Composite tool capable of achieving automatic quick change and integrating grabbing and sawing functions

Abstract

The invention relates to the technical field of nuclear decommissioning disassembly, and provides an automatic quick-changing composite tool integrating grabbing and sawing functions, which comprises a bracket, a quick-changing mechanism, a grabbing mechanism and a sawing mechanism, the quick-changing mechanism is arranged at the end of the support and used for being externally connected with equipment, the grabbing mechanism is fixed to one side of the support and comprises a first motor, a second motor, a connecting rod and a clamping jaw, and the sawing mechanism is linearly and slidably connected to the other side of the support and used for cutting materials. The composite tool is composed of the saw cutting module, the grabbing module and the quick changing module, the quick changing module and an external mechanical arm are quickly disassembled and assembled, automatic quick changing and medium conveying are achieved, vibration is reduced through the grabbing and saw cutting composite design, the composite tool adapts to the high-radioactivity environment, and the emergency operation requirement is mechanically guaranteed through the redundancy design of a first motor and a second motor.

Description

Technical Field

[0001] This invention relates to the field of nuclear decommissioning and dismantling technology, and more specifically, to a composite tool with automatic quick-change grabbing and sawing functions. Background Technology

[0002] As a complex industrial production system, a nuclear power plant's lifecycle encompasses multiple key stages, including nuclear fuel supply, spent fuel processing, engineering design and construction, equipment manufacturing, operation, and decommissioning, forming a complete industrial chain. Nuclear facility decommissioning is a crucial downstream component of this industrial chain. With the development of the global nuclear power industry, nuclear power units are gradually entering the decommissioning phase, and the sawing and dismantling of various metal installations has become a core task in nuclear decommissioning. In recent years, advancements in robotics technology have driven the development of unmanned operations within nuclear facilities. Robotic arms and robots equipped with quick-change toolheads have begun to be applied to sawing and dismantling work, providing new solutions for operations in highly radioactive environments.

[0003] However, existing sawing tools are still ill-suited to the specific needs of nuclear decommissioning scenarios. Currently used sawing tools are mostly handheld cutting heads or fixed cutting tables, requiring direct manual operation and unable to be quickly switched to robotic arms. Furthermore, they face numerous technical bottlenecks during the cutting process. Due to the diverse shapes and complex forces acting on the objects being cut, existing tools are prone to poor sawing stability and significant shaking, especially when cutting flexible workpieces where vibration is difficult to eliminate effectively. In addition, existing tools lack emergency support capabilities, easily experiencing jamming, power failure, and other malfunctions under extreme conditions, severely impacting the continuity and safety of nuclear decommissioning operations. Summary of the Invention

[0004] The purpose of this invention is to provide a composite tool with automatic quick-change grabbing and sawing functions, which solves the problems of unstable sawing and insufficient emergency support under extreme working conditions of existing sawing tools.

[0005] This invention is achieved through the following technical solution: a composite tool with automatic quick-change gripping and sawing functions, including a support, a quick-change mechanism, a gripping mechanism and a sawing mechanism;

[0006] The quick-change mechanism is located at the end of the bracket and is used to connect external equipment; The gripping mechanism is fixed to one side of the support. The gripping mechanism includes a first motor, a second motor, a connecting rod, and a gripper. The first motor is connected to a slider via a lead screw linear transmission. One end of the connecting rod is hinged to the slider, and the other end of the connecting rod is hinged to one end of the gripper. The middle part of the gripper is hinged to the support, and the other end of the gripper is used to grip and fix the material. The second motor is connected to the lead screw via a transmission assembly. The sawing mechanism is linearly slidably connected to the other side of the support and is used to cut materials.

[0007] Furthermore, the sawing mechanism includes a third motor, which is sequentially connected to a reducer and a safety coupling. The safety coupling is connected to the saw blade via a locking element.

[0008] Furthermore, the safety coupling adopts a steel ball type safety coupling, a friction type safety coupling, or a hydraulic type safety coupling.

