Hot chamber master-slave manipulator oversleeve replacement tool and method

Abstract

The invention discloses a hot chamber master-slave manipulator oversleeve replacement tool and method, and the tool comprises a fixed circular plate which is used for being fixedly connected with a hot chamber embedded pipe; the shaft sleeve is coaxially arranged on the fixed circular plate and extends towards the hot chamber embedded pipe; the threaded column is arranged in the shaft sleeve in a penetrating manner; the support is used for being matched with the hot chamber embedded pipe, one end of the support is movably connected with one end of the threaded column, and a supporting circular ring is arranged at the other end of the support and used for supporting the sealing clamping ring; the rotating shaft is arranged on the fixed circular plate in a penetrating mode, the axis of the rotating shaft and the axis of the threaded column are arranged in a parallel and offset mode, and the rotating shaft is used for being connected with an inner hexagonal screw on the sealing clamping ring; the guide mechanism is used for guiding the support so that the support can move in the axial direction of the threaded column. The tool can quickly solve the problems that a master-slave type mechanical arm oversleeve is difficult to replace and long in replacement time, operation is easy, working efficiency is high, manpower is reduced, the exposure dose of workers is greatly reduced, and meanwhile radioactive aerosol can be effectively prevented from overflowing.

Description

Technical Field

[0001] The invention relates to the technical field of auxiliary tooling for post-irradiation inspection, and in particular to a hot chamber master-slave type manipulator cuff replacement tooling and method. Background Art

[0002] The slave hand of the master-slave manipulator in the hot chamber needs to be installed with a sleeve to protect it. At the same time, the sleeve also ensures the sealing performance of the manipulator and the hot chamber. However, it is very difficult to replace the sleeve in the hot chamber, which will be restricted by space, time, radioactive dose rate, and tools. The smooth removal and installation of the sleeve is an important step affecting the replacement of the sleeve. The lack of special tools is an important factor affecting the smooth installation and removal of the sleeve, so it is necessary to adopt a reasonable and single tool and method to solve the problem of replacing the sleeve of the master-slave manipulator in the hot chamber. The shorter the time for removing and installing the sleeve, the faster the entire work process, the less radiation dose the staff will receive, and the less radioactive substances will be dispersed in the hot chamber.

[0003] At present, the main method for replacing the sleeve of the master-slave manipulator in the hot chamber is: the staff first removes the manipulator claws, then removes the screws between the master-slave manipulator and the flange of the hot chamber embedded pipe to pull out the master-slave manipulator a section, so that the fixing screws of the sleeve and the slave hand connection part of the master-slave manipulator are exposed from the hot chamber embedded pipe, and then the fixing screws at the connection between the sleeve and the slave hand are loosened, and then the manipulator is completely pulled out, and the old sleeve is pushed into the hot chamber using a long rod; then the new sleeve is inserted into the slave hand of the master-slave manipulator, and the fixing screws at the connection between the sleeve and the slave hand are tightened, and finally the manipulator is completely inserted into the hot chamber embedded pipe and the flange screws are locked. The main disadvantages of this method are: there are many operating steps, it is difficult to handle after being contaminated, and the work efficiency is extremely low. It requires multiple people to cooperate in the work, resulting in redundant and unnecessary exposure doses for the staff; at the same time, during the replacement of the sleeve of the master-slave manipulator, there will be overflow of radioactive aerosols in the hot chamber. Summary of the invention

[0004] The purpose of the present invention is to provide a hot chamber master-slave manipulator cuff replacement tool and method to address the problems of difficulty in replacing the master-slave manipulator cuff and long replacement time, as well as radioactive aerosol overflow in the hot chamber. The tool and method can quickly solve the problems of difficulty in replacing the master-slave manipulator cuff and long replacement time, and the operation is simple, the work efficiency is high, the manpower is reduced, the radiation dose of the staff is greatly reduced, and the overflow of radioactive aerosol can be effectively prevented.

