Nuclear decommissioning manipulator modular tool quick-changing structure

Abstract

The invention relates to the field of manipulators, and discloses a nuclear decommissioning manipulator modular tool quick-changing structure which comprises a manipulator rack. A traversing frame; a tool changing mechanism; the tool replacing mechanism is arranged on the upper surface of the manipulator rack and used for driving mechanical transmission through an electric push rod and achieving automatic locking and releasing of the tool module in combination with an elastic buffering mode, and when the electric push rod stretches out to a preset stroke, the module fixing block rotates in place, and the tool module is replaced. When the electric push rod quickly stretches out, the spring is compressed, part of impact energy is absorbed, and the module tool is firmly clamped on the module fixing block at the moment, so that the module tool is rigidly connected with the manipulator frame; the movement of the movable ejector rod and the whole linkage mechanism is more stable, manual intervention or auxiliary operation in any form is not needed, and therefore radiation to the human body is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical hands, in particular to a nuclear decommissioning mechanical hand modular tool quick change structure. BACKGROUND

[0002] The power mechanical hand is applied to the environment with radiation or where human cannot go on site, and through remote control and video system, the operation of checking, assembling, disassembling, welding, transporting, decontaminating, storing, repairing and decomposing target components is completed, and the power mechanical hand has the characteristics of remote operation, large coverage, strong flexibility, flexible operation, large force and radiation resistance.

[0003] The nuclear decommissioning site environment is extremely complex, and the operation tasks are various and the working conditions are changeable. For example, a cutting tool may be needed to cut a metal pipeline, a grabber may be needed to carry concrete blocks, a polishing tool may be needed to remove the surface contamination layer, and a detection probe may be needed to measure residual radioactivity. Each task needs to be equipped with a special end effector, and during the intermittent period allowed by the radiation dose, the worker wearing a protective suit enters the site to manually disassemble and install the tool of the mechanical hand end. This way is extremely low in efficiency, and cannot avoid the risk of personnel exposure. It is only suitable for specific scenes with extremely low radiation level, and is not suitable for core decommissioning operation in high radioactivity environment. SUMMARY

[0004] In view of the defects of the prior art, the present application provides a nuclear decommissioning mechanical hand modular tool quick change structure to solve the above problems.

[0005] To achieve the above purpose, the present application is realized by the following technical scheme: a nuclear decommissioning mechanical hand modular tool quick change structure, comprising: A mechanical hand holder; A horizontal moving frame; A tool changing mechanism, which is arranged on the upper surface of the mechanical hand holder, and is used to realize automatic locking and releasing of the tool module through electric push rod driving mechanical transmission and combining elastic buffering mode. The tool changing mechanism comprises an electric push rod, a connecting ring, a movable top rod, a buffer spring, a connecting rod, a fixed seat, a module fixing block, a connecting shaft and a limiting block. An auxiliary changing mechanism, which is arranged on both sides of the tool changing mechanism, and is used to realize accurate positioning and grabbing of the tool module through motor driving transmission assembly, and to assist in completing the alignment and installation of the tool through the adsorption device and the rotating structure. The auxiliary changing mechanism comprises a fixed support, a transmission screw rod, a threaded column, a limiting rod, a lifting driving block, a driving motor, a support table, an adsorption pump, a module adsorption nozzle and a rotating seat.

[0006] Preferably, the mechanical mobile phone cradle upper surface is fixedly connected with a connecting column, the outer side of the upper end of the connecting column is fixedly connected with a mounting ring, the inner side of the upper end of the connecting column is fixedly connected with an electric push rod, the free end of the electric push rod is drivingly connected with a movable jack, the upper end of the movable jack penetrates through a connecting ring and the outer side of which is provided with a plurality of connecting rods, the lower end of the connecting ring is fixedly connected with the upper surface of the mounting ring, one end of each of the plurality of connecting rods is rotatably connected with the movable jack, the other end of each of the plurality of connecting rods is rotatably connected with a module fixing block, and the outer side of the free end of the electric push rod and the connecting ring are provided with a buffer spring.

[0007] Preferably, the lower end of the module fixing block is fixedly connected with a connecting shaft, the connecting shaft is rotatably connected in the inner side of a fixed seat, the lower end of the fixed seat is fixedly connected with the upper surface of the connecting ring, and the upper end of the module fixing block is fixedly connected with a limiting clamp block in the inner side.

