a connecting seat 741, a clamping chain 742, an adjusting mechanism 743, a feedback mechanism 744 and a circular track 745. The connecting seat 741 is fixedly connected to the first slide 733, the circular track 745 is fixedly connected to the second slide 736, the connecting seat 741 is fixedly connected to the clamping chain 742, the clamping chain 742 is slidably connected to the circular track 745, the adjusting mechanism 743 is fixedly connected to the clamping chain 742, the feedback mechanism 744 is fixedly connected to the adjusting mechanism 743, and both the adjusting mechanism 743 and the feedback mechanism 744 are connected to the chassis 2 through electrical signals.

[0041] The first slide 733 pushes the two groups of clamping chains 742 to move toward each other, and the second slide 736 pushes the two groups of circular tracks 745 to move toward each other. The clamping chain 742 slides along the circular track 745. Driven by the clamping chain 742 to embrace a circle, the feedback mechanism 744 performs multi-point pressure detection on the surface of the clamped object. Through the feedback electrical signal, the adjustment mechanism 743 adjusts the pressure between the feedback mechanism 744 and the clamping chain 742, so that the feedback mechanism 744 completely clamps the object.

[0042] like Figure 5 As shown, the clamping chain 742 includes a base plate 7421, a rebound hinge 7422 and a connecting rod seat 7423. The base plate 7421 is provided with several groups. One group of base plates 7421 is fixedly connected to the connecting seat 741. The rebound hinge 7422 and the connecting rod seat 7423 are both fixedly connected to the base plate 7421. The connecting rod seat 7423 is slidably connected to the circular track 745. The base plate 7421 is fixedly connected to the adjustment mechanism 743.

[0043] When the circle-holding mechanism 74 holds an object in a circle, the connecting rod seat 7423 slides along the circular track 745, and the adjacent bottom plates 7421 are connected by the rebound hinge 7422, so that the clamping chain 742 itself can hold and restore along the circular track 745.

[0044] like Figure 6 As shown, the adjustment mechanism 743 includes a base 7431, a third slide rail 7432, a second cylinder 7433, a top plate 7434, a first spring 7435 and a first pressure sensor 7436. The base 7431 is fixedly connected to the bottom plate 7421, the third slide rail 7432 is fixedly connected to the base 7431, the second cylinder 7433 is slidably connected to the third slide rail 7432, the output end of the second cylinder 7433 is fixedly connected to the top plate 7434, the top plate 7434 is fixedly connected to the first pressure sensor 7436, the first spring 7435 is fixedly connected to the base 7431 and the top plate 7434, the second cylinder 7433 and the first pressure sensor 7436 are both connected to the chassis 2 through electrical signals, and the second cylinder 7433 is fixedly connected to the feedback mechanism 744.

[0045] When the holding mechanism 74 holds the object in a circle, the feedback mechanism 744 pushes the second cylinder 7433 to slide along the third slide rail 7432, and the top plate 7434 squeezes the first pressure sensor 7436 to send an electrical signal. The feedback mechanism 744 detects the pressure at multiple points on the surface of the clamped object and feedbacks the electrical signal. When the pressure on the first pressure sensor 7436 is greater than the pressure of the feedback mechanism 744, the second cylinder 7433 pushes the top plate 7434 to compress the first spring 7435, thereby increasing the pressure between the feedback mechanism 744 and the object, and the holding mechanism 74 stops holding the object in a circle, thereby completing the complete clamping of the object.

[0046] like Figure 7 , Figure 8As shown, the feedback mechanism 744 includes a mounting seat 7441, a second pressure sensor 7442, a second spring 7443 and a mounting ring 7444, the mounting seat 7441 is fixedly connected to the second cylinder 7433, the second pressure sensor 7442 is fixedly connected to the mounting seat 7441 and the mounting ring 7444, the second spring 7443 is fixedly connected to the mounting seat 7441 and the mounting ring 7444, and the second pressure sensor 7442 is connected to the chassis 2 through an electrical signal.

[0047] When the circle-holding mechanism 74 holds the object in a circle, a number of second pressure sensors 7442 squeeze the surface of the object. By squeezing the second spring 7443, the pressure of the second pressure sensors 7442 on the surface of the object is offset, thereby reducing damage to the surface of the object. The detected pressure is converted into an electrical signal and sent to the chassis 2. The second pressure sensors 7442 push the second cylinder 7433 through the mounting seat 7441.