[0005] The present invention is achieved through the following technical solutions:

[0006] In a first aspect, the present invention provides a hot chamber master-slave manipulator sleeve replacement tool, comprising:

[0007] A fixed circular plate, used for fixed connection with the outer end of the pre-buried pipe in the hot chamber;

[0008] A shaft sleeve is coaxially arranged on the fixed circular plate and extends toward the direction of the embedded pipe of the hot chamber;

[0009] A threaded column is disposed through the sleeve and forms a threaded fit with the inner hole of the sleeve;

[0010] A bracket is arranged along the axial direction of the threaded column and is used to cooperate with the embedded pipe of the hot chamber. One end of the bracket is movably connected to one end of the threaded column extending into the embedded pipe of the hot chamber, and the other end of the bracket is provided with a supporting ring for connecting with the sealing clamp ring at the end of the sleeve.

[0011] A rotating shaft is provided through the fixed circular plate, and the axis thereof is parallel to and offset from the axis of the threaded column, and the rotating shaft is used to be connected to the hexagonal screw on the sealing clamp ring;

[0012] The guide mechanism is connected to the fixed circular plate and is used to guide the bracket so that when the threaded column rotates, the bracket is driven to move along the axial direction of the threaded column.

[0013] As a preferred embodiment of the present invention, the guide mechanism includes a guide column and a guide plate; the two guide columns are symmetrically arranged on both sides of the shaft sleeve, one end of the guide column is connected to the fixed circular plate, and the other end extends toward the direction of the hot chamber embedded pipe; the two guide plates are sleeved on the two guide columns, the guide plate close to the fixed circular plate is fixedly connected to the shaft sleeve, and the guide plate away from the fixed circular plate is fixedly connected to the bracket.

[0014] As a preferred solution of the present invention, one end of the rotating shaft is provided with a hexagonal sleeve that matches the hexagonal screw on the sealing clamp ring.

[0015] As a preferred solution of the present invention, a star-shaped handle is provided at the other end of the rotating shaft so that the rotating shaft can be rotated by hand.

[0016] As a preferred solution of the present invention, a hand wheel is provided at the outer end of the threaded column, and the hand wheel is detachably connected to the threaded column.

[0017] As a preferred solution of the present invention, the bracket includes a plurality of ribs evenly distributed along the inner wall of the support ring, one end of the rib is detachably connected to the support ring, and the other end is bent toward and connected to the center of the threaded column.

[0018] As a preferred solution of the present invention, the multiple ribs on the bracket are connected to the support ring through cross countersunk screws, and the cross countersunk screws are countersunk on the outer peripheral wall of the support ring.

[0019] As a preferred solution of the present invention, a plurality of fixing screws are arranged on the fixing circular plate, and the distribution positions of the plurality of fixing screws match the distribution positions of the threaded holes of the flange at the end of the embedded pipe of the heat chamber.

[0020] As a preferred solution of the present invention, the fixed circular plate is made of a transparent acrylic plate.

[0021] In a second aspect, the present invention provides a hot chamber master-slave manipulator sleeve replacement method, using the hot chamber master-slave manipulator sleeve replacement tooling described in the first aspect, comprising:

[0022] Removal of the master-slave manipulator sleeve of the hot chamber: first remove the master-slave manipulator claws, then remove the screws between the master-slave manipulator and the flange of the hot chamber embedded pipe and pull out all the master-slave manipulators, then insert the replacement tool into the hot chamber embedded pipe, align the rotating shaft with the hexagonal screw on the sealing clamp ring and connect them, fix the fixed circular plate on the flange of the hot chamber embedded pipe, reduce the radius of the sealing clamp ring by rotating the rotating shaft, and separate the sleeve from the inner wall of the hot chamber embedded pipe, and finally use the replacement tool to push the sealing clamp ring and sleeve into the hot chamber;

[0023] Installation of the hot chamber master-slave manipulator sleeve: fix the sleeve and the sealing clamp, put them together into the hot chamber pre-buried pipe, push the sleeve into the hot chamber, and leave the sealing clamp in the hot chamber pre-buried pipe; then use the rotating shaft of the replacement tooling to connect it to the hexagonal screw on the sealing clamp, and push it to the pipe mouth of the hot chamber pre-buried pipe at the hot chamber end, fix the fixed circular plate on the flange of the hot chamber pre-buried pipe, and then rotate the rotating shaft to expand the radius of the sealing clamp, so that the sleeve is close to the inner wall of the hot chamber pre-buried pipe; finally, insert the entire master-slave manipulator into the hot chamber pre-buried pipe and the sleeve, and install the manipulator claws.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0025] 1. When the present invention is used, the fixed circular plate of the replacement tool is fixedly connected to the outer end of the hot chamber pre-buried pipe, and the size of the sealing clamp ring can be changed by rotating the star-shaped handle, so that the sleeve is separated from or closely attached to the inner wall of the hot chamber pre-buried pipe, and the bracket can be driven to move along the axial direction of the hot chamber pre-buried pipe by rotating the hand wheel. The tool can quickly realize the replacement of the manipulator sleeve, solving the problem of difficult replacement of the master-slave manipulator sleeve of the hot chamber;