[0008] Preferably, the lower end of the fixed support is fixedly connected with the lateral side of the upper surface of the transverse frame, the inner side of the fixed support is provided with a transmission screw rod, the transmission screw rod is rotatably connected with the fixed support, the outer side of the transmission screw rod is threadedly connected with a threaded column, the inner side of the threaded column is fixedly connected with two lifting driving blocks, the middle part of each of the two lifting driving blocks penetrates through a limiting rod, and the limiting rod is fixedly connected with the fixed support.

[0009] Preferably, the inner side of the lifting driving block is fixedly connected with a support table, the upper surface of the support table is rotatably connected with a rotary seat, the upper surface of the rotary seat is fixedly connected with a suction pump, and the suction end of the suction pump is fixedly connected with a module suction nozzle.

[0010] Preferably, the upper surface of the fixed support is fixedly connected with a driving motor, and the output end of the driving motor is drivingly connected with the transmission screw rod.

[0011] Preferably, the left and right sides of the mechanical mobile phone cradle are rotatably connected with transmission wheels, the transmission wheels are rotatably connected with the transverse frame, and the transmission wheels are provided with a motor at the rotatable connection position, and the output end of the motor is drivingly connected with the transmission wheels.

[0012] Preferably, the outer surface of the transmission wheel is embedded in the lower surface of the transverse frame, the left and right sides of the lower end of the transverse frame are provided with transverse sliding blocks, and the inner side of the transverse sliding block is fixedly connected with the outer side of the mechanical mobile phone cradle.

[0013] Preferably, the upper surface of the connecting ring is provided with a module tool, and the outer side of the lower end of the module tool is embedded with a plurality of limiting clamps.

[0014] Preferably, the inner side of the transverse frame is fixedly connected with a module tool table.

[0015] Advantages The application provides a nuclear decommissioning manipulator modular tool quick change structure. 1、In the application, when a new tool module needs to be installed, the tool changing mechanism is driven by the electric push rod to start extending upwards, the movable jack is pushed to move upwards together, the movable jack penetrates the center hole of the connecting ring, and in the process of moving upwards, the upper ends of the plurality of connecting rods around the outer side of the movable jack are also swung upwards, when the upper ends of the connecting rods are driven upwards and swung outwards by the movable jack, the lower ends of the connecting rods drive the module fixing block to rotate around the connecting shaft in the fixed seat, with the rotation of the module fixing block, the limit blocks fixedly connected to the inner side of the upper end of the module fixing block are also rotated and gradually approach the clamping grooves outside the lower end of the tool, when the electric push rod extends to the predetermined stroke, the module fixing block is rotated in place, and the limit blocks on the module fixing block are completely embedded into the limit blocks outside the lower end of the tool, at this time, the module tool is firmly clamped on the module fixing block, and rigid connection with the manipulator holder is realized, when the electric push rod extends quickly, the spring is compressed, part of impact energy is absorbed, the movement of the movable jack and the whole linkage mechanism is more stable, and the replacement process is completely completed automatically by the control system from beginning to end, without any form of manual intervention or auxiliary operation, so that radiation to the human body is avoided. 2、In the application, when the tool needs to be replaced, the output shaft of the driving motor drives the transmission screw rod to rotate, the linear motion of the threaded column directly drives the lifting driving block and the support table fixedly connected with the lifting driving block to lift together, when the position of the tool module in the horizontal plane needs to be finely adjusted, the motors on the left and right sides of the manipulator holder are started to drive the transmission wheels to rotate, the rotation drives the whole horizontal moving frame and the replacement auxiliary mechanism on the horizontal moving frame to move smoothly along the manipulator holder through the friction between the transmission wheels and the horizontal moving frame, when the module suction nozzle is accurately moved to the upper side of the tool module to be gripped through lifting and horizontal moving and is lowered to the contact position, the suction pump fixed to the upper surface of the rotating seat is started, the suction pump is communicated with the module suction nozzle through the suction end, negative pressure is formed between the module suction nozzle and the smooth suction surface of the tool module, so that strong suction force is generated to firmly fix the module tool module, the operator only needs to issue an instruction in the safe control room, and all subsequent complex positioning, gripping, alignment and auxiliary installation actions are completed by the equipment independently, so that the radiation exposure risk suffered by the personnel due to entering the site for tool auxiliary, adjustment or fault elimination is eliminated. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a front side perspective structural schematic view of the nuclear decommissioning manipulator modular tool quick change structure. Figure 2A structure diagram of a nuclear decommissioning manipulator modular tool quick-change structure from an oblique upper perspective view is provided for the present application. Figure 3 An internal structure diagram of a nuclear decommissioning manipulator modular tool quick-change structure is provided for the present application. Figure 4 A structure diagram of a tool replacement mechanism and a module tool after assembly in a nuclear decommissioning manipulator modular tool quick-change structure is provided for the present application. Figure 5 A structure diagram of a tool replacement mechanism in a nuclear decommissioning manipulator modular tool quick-change structure is provided for the present application. Figure 6 A structure diagram of a tool replacement mechanism from an oblique upper perspective view in a nuclear decommissioning manipulator modular tool quick-change structure is provided for the present application. Figure 7 A nuclear decommissioning manipulator modular tool quick-change structure is provided for the present application. Figure 2 An enlarged view of A in the nuclear decommissioning manipulator modular tool quick-change structure is provided for the present application.