[0048] like Figure 7 , Figure 8 As shown, the feedback mechanism 744 also includes a spring hinge seat 7445, a folding hinge rod 7446, a hinge ring seat 7447, an elastic ring piece 7448 and a third spring 7449. The spring hinge seat 7445 is fixedly connected to the mounting ring 7444, the hinge ring seat 7447 is fixedly connected to the second pressure sensor 7442, the folding hinge rod 7446 is hinged to the spring hinge seat 7445 and the hinge ring seat 7447, the elastic ring piece 7448 is fixedly connected to the folding hinge rod 7446, and the third spring 7449 is fixedly connected to the mounting ring 7444 and the hinge ring seat 7447.

[0049] When several groups of feedback mechanisms 744 contact the object at multiple points, the contact unit area is increased through the elastic ring piece 7448. The elastic ring piece 7448 compresses the spring through the spring hinge seat 7445, the folded hinge rod 7446, and the third spring 7449, thereby reducing the pressure of the second pressure sensor 7442 on the surface of the object. The hinge ring seat 7447 moves toward the direction close to the mounting ring 7444. The second pressure sensor 7442 detects the pressure of the surface of the clamped object at multiple points and generates an electrical signal for feedback. The pressure on the second pressure sensor 7442 is less than the pressure detected by the first pressure sensor 7436. The pressure between the elastic ring piece 7448 and the surface of the object is greater than the deformation limit of the surface of the object. The first cylinder 731 stops pushing, the circle-holding mechanism 74 stops holding, and the second cylinder 7433 pushes the top plate 7434 to compress the first spring 7435, thereby increasing the pressure between the feedback mechanism 744 and the object, thereby achieving complete clamping of the object without damage.

[0050] Working principle of the present invention: the manipulator is used for clamping various objects in the nuclear industry, the servo motor 3 outputs torque to the turntable 4, the universal hydraulic crank arm 6 cooperates with the turntable 4 to transfer the objects with six degrees of freedom, the first cylinder 731 pushes the first slide plate 733, the first slide plate 733 slides along the first slide rail 732, the first slide plate 733 and the second slide plate 736 are connected by a rotating column 737 and a slide groove 734, and the two first slide plates 733 slide toward each other while driving the two second slide plates 736 to slide toward each other along the second slide rail 735, the first slide plate 733 pushes the two groups of clamping chains 742 to move toward each other, the second slide plate 736 pushes the two groups of circular tracks 745 to move toward each other, the clamping chain 742 slides along the circular track 745, and when the plurality of groups of feedback mechanisms 744 contact the objects at multiple points, the elastic ring piece 7448 increases the Per unit area of ​​contact, the elastic ring piece 7448 compresses the spring through the spring hinge seat 7445, the folded hinge rod 7446 and the third spring 7449, thereby reducing the pressure of the second pressure sensor 7442 on the surface of the object, and the hinge ring seat 7447 moves toward the direction close to the mounting ring 7444. The second pressure sensor 7442 performs multi-point pressure detection on the surface of the clamped object and feedbacks the electrical signal. The pressure borne by the second pressure sensor 7442 is less than the pressure detected by the first pressure sensor 7436. Then, the pressure between the elastic ring piece 7448 and the surface of the object is greater than the deformation limit of the surface of the object, and the first cylinder 731 stops pushing, the hugging mechanism 74 stops hugging, and the second cylinder 7433 pushes the top plate 7434 to compress the first spring 7435, thereby increasing the pressure between the feedback mechanism 744 and the object, thereby achieving complete clamping of the object without damage.