[0026] 2. When the present invention uses a replacement tool to replace the manipulator cuff, the fixed circular plate is connected to the flange of the hot chamber pre-buried pipe by fixing screws during the replacement process, thereby achieving physical isolation between the inside and outside of the hot chamber, and effectively preventing the radioactive aerosol in the hot chamber from overflowing through the hot chamber pre-buried pipe;

[0027] 3. The replacement tool of the present invention is easy to use in a hot room environment and is simple to operate, which is beneficial to shorten the working time of sleeve replacement, improve work efficiency, and reduce the radiation dose value of personnel;

[0028] 4. The present invention is made of transparent acrylic and hard aluminum alloy, has a simple structure, is a fully mechanical structure without an electrical system, can overcome harsh working environments, has high reliability and long service life;

[0029] 5. The replacement tooling in the present invention has a simple structure, is easy to process, and has a low manufacturing cost. It can be widely used in the installation and removal of the master and slave manipulator cuffs in a hot chamber, and has a good application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0031] Figure 1 It is a schematic diagram of the hot chamber master-slave manipulator sleeve replacement tooling in the present invention;

[0032] Figure 2 Another schematic diagram of the hot chamber master-slave manipulator sleeve replacement tooling in the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the tooling and sleeve in the present invention;

[0034] Figure 4 It is a schematic diagram of the actual use of the tooling in the present invention;

[0035] Figure 5 This is a physical picture of the hot chamber master-slave manipulator cuff replacement tooling in the present invention.

[0036] Marks and corresponding parts names in the attached drawings:

[0037] 1-hexagon socket, 2-rotating shaft, 3-bracket, 4-guide plate, 5-fixed circular plate, 6-sleeve, 7-threaded column, 8-first hexagonal locking nut, 9-handwheel, 10-star handle, 11-fixing screw, 12-guide column, 13-second hexagonal locking nut, 14-cross countersunk screw, 15-support ring, 16-sealing clamp, 17-sleeve, 18-hot chamber embedded pipe. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0040] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0041] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0043] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0044] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces), unless otherwise clearly and specifically defined.

[0045] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0046] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0047] Example 1

[0048] Please refer to Figures 1 to 5 , a hot chamber master-slave manipulator sleeve replacement tooling provided in an embodiment of the present application includes:

[0049] The fixed circular plate 5 is used to be fixedly connected to the outer end of the pre-buried pipe 18 of the hot chamber;

[0050] A shaft sleeve 6 is coaxially disposed on the fixed circular plate 5 and extends toward the heat chamber embedded pipe 18;

[0051] A threaded column 7 is disposed through the shaft sleeve 6 and forms a threaded fit with the inner hole of the shaft sleeve 6;

[0052] The bracket 3 is arranged along the axial direction of the threaded column 7 and is used to cooperate with the hot chamber embedded pipe 18. One end of the bracket 3 is movably connected to one end of the threaded column 7 extending into the hot chamber embedded pipe 18, and the other end of the bracket 3 is provided with a supporting ring 15 for connecting with the sealing clamp 16 at the end of the sleeve 17;

[0053] The rotating shaft 2 is provided through the fixed circular plate 5, and the axis thereof is parallel to the axis of the threaded column 7 and offset therefrom, and the rotating shaft 2 is used to be connected to the hexagonal screw on the sealing clamp ring 16;

[0054] The guide mechanism is connected to the fixed circular plate 5 and is used for guiding the bracket 3 so that the bracket 3 is driven to move along the axial direction of the threaded column 7 when the threaded column 7 rotates.

