Modular operation manipulator for nuclear decommissioning

Abstract

The invention relates to the field of manipulators, and discloses a modular operation manipulator for nuclear decommissioning. A traversing frame; a tool changing mechanism; the tool replacing mechanism is arranged on the lower 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 extends to a preset stroke, the module fixing block rotates in place; when the electric push rod quickly stretches out, the spring is compressed, part of impact energy is absorbed, and then the module tool is firmly clamped below the module fixing block, 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] This invention relates to the field of robotic arms, and more particularly to a modular operating robotic arm for nuclear decommissioning. Background Technology

[0002] Powered robotic arms are used in environments with radiation or where humans cannot be physically present. They enable remote control and video systems to perform operations such as inspection, assembly, disassembly, welding, transportation, decontamination, storage, repair, and disassembly of target components. They feature remote operation, wide coverage, high flexibility, flexible operation, large force, and radiation resistance.

[0003] The environment at nuclear decommissioning sites is extremely complex, with a wide variety of tasks and constantly changing conditions. For example, it may be necessary to use cutting tools to cut metal pipes, use grippers to move concrete debris, use grinding tools to remove surface contamination layers, and use detection probes to measure residual radioactivity. Each task requires a specialized end effector. During intervals when radiation doses are permissible, workers wearing protective suits enter the site to manually disassemble and install the tools at the end of the robotic arm. This method is extremely inefficient and cannot avoid the risk of personnel exposure. It is only suitable for specific scenarios with extremely low radiation levels and is not suitable for core decommissioning operations in high-radioactive environments. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a modular manipulator for nuclear decommissioning, solving the following problems.

[0005] To achieve the following objectives, the present invention provides the following technical solution: a modular manipulator for nuclear decommissioning, comprising: Mechanical phone holder; Lateral shift frame; Tool changing mechanism; the tool changing mechanism is set on the lower surface of the mechanical mobile phone frame. The tool changing mechanism is used to realize the automatic locking and releasing of the tool module by driving mechanical transmission through an electric push rod and combining elastic buffering. The tool changing mechanism includes an electric push rod, a connecting ring, a movable top rod, a buffer spring, a connecting rod, a fixed base, a module fixing block, a connecting shaft, and a limit block. A tool changing auxiliary mechanism is provided on both sides of the tool changing mechanism. The tool changing auxiliary mechanism is used to achieve precise positioning and gripping of the tool module through a motor-driven transmission assembly, and to assist in the alignment and installation of the tool through an adsorption device and a rotating structure. The tool changing auxiliary mechanism includes a fixed bracket, a transmission screw, a threaded column, a limit rod, a lifting drive block, a drive motor, a support platform, an adsorption pump, a module adsorption nozzle, and a rotating seat.

[0006] Preferably, a connecting column is fixedly connected to the lower surface of the mechanical mobile phone frame, an installation ring is fixedly connected to the outer side of the lower end of the connecting column, an electric push rod is fixedly connected to the inner side of the lower end of the connecting column, a movable top rod is drivenly connected to the free end of the electric push rod, the lower end of the movable top rod passes through the connecting ring and is surrounded by multiple connecting rods, the lower end of the connecting ring is fixedly connected to the lower surface of the installation ring, one end of each of the multiple connecting rods is rotatably connected to the movable top rod, the other end of each of the multiple connecting rods is rotatably connected to a module fixing block, and a buffer spring is provided between the outer side of the free end of the electric push rod and the connecting ring.

[0007] Preferably, the lower end of the module fixing block is fixedly connected to a connecting shaft, the connecting shaft is rotatably connected inside the fixing seat, the lower end of the fixing seat is fixedly connected to the lower surface of the connecting ring, and a limit block is fixedly connected to the inner side of the lower end of the module fixing block.

[0008] Preferably, the lower end of the fixed bracket is fixedly connected to the side of the lower surface of the transverse frame. A transmission screw is provided on the inner side of the fixed bracket. The transmission screw is rotatably connected to the fixed bracket. A threaded post is threadedly connected to the outer side of the transmission screw. Two lifting drive blocks are fixedly connected to the inner side of the threaded post. A limit rod is provided through the middle of each of the two lifting drive blocks. The limit rod is fixedly connected to the fixed bracket.