[0009] Furthermore, the quick-change mechanism includes an electrical interface, a compressed air interface, and a quick-change head that snaps into the equipment.

[0010] Furthermore, both the gripping mechanism and the sawing mechanism are equipped with distance measuring sensors.

[0011] Furthermore, the grippers are equipped with pressure sensors for detecting the gripping force.

[0012] Furthermore, the transmission assembly includes a driving wheel and a driven wheel that mesh with each other. The driving wheel is fixedly connected to the output shaft of the second motor, and the driven wheel is fixedly connected to the lead screw.

[0013] The present invention has at least the following advantages and beneficial effects: by using a composite tool composed of a sawing module, a gripping module, and a quick-change module, the quick-change module enables rapid assembly and disassembly with an external robotic arm, achieving automatic quick-change and media transmission. The combined gripping and sawing design reduces vibration and is suitable for high-radioactive environments. Furthermore, the redundant design of the first and second motors ensures emergency operation needs. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a composite tool with automatic quick-change grabbing and sawing functions provided by the present invention.

[0015] Figure 2 This is a structural schematic diagram from another perspective of a composite tool with automatic quick-change grabbing and sawing functions provided by the present invention.

[0016] Reference numerals: 1-Bracket, 2-Quick-change mechanism, 21-Electrical interface, 22-Compressed air interface, 23-Quick-change head, 3-Grip mechanism, 31-First motor, 32-Second motor, 33-Connecting rod, 34-Gripper, 35-Transmission assembly, 4-Sawing mechanism, 41-Third motor, 42-Reducer, 43-Safety coupling, 44-Saw blade, 45-Locking element. Detailed Implementation

[0017] The specific implementation method is described below with reference to the accompanying drawings.

[0018] Example like Figure 1 and Figure 2As shown, in this embodiment, a composite tool with automatic quick-change gripping and sawing functions is disclosed, including a support 1, a quick-change mechanism 2, a gripping mechanism 3 and a sawing mechanism 4; The quick-change mechanism 2 is located at the end of the bracket 1 and is used to connect external equipment; The gripping mechanism 3 is fixed to one side of the support 1. The gripping mechanism 3 includes a first motor 31, a second motor 32, a connecting rod 33 and a gripper 34. The first motor 31 is connected to a slider via a lead screw linear transmission. One end of the connecting rod 33 is hinged to the slider, and the other end of the connecting rod 33 is hinged to one end of the gripper 34. The middle part of the gripper 34 is hinged to the support 1, and the other end of the gripper 34 is used to grip and fix the material. The second motor 32 is connected to the lead screw via a transmission assembly 35. The sawing mechanism 4 is linearly slidably connected to the other side of the bracket 1 and is used to cut materials.

[0019] Specifically, the support frame 1 has a T-shaped frame structure with a pre-installed mounting surface for the quick-change mechanism 2 at the top. One side is the fixing plane for the gripping mechanism 3, and the other side is equipped with a linear guide groove. The sawing mechanism 4 is slidably connected to the linear guide groove on the other side of the support frame 1 via an adjustable slide table, and the relative position of the sawing mechanism 4 and the support frame 1 is fixed by bolts. Both the first motor 31 and the second motor 32 can be radiation-resistant servo motors. The lead screw can be a ball screw, and the slider is threaded with the lead screw. The slider is slidably connected to the support frame 1 on both sides via guide shafts. The two ends of the connecting rod 33 are respectively hinged to the slider and one end of the gripper 34 via hinges. The middle of the gripper 34 is hinged to the lower end of the support frame 1 via a rotating shaft, forming a lever fulcrum. The other end of the gripper 34 is designed as a clamping surface. The dual-motor redundancy design of the first motor 31 and the second motor 32 avoids the interruption of operation due to the failure of a single motor, and has the ability to grip and release in emergency situations, improving the operational reliability in strong radiation environments and enhancing its adaptability to various extreme environments.