[0055] The fixed circular plate 5 in this embodiment is matched and connected with the outer end flange of the heat chamber pre-buried pipe 18, and the outer end of the heat chamber pre-buried pipe 18 refers to the end outside the heat chamber. One end of the sleeve 6 is fixedly connected to the center of the fixed circular plate 5, and the other end extends toward the heat chamber pre-buried pipe 18. The sleeve 6 can ensure the coaxiality of the threaded column 7, and at the same time can realize the rotation and protection function of the threaded column 7. The threaded column 7 is inserted into the sleeve 6 and matched with the inner hole thread of the sleeve 6, so that the threaded column 7 can be moved axially by rotating it.

[0056] The bracket 3 serves as the supporting framework of the entire replacement tool, and can be arranged in the hot chamber embedded pipe 18. One end of the bracket 3 is connected to the threaded column 7, and the other end is connected to the support ring 15. The support ring 15 is the main support for the installation of the sealing clamp 16. When used in conjunction with the sealing clamp 16, the sealing clamp 16 is sleeved on the support ring 15, and can be moved to any position in the hot chamber embedded pipe 18. The guide mechanism mainly allows the bracket 3 to only move axially when the threaded column 7 rotates. When the threaded column 7 is rotated, the bracket 3 performs telescopic movement relative to the fixed circular plate 5, so that the support ring 15 drives the sealing clamp 16 to move axially in the hot chamber embedded pipe 18.

[0057] The rotating shaft 2 is movably mounted on the fixed circular plate 5. The hexagonal screw on the sealing clamp ring 16 can be rotated through the rotating shaft 2, so that the radial size of the sealing clamp ring 16 can be expanded or reduced. The sealing clamp ring 16 is the most important component for clamping the sleeve 17. The sealing clamp ring 16 is used in conjunction with the sleeve 17. The sleeve 17 is installed inside the sealing clamp ring 16. The radius of the sealing clamp ring 16 is enlarged, and the sleeve 17 fits the hot chamber pre-buried pipe 18. The radius of the sealing clamp ring 16 is reduced, and the sleeve 17 is separated from the hot chamber pre-buried pipe 18; in this way, the sleeve 17 can be disassembled and installed. By adopting this method, the sealing performance of the manipulator can reach level 2 sealing.

[0058] When the replacement tool in the present embodiment is used, the outer end of the hot chamber pre-buried pipe 18 is fixedly connected to the fixed circular plate 5. By rotating the rotating shaft 2, the rotating shaft 2 can be used to cooperate with the hexagonal screw on the sealing clamp ring 16, thereby changing the radial size of the sealing clamp ring 16, so that the sleeve 17 is separated from or tightly attached to the inner wall of the hot chamber pre-buried pipe 18. By rotating the threaded column 7 with the cooperation of the guide mechanism, the bracket 3 can be driven to move axially along the hot chamber pre-buried pipe 18. The replacement tool can quickly realize the replacement of the manipulator sleeve, which solves the problem of difficulty in replacing the master-slave manipulator sleeve of the hot chamber. At the same time, the fixed circular plate 5 is flange-connected to the outer end of the hot chamber pre-buried pipe 18, which realizes physical isolation between the inside and outside of the hot chamber, and can effectively prevent the radioactive aerosol in the hot chamber from overflowing through the hot chamber pre-buried pipe 18.

[0059] According to some embodiments of the present application, the guide mechanism includes a guide column 12 and a guide plate 4; the two guide columns 12 are symmetrically arranged on both sides of the shaft sleeve 6, one end of the guide column 12 is connected to the fixed circular plate 5, and the other end extends toward the direction of the hot chamber embedded pipe 18; the two guide plates 4 are sleeved on the two guide columns 12, the guide plate 4 close to the fixed circular plate 5 is fixedly connected to the shaft sleeve 6, and the guide plate 4 away from the fixed circular plate 5 is fixedly connected to the bracket 3.

[0060] After the fixed circular plate 5 is connected to the end flange of the embedded pipe 18 of the hot chamber, since one end of the guide column 12 is fixedly connected to the fixed circular plate 5, the two ends of the guide plate 4 close to the fixed circular plate 5 are sleeved on the two guide columns 12, and the middle part is sleeved on the shaft sleeve 6, and the guide plate 4, the two guide columns 12, the shaft sleeve 6 and the fixed circular plate 5 are connected to form an integral structure. The two ends of the other guide plate 4 are also sleeved on the two guide columns 12, and the middle part is sleeved on the threaded column 7, and is connected to the bracket 3. When the threaded column 7 rotates, the guide plate 4 slides along the two guide columns 12 to provide guidance for the axial telescopic movement of the bracket 3. By setting two guide plates 4, the stability and rigidity of the bracket 3 during axial telescopic movement can be ensured.