[0009] Preferably, a support platform is fixedly connected to the inner side of the lifting drive block, a rotating seat is rotatably connected to the lower surface of the support platform, an adsorption pump is fixedly connected to the lower surface of the rotating seat, and a modular adsorption nozzle is fixedly connected to the adsorption end of the adsorption pump.

[0010] Preferably, a drive motor is fixedly connected to the lower surface of the fixed bracket, and the output end of the drive motor is connected to the transmission screw.

[0011] Preferably, the mechanical mobile phone frame is rotatably connected to both the left and right sides with transmission wheels, and a motor is provided at the rotatable connection between the transmission wheel and the transverse frame, with the output end of the motor being connected to the transmission wheel.

[0012] Preferably, the outer surface of the transmission wheel is embedded in the lower surface of the transverse frame, and transverse sliders are provided on both the left and right sides of the lower end of the transverse frame. The inner side of the transverse slider is fixedly connected to the outer side of the mechanical mobile phone frame.

[0013] Preferably, a module tool is provided on the lower surface of the connecting ring, and multiple limiting blocks are embedded on the outer side of the lower end of the module tool.

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

[0015] Beneficial effects This invention provides a modular manipulator for nuclear decommissioning. Compared with existing technologies, it has the following advantages: 1. In this invention, through the tool replacement mechanism, when a new tool module needs to be installed, the free end of the electric push rod is driven to extend downwards, pushing the movable push rod downwards as well. The movable push rod passes through the central hole of the connecting ring, and during its downward movement, it causes the lower ends of multiple connecting rods surrounding it to swing downwards as well. When the lower ends of the connecting rods are driven downwards and outwards by the movable push rod, their lower ends drive the module fixing block to rotate around its connecting shaft inside the fixing seat. As the module fixing block rotates, the limiting block fixedly connected to its lower inner side will rotate accordingly and gradually... As the electric push rod extends to the pre-set slot on the lower outer side of the tool, the module fixing block rotates into place when the electric push rod extends to the predetermined stroke. The limiting block below it is then fully embedded in the limiting block on the lower outer side of the tool. At this time, the modular tool is firmly locked under the module fixing block, achieving a rigid connection with the mechanical handpiece holder. When the electric push rod extends quickly, the spring is compressed, absorbing some of the impact energy, making the movement of the movable push rod and the entire linkage mechanism 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, thus avoiding radiation to the human body. 2. In this invention, through the set replacement auxiliary mechanism, when it is necessary to change tools, the output shaft of the drive motor drives the transmission screw to rotate. The linear motion of the screw directly drives the lifting drive block and the support platform fixedly connected to the lifting drive block to rise and fall together. When it is necessary to fine-tune the position of the tool module in the horizontal plane, the motors on the left and right sides of the mechanical handpiece frame start, driving the transmission wheel to rotate. Its rotation, through the friction between it and the transverse frame, pushes the entire transverse frame and the replacement auxiliary mechanism below it to move smoothly laterally along the mechanical handpiece frame. When the module suction nozzle moves through the lifting and transverse... When the device moves precisely to the area directly below the tool module to be grasped and descends to the contact position, the adsorption pump fixed to the lower surface of the rotating base starts. The adsorption pump is connected to the inside of the module's adsorption nozzle through its adsorption end, creating a negative pressure between the module's adsorption nozzle and the smooth adsorption surface of the tool module, thereby generating a strong adsorption force to firmly fix the tool module in place. The operator only needs to issue instructions from the safe control room, and all subsequent complex positioning, grasping, alignment, and auxiliary installation actions are completed autonomously by the equipment, eliminating the risk of radiation exposure that personnel may suffer when entering the site to assist with tools, adjust them, or troubleshoot. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of a modular operating robot for nuclear decommissioning proposed in this invention, viewed from a downward angle. Figure 2This is a three-dimensional structural diagram of a modular manipulator for nuclear decommissioning proposed in this invention. Figure 3 This is a schematic diagram of the internal structure of a modular manipulator for nuclear decommissioning proposed in this invention. Figure 4 This is a schematic diagram of the structure of a modular operating robot for nuclear decommissioning proposed in this invention, after the tool changing mechanism and modular tools are assembled. Figure 5 This is a schematic diagram of a modular operating manipulator for nuclear decommissioning proposed in this invention for changing hand tools. Figure 6 This is a structural schematic diagram of a modular operating manipulator for nuclear decommissioning proposed in this invention, viewed from a lower oblique angle. Figure 7 This invention proposes a modular manipulator for nuclear decommissioning. Figure 2 A magnified view of A in the middle.