[0017] Legend: 1, manipulator holder; 2, horizontal moving frame; 3, tool replacement mechanism; 301, electric push rod; 302, connecting ring; 303, movable top rod; 304, buffer spring; 305, connecting rod; 306, fixed seat; 307, module fixing block; 308, connecting shaft; 309, limiting block; 4, replacement auxiliary mechanism; 401, fixed support; 402, transmission screw; 403, threaded column; 404, limiting rod; 405, lifting driving block; 406, driving motor; 407, support table; 408, suction pump; 409, module suction nozzle; 410, rotating seat; 5, horizontal moving slider; 6, connecting column; 7, mounting ring; 8, module tool table; 9, motor; 10, transmission wheel; 11, module tool. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Please refer to Figures 1-7 The present application provides two technical solutions, specifically including the following embodiments: Embodiment one: The utility model provides a kind of nuclear decommissioning manipulator modular tool quick-change structure, comprising: manipulator holder 1;Transverse frame 2;Tool changing mechanism 3;Tool changing mechanism 3 is arranged on the upper surface of manipulator holder 1, and tool changing mechanism 3 is used to realize the automatic locking and release of tool module by the elastic buffering mode of electric push rod 301 drive mechanical transmission, and tool changing mechanism 3 includes electric push rod 301, connecting ring 302, movable ejector rod 303, buffer spring 304, connecting rod 305, fixed seat 306, module fixed block 307, connecting shaft 308, limit block 309, the upper surface of manipulator holder 1 is fixedly connected with connecting column 6, the outer side of the upper end of connecting column 6 is fixedly connected with mounting ring 7, and the inner side of the upper end of connecting column 6 is fixedly connected with electric push rod 301, and the free end of electric push rod 301 is drivingly connected with movable ejector rod 303, and the upper end of movable ejector rod 303 is penetrated through connecting ring 302 and is provided with a plurality of connecting rods 305 outside around, and connecting ring 302 lower end is fixedly connected on the upper surface of mounting ring 7, and the one end of a plurality of connecting rods 305 is rotatably connected with movable ejector rod 303, and the other end of a plurality of connecting rods 305 is rotatably connected with module fixed block 307, and the free end outside of electric push rod 301 is provided with buffer spring 304 between connecting ring 302, and the lower end of module fixed block 307 is fixedly connected with connecting shaft 308, and connecting shaft 308 is rotatably connected in fixed seat 306, and the lower end of fixed seat 306 is fixedly connected on the upper surface of connecting ring 302, and the inner side of the upper end of module fixed block 307 is fixedly connected with limit block 309, and the upper surface of connecting ring 302 is provided with module tool 11, and the outer side of the lower end of module tool 11 is embedded with a plurality of limit blocks 309.

[0020] When the new tool module needs to be installed, the free end of the electric push rod 301 is driven to start to extend upward, pushing the movable top rod 303 to move upward together. The movable top rod 303 penetrates the center hole of the connecting ring 302, and in the process of moving upward, it drives the upper end of the plurality of connecting rods 305 around its outer side to swing upward. When the upper end of the connecting rod 305 is driven by the movable top rod 303 to swing upward and outward, the lower end of the connecting rod 305 drives the module fixing block 307 to rotate around the connecting shaft 308 inside the fixed seat 306. With the rotation of the module fixing block 307, the limit block 309 fixedly connected to the inner side of the upper end of the module fixing block 307 rotates and gradually approaches the preset clamping groove on the outer side of the lower end of the tool. When the electric push rod 301 extends to the predetermined stroke, the module fixing block 307 is rotated in place, and the limit block 309 on the module fixing block 307 is completely embedded in the limit block 309 on the outer side of the lower end of the tool. At this time, the module tool 11 is firmly clamped on the module fixing block 307, realizing the rigid connection with the mechanical handset holder 1. When the electric push rod 301 extends quickly, the spring is compressed, absorbing part of the impact energy, so that the movement of the movable top rod 303 and the whole linkage mechanism is more stable. The replacement process is completely completed automatically by the control system from beginning to end, without any form of manual intervention or auxiliary operation, thereby avoiding radiation to the human body.