[0051] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0052] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hydraulic manipulator for nuclear industry with pressure feedback function, characterized in that: The manipulator comprises a base frame (1), a chassis (2), a servo motor (3), a turntable (4), a first articulated seat (5), a hydraulic crank arm (6) and a back-pressure regulating clamp (7); the chassis (2), the servo motor (3) and the turntable (4) are all fixedly connected to the base frame (1); an output end of the servo motor (3) is transmission-connected to the turntable (4); the first articulated seat (5) is fixedly connected to the turntable (4); the hydraulic crank arm (6) is articulated to the first articulated seat (5); the back-pressure regulating clamp (7) is fixedly connected to the hydraulic crank arm (6); and the back-pressure regulating clamp (7) is connected to the chassis (2) via an electrical signal; The back pressure regulating clamp (7) comprises a chassis (71), a mounting frame (72), a retracting mechanism (73) and a circle-holding mechanism (74); The contraction mechanism (73) comprises a first cylinder (731), a first slide rail (732), a first slide plate (733), a slide groove (734), a second slide rail (735), a second slide plate (736) and a rotating column (737); the first cylinder (731), the first slide rail (732) and the second slide rail (735) are all fixedly connected to the mounting frame (72); the output end of the first cylinder (731) is fixedly connected to the first slide plate (733); the first slide plate (733) is slidably connected to the first slide rail (732); the second slide plate (736) is rotatably connected to the rotating column (737); a slide groove (734) is provided on the first slide plate (733); the rotating column (737) is slidably connected to the slide groove (734); the second slide plate (736) is slidably connected to the second slide rail (735); the first slide plate (733) and the second slide plate (736) are both fixedly connected to the circle-embracing mechanism (74); The first cylinder (731) pushes the first slide plate (733), and the first slide plate (733) slides along the first slide rail (732). The first slide plate (733) and the second slide plate (736) are connected via a rotating column (737) and a slide groove (734). When the two first slide plates (733) slide toward each other, the two second slide plates (736) are driven to slide toward each other along the second slide rail (735); The circle-holding mechanism (74) comprises a connecting seat (741), a clamping chain (742), an adjusting mechanism (743), a feedback mechanism (744) and a circular track (745); the connecting seat (741) is fixedly connected to the first slide plate (733); the circular track (745) is fixedly connected to the second slide plate (736); the connecting seat (741) is fixedly connected to the clamping chain (742); the clamping chain (742) is slidably connected to the circular track (745); the adjusting mechanism (743) is fixedly connected to the clamping chain (742); and the feedback mechanism (744) is fixedly connected to the adjusting mechanism (743); The clamping chain (742) comprises a base plate (7421), a rebound hinge (7422) and a connecting rod seat (7423); the base plate (7421) is provided with a plurality of groups; one group of the base plate (7421) is fixedly connected to the connecting seat (741); the rebound hinge (7422) and the connecting rod seat (7423) are both fixedly connected to the base plate (7421); the connecting rod seat (7423) is slidably connected to the circular track (745); and the base plate (7421) is fixedly connected to the adjustment mechanism (743).

2. A hydraulic manipulator for nuclear industry with pressure feedback function according to claim 1, characterized in that: The chassis (71) is fixedly connected to the hydraulic crank arm (6) and the mounting frame (72); the mounting frame (72) is fixedly connected to the retracting mechanism (73); the retracting mechanism (73) is fixedly connected to the circle-holding mechanism (74); and the retracting mechanism (73) and the circle-holding mechanism (74) are both connected to the chassis (2) via electrical signals.

3. A hydraulic manipulator for nuclear industry with pressure feedback function according to claim 2, characterized in that: The first cylinder (731) is connected to the chassis (2) via an electrical signal.

4. A hydraulic manipulator for nuclear industry with pressure feedback function according to claim 3, characterized in that: The regulating mechanism (743) and the feedback mechanism (744) are both connected to the chassis (2) via electrical signals.

5. A hydraulic manipulator for nuclear industry with pressure feedback function according to claim 4, characterized in that: The regulating mechanism (743) comprises a base (7431), a third slide rail (7432), a second cylinder (7433), a top plate (7434), a first spring (7435) and a first pressure sensor (7436); the base (7431) is fixedly connected to the bottom plate (7421); the third slide rail (7432) is fixedly connected to the base (7431); the second cylinder (7433) is slidably connected to the third slide rail (7432); The output end of the second cylinder (7433) is fixedly connected to the top plate (7434), the top plate (7434) is fixedly connected to the first pressure sensor (7436), the first spring (7435) is fixedly connected to the base (7431) and the top plate (7434), the second cylinder (7433) and the first pressure sensor (7436) are connected to the chassis (2) via electrical signals, and the second cylinder (7433) is fixedly connected to the feedback mechanism (744).

6. A hydraulic manipulator for nuclear industry with pressure feedback function according to claim 5, characterized in that: The feedback mechanism (744) comprises a mounting seat (7441), a second pressure sensor (7442), a second spring (7443) and a mounting ring (7444); the mounting seat (7441) is fixedly connected to the second cylinder (7433); the second pressure sensor (7442) is fixedly connected to the mounting seat (7441) and the mounting ring (7444); the second spring (7443) is fixedly connected to the mounting seat (7441) and the mounting ring (7444); and the second pressure sensor (7442) is connected to the chassis (2) via an electrical signal.

7. A hydraulic manipulator for nuclear industry with pressure feedback function according to claim 6, characterized in that: The feedback mechanism (744) further comprises a spring hinge seat (7445), a folding hinge rod (7446), a hinge ring seat (7447), an elastic ring piece (7448) and a third spring (7449); the spring hinge seat (7445) is fixedly connected to the mounting ring (7444); the hinge ring seat (7447) is fixedly connected to the second pressure sensor (7442); the folding hinge rod (7446) is hinged to the spring hinge seat (7445) and the hinge ring seat (7447); the elastic ring piece (7448) is fixedly connected to the folding hinge rod (7446); and the third spring (7449) is fixedly connected to the mounting ring (7444) and the hinge ring seat (7447).

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