[0061] According to some embodiments of the present application, one end of the rotating shaft 2 extending into the embedded pipe 18 in the hot chamber is provided with an inner hexagon socket 1 that matches the inner hexagon socket screw on the sealing clamp ring 16. Since the inner hexagon socket 1 matches the inner hexagon socket screw on the sealing clamp ring 16, the inner hexagon socket screw on the sealing clamp ring 16 can be driven to rotate by rotating the rotating shaft 2, thereby expanding and reducing the radius of the sealing clamp ring 16.

[0062] According to some embodiments of the present application, a star-shaped handle 10 is provided at one end of the rotating shaft 2 outside the hot chamber embedded pipe 18, so as to manually rotate the rotating shaft 2. In the above technical solution, the shape of the star-shaped handle 10 is designed to be star-shaped, which is conducive to human hand gripping and has high gripping comfort.

[0063] Specifically, the rotating shaft 2 is a medium for connecting the star handle 10 and the hexagon socket 1 and transmitting torque. The hexagon socket 1, the rotating shaft 2 and the star handle 10 are used in combination to transmit the rotation of the star handle 10 to the hexagon socket 1 through the rotating shaft 2, and then the hexagon socket 1 controls the movement of other parts connected to it.

[0064] According to some embodiments of the present application, a handwheel 9 is provided at the outer end of the threaded column 7, and the handwheel 9 is detachably connected to the threaded column 7. By providing the handwheel 9, it is convenient to drive the threaded column 7 to rotate by the handwheel 9, so as to realize the advancement and retraction of the bracket 3 as a whole. Specifically, the center hole of the handwheel 9 is sleeved on the end of the threaded column 7, and the first hexagonal locking nut 8 is used to cooperate with the end of the threaded column 7 to connect and tighten.

[0065] According to some embodiments of the present application, the bracket 3 includes a plurality of ribs evenly distributed along the inner wall of the support ring 15, one end of the rib is detachably connected to the support ring 15, and the other end is bent toward the center of the threaded column 7 and connected. Since a plurality of ribs are evenly distributed, it is convenient to cooperate with the embedded pipe 18 of the hot chamber, and at the same time, the bracket 3 is hollowed out, which is conducive to reducing the weight of the bracket 3 and does not affect the observation field. The bracket 3 can be made of hard aluminum alloy.

[0066] Specifically, one end of the rib plate of the bracket 3 is bent toward the center of the threaded column 7, and a connecting hole is opened on the rib plate that can be sleeved on the end of the threaded column 7, that is, the inner end of the threaded column 7 is sequentially sleeved on a guide plate 4 and multiple rib plates, and then the second hexagonal locking nut 13 is used to cooperate with the threaded column 7 for position limiting, so that the threaded column 7 can rotate relative to the guide plate 4 and the bracket 3, and at the same time can drive the guide plate 4 and the bracket 3 to perform axial telescopic movement.

[0067] It can be known that the above-mentioned first hexagonal locking nut 8 and second hexagonal locking nut 13 are connecting fasteners of the handwheel 9, threaded column 7 and bracket 3, ensuring the close connection between the three during the use of the manipulator sleeve 17 to replace the tooling; and it is beneficial to ensure the coaxiality of the handwheel 9, threaded column 7 and bracket 3.

[0068] According to some embodiments of the present application, the plurality of ribs on the bracket 3 are connected to the support ring 15 respectively by cross countersunk screws 14, and the cross countersunk screws 14 are countersunk on the outer peripheral wall of the support ring 15. In the above technical solution, the bracket 3 and the support ring 15 are fixed by cross countersunk screws 14, and the cross countersunk screws 14 are used to prevent the screws from protruding from the outer surface of the support ring 15 and affecting the installation of the sealing clamp 16.

[0069] According to some embodiments of the present application, a plurality of fixing screws 11 are provided on the fixing circular plate 5, and the distribution positions of the plurality of fixing screws 11 match the distribution positions of the threaded holes of the end flange of the heat chamber embedded pipe 18. The fixing circular plate 5 cooperates with the fixing screws 11 to fix the entire tooling to the flange end face of the heat chamber embedded pipe 18, ensuring that the hexagon socket 1 and the hexagon socket screw of the sealing clamp 16 are precisely positioned, and the operator's hands can be freed to rotate the hand wheel 9 and the star handle 10 to realize the ejection and retraction of the bracket 3 and the expansion and reduction of the radius of the sealing clamp 16.