[0021] Example two: On the basis of embodiment one, the auxiliary mechanism 4 is replaced; the auxiliary mechanism 4 is arranged on both sides of the tool replacement mechanism 3, and the auxiliary mechanism 4 is used for realizing accurate positioning and grabbing of the tool module through motor-driven transmission components, and the auxiliary mechanism 4 is used for assisting the alignment and installation of the tool through the adsorption device and the rotating structure, the auxiliary mechanism 4 comprises a fixed support 401, a transmission screw 402, a threaded column 403, a limiting rod 404, a lifting driving block 405, a driving motor 406, a support table 407, an adsorption pump 408, a module adsorption nozzle 409 and a rotating seat 410, the lower end of the fixed support 401 is fixedly connected to the upper surface side of the transverse frame 2, the inner side of the fixed support 401 is provided with the transmission screw 402, the transmission screw 402 is rotationally connected to the fixed support 401, the outer side of the transmission screw 402 is threadedly connected with the threaded column 403, the inner side of the threaded column 403 is fixedly connected with two lifting driving blocks 405, the middle portions of the two lifting driving blocks 405 are both provided with the limiting rod 404 penetratingly, the limiting rod 404 is fixedly connected to the fixed support 401, the inner side of the lifting driving block 405 is fixedly connected with the support table 407, the upper surface of the support table 407 is rotationally connected with the rotating seat 410, the upper surface of the rotating seat 410 is fixedly connected with the adsorption pump 408, the adsorption end of the adsorption pump 408 is fixedly connected with the module adsorption nozzle 409, the upper surface of the fixed support 401 is fixedly connected with the driving motor 406, the output end of the driving motor 406 is in transmission connection with the transmission screw 402, the left and right sides of the mechanical hand frame 1 are both rotationally connected with the transmission wheel 10, the transmission wheel 10 is rotationally connected to the transverse frame 2, the transmission wheel 10 is provided with the motor 9 at the rotationally connected position, the output end of the motor 9 is in transmission connection with the transmission wheel 10, the outer surface of the transmission wheel 10 is embeddedly arranged on the lower surface of the transverse frame 2, the lower ends of the left and right sides of the transverse frame 2 are both provided with the transverse sliding block 5, the inner side of the transverse sliding block 5 is fixedly connected to the outer side of the mechanical hand frame 1, the inner side of the transverse frame 2 is fixedly connected with the module tool 11 table 8, when the tool needs to be replaced, the output shaft of the driving motor 406 drives the transmission screw 402 to rotate, the linear motion of the threaded column 403 directly drives the lifting driving block 405 fixedly connected therewith and the support table 407 fixedly connected to the lifting driving block 405 to lift together, when the position of the tool module in the horizontal plane needs to be finely adjusted, the motors 9 on the left and right sides of the mechanical hand frame 1 are started to drive the transmission wheel 10 to rotate, the rotation drives the entire transverse frame 2 and the auxiliary mechanism 4 thereon to smoothly move horizontally along the mechanical hand frame 1, when the module adsorption nozzle 409 is accurately moved to the upper side of the tool module to be grabbed through lifting and transverse motion and is lowered to the contact position, the adsorption pump 408 fixed to the upper surface of the rotating seat 410 is started, the adsorption pump 408 is in communication with the inner side of the module adsorption nozzle 409 through the adsorption end thereof, a negative pressure is formed between the module adsorption nozzle 409 and the smooth adsorption surface of the tool module, so that a strong adsorption force is generated to firmly fix the module tool 11 module, the operator only needs to issue an instruction in the safe control room,All subsequent complex positioning, grabbing, alignment, auxiliary installation actions are completed by the device independently, eliminating the risk of radiation exposure that may be suffered due to personnel entering the site for tool assistance, adjustment or troubleshooting.

[0022] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principle of the application shall be included in the protection scope of the present application.