[0020] Furthermore, in a specific implementation, the sawing mechanism 4 provided in the embodiment of the present invention includes a third motor 41, which is sequentially connected to a reducer 42 and a safety coupling 43. The safety coupling 43 is connected to a saw blade 44 via a locking element. Specifically, the third motor 41 is a high-power radiation-resistant asynchronous motor, the reducer 42 is a planetary reducer 42, the input end of the reducer 42 is fixed to the output shaft of the third motor 41 via a coupling, and the output end is bolted to the input end of the safety coupling 43; the output end of the safety coupling 43 is provided with an external thread, and after the center hole of the saw blade 44 is fitted into the output end of the safety coupling 43, it is tightened and fixed by a locking element (a quick-release nut can be used).

[0021] Furthermore, in specific implementations, the safety coupling 43 provided in the embodiments of the present invention adopts a steel ball type safety coupling, a friction type safety coupling, or a hydraulic type safety coupling.

[0022] Specifically, the ball-type safety coupling 43 includes a drive shaft, a driven shaft, steel balls, a preload spring, and a groove. The drive shaft end face is evenly provided with several steel ball mounting holes, with the steel balls partially embedded in the holes. One end of the preload spring abuts against the steel ball, and the other end is fixed to the bottom of the mounting hole. The driven shaft end face is correspondingly provided with a groove adapted to the steel ball. The friction-type safety coupling 43 consists of a drive friction plate, a driven friction plate, a preload bolt, and a spring. The drive friction plate is fixed to the input end, and the driven friction plate is fixed to the output end. The spring applies pressure through the preload bolt. The hydraulic safety coupling 43 includes a hydraulic oil chamber, a piston, and a drive shaft. The hydraulic oil chamber is filled with radiation-resistant hydraulic oil. An overload protection threshold is set by adjusting the oil pressure. When an overload occurs, the oil pressure exceeds the threshold, and the piston pushes the drive shaft to disengage from the input end. The ball-type safety coupling 43 has a fast response speed and is suitable for high-precision cutting scenarios; the friction-type safety coupling 43 has a simple structure, low manufacturing cost, and convenient maintenance; the hydraulic safety coupling 43 provides stable overload protection without impact load and is suitable for sawing heavy metal equipment. The three types can be flexibly selected according to the different workpiece weights and cutting difficulties in nuclear decommissioning and dismantling, improving tool adaptability. It can achieve overload protection based on cutting torque, ensuring that power transmission is disconnected in abnormal situations such as saw jamming or unreasonable cutting parameters, preventing saw breakage, motor damage, etc.

[0023] Furthermore, in specific implementation, the quick-change mechanism 2 provided in this embodiment of the invention includes an electrical interface 21, a compressed air interface 22, and a quick-change head 23 that is snapped into the equipment. Specifically, the quick-change head 23 adopts an integrated structure, with a conical positioning part at the front end and an annular snap-fit ​​groove in the middle, which adapts to the conical positioning hole and elastic snap of the external robotic arm. Quick positioning is achieved through conical guidance, and the elastic snap is engaged in the annular snap-fit ​​groove for locking. The electrical interface 21 uses a radiation-resistant aviation plug, and the plug shell is made of radiation-resistant nylon. The compressed air interface 22 uses a quick-connect connector, and the seal is made of fluororubber, possessing radiation resistance and aging resistance characteristics. The overall quick-change mechanism 2 meets the requirements for unmanned rapid tool changing in nuclear decommissioning scenarios.

[0024] Furthermore, in specific implementations, both the gripping mechanism 3 and the sawing mechanism 4 provided in the embodiments of the present invention are equipped with distance sensors. Specifically, the distance sensor of the gripping mechanism 3 is installed on the extension end of the bracket 1 below the gripper 34, and the distance sensor of the sawing mechanism 4 is installed on the housing of the sawing mechanism 4 on one side of the saw blade 44. Both are laser distance sensors, and both the transmitting and receiving ends of the distance sensors are equipped with radiation-proof glass covers. The signal output end is connected to the electrical interface 21 through a shielded cable. This allows for real-time feedback of the distance between the gripping mechanism 3 and the workpiece, and the cutting distance between the sawing mechanism 4 and the workpiece. Combined with the external robotic arm, this enables precise gripping positioning and cutting depth control, solving the problem of difficulty in controlling the cutting distance over long distances, improving the accuracy of automated operations, and avoiding human error.