[0070] According to some embodiments of the present application, the fixed circular plate 5 is made of a transparent acrylic plate. In the above technical solution, the fixed circular plate 5 is made of a transparent high-strength acrylic plate, which does not affect the sight of the staff, and is convenient for aligning the hexagon socket 1 with the hexagon socket screw of the sealing clamp 16, and cooperates with the fixing screw 11 to fix the entire tooling on the flange end face of the hot chamber pre-buried pipe 18, ensuring that the hexagon socket 1 and the hexagon socket screw of the sealing clamp 16 are precisely positioned, and the operator's hands can be released; at the same time, the fixed circular plate 5 realizes the physical isolation between the inside and outside of the hot chamber, which can effectively prevent the radioactive aerosol in the hot chamber from overflowing through the hot chamber pre-buried pipe 18.

[0071] According to some embodiments of the present application, the support ring 15 can be made of high-strength transparent acrylic material, which does not affect the staff's line of sight, making it easier to observe the alignment process of the hexagonal sleeve 1 and the hexagonal screw in the sealing clamp ring 16, and the movement process of the sealing clamp ring 16 in the hot chamber pre-buried pipe 18. Of course, the support ring 15 can also be made of other hard plastic materials.

[0072] The replacement tool in this embodiment also has the following advantages: it is easy to use in the hot room environment, simple to operate, which is conducive to shortening working time, improving work efficiency, and reducing the radiation dose of personnel; at the same time, the tool has a simple structure, is easy to process, and has a low manufacturing cost. It can be widely used in the installation and removal of the master and slave manipulator cuffs in the hot room, and has a good application prospect. It is made of transparent acrylic and hard aluminum alloy, has a simple structure, is a mechanical structure without an electrical system, can overcome harsh working environments, has high reliability, and has a long service life.

[0073] Example 2

[0074] The embodiment of the present application provides a hot chamber master-slave manipulator sleeve replacement method, using the hot chamber master-slave manipulator sleeve replacement tooling described in Example 1, comprising:

[0075] Disassembly of the master-slave manipulator sleeve of the hot chamber: first remove the master-slave manipulator claws, then remove the screws between the master-slave manipulator and the flange of the hot chamber pre-buried pipe 18 and pull out all the master-slave manipulators, then insert the replacement tooling into the hot chamber pre-buried pipe 18, rotate the entire tooling to align the hexagonal sleeve 1 of the manipulator sleeve replacement tooling with the hexagonal screw of the sealing clamp 16, use the fixing screw 11 to fix the manipulator sleeve replacement tooling on the flange of the hot chamber pre-buried pipe 18, rotate the star-shaped handle 10 to reduce the radius of the sealing clamp 16, and let the sleeve 17 separate from the inner wall of the hot chamber pre-buried pipe 18, and finally use the replacement tooling to push the sealing clamp 16 and sleeve 17 into the hot chamber.

[0076] Installation of the master-slave manipulator sleeve for the hot chamber: fix the sleeve 17 and the sealing clamp 16, and put them together into the hot chamber pre-buried pipe 18, put the sleeve 17 into the hot chamber, and leave the sealing clamp 16 in the hot chamber pre-buried pipe 18; then use the hexagonal sleeve 1 of the manipulator sleeve replacement tooling to align the hexagonal screw of the sealing clamp 16, and push it to the pipe mouth of the hot chamber end of the hot chamber pre-buried pipe 18, use the fixing screw 11 to fix the manipulator sleeve replacement tooling on the flange of the hot chamber pre-buried pipe 18, and then rotate the star handle 10 to expand the radius of the sealing clamp 16, so that the sleeve 17 fits tightly against the inner wall of the hot chamber pre-buried pipe 18; finally, insert the entire master-slave manipulator into the hot chamber pre-buried pipe 18 and the sleeve 17, and install the manipulator gripper.