[0017] Legend: 1. Mechanical mobile phone holder; 2. Horizontal movement frame; 3. Tool changing 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. Auxiliary changing mechanism; 401. Fixed bracket; 402. Transmission screw; 403. Threaded column; 404. Limiting rod; 405. Lifting drive block; 406. Drive motor; 407. Support platform; 408. Adsorption pump; 409. Module adsorption nozzle; 410. Rotating seat; 5. Horizontal movement slider; 6. Connecting column; 7. Mounting ring; 8. Module tool table; 9. Motor; 10. Transmission wheel; 11. Module tool. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-7 The present invention provides two technical solutions, specifically including the following embodiments: Example 1: A modular manipulator for nuclear decommissioning includes: a manipulator frame 1; a transverse frame 2; and a tool changing mechanism 3. The tool changing mechanism 3 is disposed on the lower surface of the manipulator frame 1. The tool changing mechanism 3 is used to automatically lock and release tool modules by driving mechanical transmission via an electric push rod 301 and combining it with an elastic buffer. The tool changing mechanism 3 includes an electric push rod 301, a connecting ring 302, a movable push rod 303, a buffer spring 304, a connecting rod 305, a fixed base 306, a module fixing block 307, a connecting shaft 308, and a limit block 309. A connecting post 6 is fixedly connected to the lower surface of the manipulator frame 1. An installation ring 7 is fixedly connected to the outer side of the lower end of the connecting post 6. An electric push rod 301 is fixedly connected to the inner side of the lower end of the connecting post 6. The free end of the electric push rod 301 is driven by a movable push rod 303. The lower end of rod 303 passes through connecting ring 302 and is surrounded by multiple connecting rods 305. The lower end of connecting ring 302 is fixedly connected to the lower surface of mounting ring 7. One end of each of the multiple connecting rods 305 is rotatably connected to movable top rod 303. The other end of each of the multiple connecting rods 305 is rotatably connected to module fixing block 307. A buffer spring 304 is provided between the free end of electric push rod 301 and connecting ring 302. The lower end of module fixing block 307 is fixedly connected to connecting shaft 308. Connecting shaft 308 is rotatably connected inside fixing seat 306. The lower end of fixing seat 306 is fixedly connected to the lower surface of connecting ring 302. The lower inner side of module fixing block 307 is fixedly connected to limit block 309. A module tool 11 is provided on the lower surface of connecting ring 302. Multiple limit blocks 309 are embedded on the lower outer side of module tool 11.