Claims

1. A modular tool quick-change structure for a nuclear decommissioning robotic arm, characterized in that: include: Mechanical mobile phone holder (1); Horizontal movement frame (2); Tool changing mechanism (3); The tool changing mechanism (3) is set on the upper surface of the mechanical mobile phone frame (1). The tool changing mechanism (3) is used to drive mechanical transmission through electric push rod (301) and combine elastic buffering to realize automatic locking and releasing of tool module. The tool changing mechanism (3) includes electric push rod (301), connecting ring (302), movable top rod (303), buffer spring (304), connecting rod (305), fixed seat (306), module fixing block (307), connecting shaft (308), and limit block (309). Replacement auxiliary mechanism (4); The replacement auxiliary mechanism (4) is set on both sides of the tool replacement mechanism (3). The replacement auxiliary mechanism (4) is used to achieve precise positioning and gripping of the tool module through the motor-driven transmission assembly, and to complete the alignment and installation of the tool through the adsorption device and the rotating structure. The replacement auxiliary mechanism (4) includes a fixed bracket (401), a transmission screw (402), a threaded column (403), a limit rod (404), a lifting drive block (405), a drive motor (406), a support platform (407), an adsorption pump (408), a module adsorption nozzle (409), and a rotating seat (410).

2. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 1, characterized in that: The mechanical mobile phone holder (1) is fixedly connected to a connecting column (6) on its upper surface. An installation ring (7) is fixedly connected to the outer side of the upper end of the connecting column (6). An electric push rod (301) is fixedly connected to the inner side of the upper end of the connecting column (6). A movable top rod (303) is connected to the free end of the electric push rod (301). The upper end of the movable top rod (303) passes through the connecting ring (302) and is surrounded by multiple connecting rods (305). The lower end of the connecting ring (302) is fixedly connected to the upper surface of the installation ring (7). One end of each of the multiple connecting rods (305) is rotatably connected to the movable top rod (303). The other end of each of the multiple connecting rods (305) is rotatably connected to a module fixing block (307). A buffer spring (304) is provided between the outer side of the free end of the electric push rod (301) and the connecting ring (302).

3. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 2, characterized in that: The lower end of the module fixing block (307) is fixedly connected to a connecting shaft (308), the connecting shaft (308) is rotatably connected inside the fixing seat (306), the lower end of the fixing seat (306) is fixedly connected to the upper surface of the connecting ring (302), and the upper inner side of the module fixing block (307) is fixedly connected to a limit block (309).

4. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 1, characterized in that: The lower end of the fixed bracket (401) is fixedly connected to the side of the upper surface of the transverse frame (2). A transmission screw (402) is provided on the inner side of the fixed bracket (401). The transmission screw (402) is rotatably connected to the fixed bracket (401). A threaded post (403) is threadedly connected to the outer side of the transmission screw (402). Two lifting drive blocks (405) are fixedly connected to the inner side of the threaded post (403). A limit rod (404) is provided through the middle of each of the two lifting drive blocks (405). The limit rod (404) is fixedly connected to the fixed bracket (401).

5. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 4, characterized in that: The lifting drive block (405) is fixedly connected to a support platform (407) on its inner side. A rotating seat (410) is rotatably connected to the upper surface of the support platform (407). An adsorption pump (408) is fixedly connected to the upper surface of the rotating seat (410). A module adsorption nozzle (409) is fixedly connected to the adsorption end of the adsorption pump (408).

6. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 4, characterized in that: A drive motor (406) is fixedly connected to the upper surface of the fixed bracket (401), and the output end of the drive motor (406) is connected to the transmission screw (402).

7. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 1, characterized in that: The mechanical mobile phone frame (1) is rotatably connected to both the left and right sides by transmission wheels (10). A motor (9) is provided at the rotatable connection between the transmission wheel (10) and the transverse frame (2). The output end of the motor (9) is connected to the transmission wheel (10) for transmission.

8. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 7, characterized in that: The outer surface of the transmission wheel (10) is embedded in the lower surface of the transverse frame (2). The transverse frame (2) has transverse sliders (5) on both the left and right sides at the lower end. The inner side of the transverse sliders (5) is fixedly connected to the outer side of the mechanical mobile phone frame (1).

9. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 1, characterized in that: The upper surface of the connecting ring (302) is provided with a module tool (11), and multiple limiting blocks (309) are embedded on the lower outer side of the module tool (11).

10. The modular tool quick-change structure for a nuclear decommissioning robotic arm according to claim 1, characterized in that: A modular tool table (8) is fixedly connected to the inner side of the transverse frame (2).

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