[0077] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hot chamber master-slave manipulator sleeve replacement tool, characterized in that: include: A fixed circular plate, used for fixed connection with the outer end of the pre-buried pipe in the hot chamber; A shaft sleeve is coaxially arranged on the fixed circular plate and extends toward the direction of the embedded pipe of the hot chamber; A threaded column is disposed through the sleeve and forms a threaded fit with the inner hole of the sleeve; A bracket is arranged along the axial direction of the threaded column and is used to cooperate with the embedded pipe of the hot chamber. One end of the bracket is movably connected to one end of the threaded column extending into the embedded pipe of the hot chamber, and the other end of the bracket is provided with a supporting ring for connecting with the sealing clamp ring at the end of the sleeve. A rotating shaft is provided through the fixed circular plate, and the axis thereof is parallel to and offset from the axis of the threaded column, and the rotating shaft is used to be connected to the hexagonal screw on the sealing clamp ring; The guide mechanism is connected to the fixed circular plate and is used to guide the bracket so that when the threaded column rotates, the bracket is driven to move along the axial direction of the threaded column.

2. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 1 is characterized in that: The guide mechanism includes a guide column and a guide plate; the two guide columns are symmetrically arranged on both sides of the shaft sleeve, one end of the guide column is connected to the fixed circular plate, and the other end extends toward the direction of the hot chamber embedded pipe; the two guide plates are sleeved on the two guide columns, the guide plate close to the fixed circular plate is fixedly connected to the shaft sleeve, and the guide plate away from the fixed circular plate is fixedly connected to the bracket.

3. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 1 or 2, characterized in that: One end of the rotating shaft is provided with an inner hexagonal sleeve matched with the inner hexagonal screw on the sealing clamp ring.

4. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 3 is characterized in that: A star-shaped handle is provided at the other end of the rotating shaft so as to rotate the rotating shaft by hand.

5. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 1 or 2, characterized in that: A hand wheel is arranged at the outer end of the threaded column, and the hand wheel is detachably connected to the threaded column.

6. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 1 or 2, characterized in that: The bracket includes a plurality of ribs evenly distributed along the inner wall of the supporting ring, one end of the rib is detachably connected to the supporting ring, and the other end is bent toward and connected to the center of the threaded column.

7. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 6 is characterized in that: The plurality of ribs on the bracket are connected to the support ring through cross countersunk screws respectively, and the cross countersunk screws are countersunk on the outer peripheral wall of the support ring.

8. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 1 or 2, characterized in that: A plurality of fixing screws are arranged on the fixing circular plate, and the distribution positions of the plurality of fixing screws match the distribution positions of the threaded holes of the flange at the end of the embedded pipe of the heat chamber.

9. The hot chamber master-slave manipulator sleeve replacement tooling according to claim 1 or 2, characterized in that: The fixed circular plate is made of a transparent acrylic plate.

10. A method for replacing a hot chamber master-slave manipulator sleeve, using the hot chamber master-slave manipulator sleeve replacement tooling according to any one of claims 1 to 9, characterized in that: include: Removal of the master-slave manipulator sleeve of the hot chamber: first remove the master-slave manipulator claws, then remove the screws between the master-slave manipulator and the flange of the hot chamber embedded pipe and pull out all the master-slave manipulators, then insert the replacement tool into the hot chamber embedded pipe, align the rotating shaft with the hexagonal screw on the sealing clamp ring and connect them, fix the fixed circular plate on the flange of the hot chamber embedded pipe, reduce the radius of the sealing clamp ring by rotating the rotating shaft, and separate the sleeve from the inner wall of the hot chamber embedded pipe, and finally use the replacement tool to push the sealing clamp ring and sleeve into the hot chamber; Installation of the hot chamber master-slave manipulator sleeve: fix the sleeve and the sealing clamp, put them together into the hot chamber pre-buried pipe, push the sleeve into the hot chamber, and leave the sealing clamp in the hot chamber pre-buried pipe; then use the rotating shaft of the replacement tooling to connect it to the hexagonal screw on the sealing clamp, and push it to the pipe mouth of the hot chamber pre-buried pipe at the hot chamber end, fix the fixed circular plate on the flange of the hot chamber pre-buried pipe, and then rotate the rotating shaft to expand the radius of the sealing clamp, so that the sleeve is close to the inner wall of the hot chamber pre-buried pipe; finally, insert the entire master-slave manipulator into the hot chamber pre-buried pipe and the sleeve, and install the manipulator claws.

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