[0020] During operation, when a new tool module needs to be installed, the free end of the electric push rod 301 extends downward, pushing the movable push rod 303 downward as well. The movable push rod 303 passes through the central hole of the connecting ring 302, and during its downward movement, it causes the lower ends of the multiple connecting rods 305 surrounding it to swing downward as well. When the lower ends of the connecting rods 305 are driven downward and outward by the movable push rod 303, their lower ends drive the module fixing block 307 to rotate around its connecting shaft 308 inside the fixing base 306. As the module fixing block 307 rotates, the limiting block 309 fixedly connected to its lower inner side will rotate accordingly and gradually move towards... When the electric push rod 301 extends to the predetermined stroke, the module fixing block 307 rotates into place, and the limiting block 309 below it is completely embedded in the limiting block 309 on the outer side of the lower end of the tool. At this time, the module tool 11 is firmly locked under the module fixing block 307, realizing a rigid connection with the mechanical mobile phone holder 1. When the electric push rod 301 extends quickly, the spring is compressed, absorbing part of the impact energy, making the movement of the movable push rod 303 and the entire linkage mechanism 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 2: Based on Embodiment 1, a replacement auxiliary mechanism 4 is added. The replacement auxiliary mechanism 4 is located on both sides of the tool changing mechanism 3. It is used to achieve precise positioning and gripping of the tool module via a motor-driven transmission assembly, and to assist in tool alignment and installation via an adsorption device and a rotating structure. The replacement auxiliary mechanism 4 includes a fixed bracket 401, a transmission screw 402, a threaded column 403, a limiting 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. The lower end of the fixed bracket 401 is fixedly connected to the side of the lower surface of the transverse frame 2. A transmission screw 402 is provided inside the fixed bracket 401, and the transmission screw 402 rotates with the fixed bracket 401. The mechanical handpiece holder 1 is connected to a drive screw 402 with a threaded post 403 on the outer side. Two lifting drive blocks 405 are fixedly connected to the inner side of the threaded post 403. Limit rods 404 are installed through the middle of each of the two lifting drive blocks 405, and the limit rods 404 are fixedly connected to the fixed bracket 401. A support platform 407 is fixedly connected to the inner side of the lifting drive blocks 405. A rotating seat 410 is rotatably connected to the lower surface of the support platform 407. An adsorption pump 408 is fixedly connected to the lower surface of the rotating seat 410. A modular adsorption nozzle 409 is fixedly connected to the adsorption end of the adsorption pump 408. A drive motor 406 is fixedly connected to the lower surface of the fixed bracket 401. The output end of the drive motor 406 is connected to the drive screw 402. The left and right sides of the mechanical handpiece holder 1 are rotatably connected to... A transmission wheel 10 is provided, and a motor 9 is installed 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. The outer surface of the transmission wheel 10 is embedded in the lower surface of the transverse frame 2. Transverse sliders 5 are provided on both the left and right sides of the lower end of the transverse frame 2. The inner side of the transverse sliders 5 is fixedly connected to the outer side of the mechanical handpiece frame 1. A modular tool 11 unit 8 is fixedly connected to the inner side of the transverse frame 2. When it is necessary to change the tool, the output shaft of the drive motor 406 drives the transmission screw 402 to rotate. The linear motion of the threaded column 403 directly drives the lifting drive block 405 fixedly connected to it and the support platform 407 fixedly connected to the lifting drive block 405 to rise and fall together. When it is necessary to fine-tune the position of the tool module in the horizontal plane, The motors 9 on both sides of the mechanical handpiece holder 1 start, driving the transmission wheels 10 to rotate. This rotation, through friction with the transverse frame 2, propels the entire transverse frame 2 and its subordinate replacement auxiliary mechanism 4 to move smoothly laterally along the mechanical handpiece holder 1. When the module suction nozzle 409, through lifting and transverse movement, precisely moves to directly below the tool module to be gripped and descends to the contact position, the suction pump 408, fixed to the lower surface of the rotating base 410, starts. The suction pump 408 communicates with the inside of the module suction nozzle 409 through its suction end, creating a negative pressure between the module suction nozzle 409 and the smooth suction surface of the tool module, thereby generating a strong suction force that firmly fixes the module tool 11. The operator only needs to issue commands from a safe control room.All subsequent complex positioning, gripping, alignment, and assisted installation actions are completed autonomously by the equipment, eliminating the radiation exposure risk that personnel might suffer from entering the site for tool assistance, adjustment, or troubleshooting.

[0022] The following description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A modular manipulator for nuclear decommissioning, 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 lower 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 manipulator for nuclear decommissioning according to claim 1, characterized in that: The mechanical mobile phone holder (1) is fixedly connected to a connecting column (6) on its lower surface. A mounting ring (7) is fixedly connected to the outer side of the lower end of the connecting column (6). An electric push rod (301) is fixedly connected to the inner side of the lower end of the connecting column (6). A movable top rod (303) is connected to the free end of the electric push rod (301). The lower 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 lower surface of the mounting 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. A modular manipulator for nuclear decommissioning 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 lower surface of the connecting ring (302), and the inner side of the lower end of the module fixing block (307) is fixedly connected to a limit block (309).

4. A modular manipulator for nuclear decommissioning according to claim 1, characterized in that: The lower end of the fixed bracket (401) is fixedly connected to the side of the lower 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. A modular manipulator for nuclear decommissioning 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 lower surface of the support platform (407). An adsorption pump (408) is fixedly connected to the lower surface of the rotating seat (410). A module adsorption nozzle (409) is fixedly connected to the adsorption end of the adsorption pump (408).

6. A modular manipulator for nuclear decommissioning according to claim 4, characterized in that: A drive motor (406) is fixedly connected to the lower surface of the fixed bracket (401), and the output end of the drive motor (406) is connected to the transmission screw (402).

7. A modular manipulator for nuclear decommissioning 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. A modular manipulator for nuclear decommissioning 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. A modular manipulator for nuclear decommissioning according to claim 1, characterized in that: The lower surface of the connecting ring (302) is provided with a module tool (11), and multiple limiting blocks (309) are embedded on the outer side of the lower end of the module tool (11).

10. A modular manipulator for nuclear decommissioning 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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