[0025] Furthermore, in a specific implementation, a pressure sensor for detecting the gripping force is provided on the gripper 34 provided in the embodiment of the present invention. Specifically, the pressure sensor can be a strain gauge sensor, embedded in the groove of the gripping surface of the gripper 34. The surface of the pressure sensor is flush with the gripping surface, and the signal is transmitted to the electrical interface 21 through the built-in wire, and then fed back to the external control device. The gripping force during the gripping process can be monitored in real time. When the gripping force exceeds a preset threshold, the control device controls the first motor 31 or the second motor 32 to stop driving to avoid damaging the workpiece. When the gripping force is lower than the preset threshold, the control device issues an alarm signal and controls the motor to supplement the force to prevent the workpiece from falling off, thereby improving the reliability and safety of unmanned gripping in a high-radiation environment.

[0026] Furthermore, in a specific implementation, the transmission assembly 35 provided in this embodiment of the invention includes a driving wheel and a driven wheel engaged in meshing transmission. The driving wheel is fixedly connected to the output shaft of the second motor 32, and the driven wheel is fixedly connected to a lead screw. Specifically, both the driving wheel and the driven wheel can be helical cylindrical gears; the driving wheel is fixed to the output shaft of the second motor 32 via a flat key, and the driven wheel is fixed to one end of the lead screw via a flat key. Dust covers are provided on the outside of the driving wheel and the driven wheel to prevent radioactive dust from entering the gear meshing surface and extend the service life of the transmission assembly 35.

Claims

1. A composite tool with automatic quick-change gripping and sawing functions, characterized in that, It includes a support frame (1), a quick-change mechanism (2), a gripping mechanism (3), and a sawing mechanism (4); The quick-change mechanism (2) is located at the end of the bracket (1) and is used to connect external equipment; The gripping mechanism (3) is fixed to one side of the bracket (1). The gripping mechanism (3) includes a first motor (31), a second motor (32), a connecting rod (33), and a gripper (34). The first motor (31) is connected to a slider via a lead screw. One end of the connecting rod (33) is hinged to the slider, and the other end of the connecting rod (33) is hinged to one end of the gripper (34). The middle part of the gripper (34) is hinged to the bracket (1), and the other end of the gripper (34) is used to grip and fix materials. The second motor (32) is connected to the lead screw via a transmission assembly (35). The sawing mechanism (4) is linearly slidably connected to the other side of the bracket (1) and is used to cut materials.

2. The composite tool with automatic quick-change gripping and sawing functions according to claim 1, characterized in that, The sawing mechanism (4) includes a third motor (41), which is connected in sequence to a reducer (42) and a safety coupling (43). The safety coupling (43) is connected to a saw blade (44) via a locking element.

3. The composite tool with automatic quick-change gripping and sawing functions according to claim 2, characterized in that, The safety coupling (43) is a ball-type safety coupling, a friction-type safety coupling, or a hydraulic safety coupling.

4. The composite tool with automatic quick-change gripping and sawing functions according to claim 1, characterized in that, The quick-change mechanism (2) includes an electrical interface (21), a compressed air interface (22), and a quick-change head (23) that is snapped into the equipment.

5. A composite tool with automatic quick-change gripping and sawing functions according to claim 1, characterized in that, Both the gripping mechanism (3) and the sawing mechanism (4) are equipped with distance measuring sensors.

6. The composite tool with automatic quick-change gripping and sawing functions according to claim 1, characterized in that, The gripper (34) is equipped with a pressure sensor for detecting gripping force.

7. A composite tool with automatic quick-change gripping and sawing functions according to claim 1, characterized in that, The transmission assembly (35) includes a driving wheel and a driven wheel that mesh with each other. The driving wheel is fixedly connected to the output shaft of the second motor (32), and the driven wheel is fixedly connected to the lead screw.

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