Hot chamber power manipulator for large-scale hot chamber radioactive waste treatment

Abstract

The utility model discloses a hot cell power manipulator for large-scale hot cell radioactive waste treatment, which comprises a mechanical arm, the end part of the mechanical arm is rotatably connected with a rotating shaft, the outer wall of the rotating shaft is fixedly connected with a frame, the outer wall of the frame is U-shaped, the inner wall of the frame is rotatably connected with a double-end threaded rod, and the double-end threaded rod is fixedly connected with the rotating shaft. The double-end threaded rod is connected with two sets of sliding plates through a connecting mechanism, a plurality of sets of suction cups are installed on the outer walls of the two sets of sliding plates, and the other end of the connecting pipe communicates with the interiors of the adjacent sets of suction cups. The suction cups, the pistons and other devices are arranged, the suction cups make contact with the outer wall of radioactive waste, closed spaces are formed in the suction cups, air in the multiple sets of suction cups is sucked away in cooperation with sliding of the pistons, and closed spaces are formed in the multiple sets of suction cups, so that waste adsorption is achieved, and different shapes and sizes of waste are treated; and the method is suitable for various working scenes, the flexibility and universality of operation are improved, and meanwhile the uncertainty in the grabbing process is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a hot chamber power manipulator used for treating radioactive waste in a large hot chamber. Background Art

[0002] A telescopic hot cell master-slave manipulator for radioactive waste treatment not only provides the functions of a traditional master-slave manipulator, but also takes the safety and efficiency of radioactive waste treatment to a new level through its scalable characteristics and high adaptability to extreme environments. Remote operation function: The operator can remotely control the telescopic hot cell manipulator through a visual assistance system in a controlled environment, eliminating the need for direct contact with the radioactive environment.

[0003] When a hot cell powered manipulator for large hot cell radioactive waste treatment is in use, the manipulator may have insufficient grasping accuracy when grabbing and moving radioactive waste due to irregular shapes or rough surfaces of the waste, which may easily lead to grasping errors or waste falling. The shape, size and surface features of the waste may vary greatly, and these differences increase the difficulty of the manipulator's grasping task. The waste may have sharp edges, protruding parts or irregular shapes, especially in high temperature and high radiation environments. The materials and actuators of the manipulator may also be affected, increasing the uncertainty in the grasping process. Therefore, it is necessary to redesign a hot cell powered manipulator for large hot cell radioactive waste treatment to address the above problems. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a hot cell power manipulator for treating radioactive waste in a large hot cell.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A hot chamber power manipulator for large hot chamber radioactive waste treatment comprises a manipulator arm, the end of the manipulator arm is rotatably connected to a rotating shaft, the outer wall of the rotating shaft is fixedly connected to a frame, the outer wall of the frame is U-shaped, the inner wall of the frame is rotatably connected to a double-headed threaded rod, the double-headed threaded rod is connected to two groups of slides through a connecting mechanism, the outer walls of the two groups of slides are both installed with multiple groups of suction cups, the outer walls of both sides of the manipulator arm are fixedly connected to gas cylinders, the outer walls of the gas cylinders are fixedly connected to connecting pipes, the connecting pipes are connected to the inside of the gas cylinders, and the other end of the connecting pipes is connected to the inside of the multiple groups of suction cups adjacent to it.

[0007] Preferably, the connection mechanism comprises two groups of sliding blocks threadedly connected to the threaded sections of the double-start threaded rod, and the two groups of sliding blocks are respectively fixedly connected to the outer walls of the two groups of sliding blocks.

[0008] Preferably, a limit rod is fixedly connected to the inner wall of the frame, and the limit rod is slidably connected to both sets of sliders.

[0009] Preferably, pistons are slidably connected inside the two groups of gas cylinders, and the outer walls of the pistons are in contact with the inner walls of the gas cylinders.

[0010] Preferably, outer walls on both sides of the mechanical arm are fixedly connected with electric telescopic rods, and the telescopic ends of the electric telescopic rods are fixedly connected to the adjacent pistons.

[0011] Preferably, a servo motor is fixedly connected to the side wall of the frame, and the end of the output shaft of the servo motor is coaxially fixedly connected to the double-start threaded rod.

[0012] The utility model has the following beneficial effects:

[0013] 1. The utility model provides suction cups, pistons and other devices, and uses the suction cups to contact the outer wall of the radioactive waste to form a closed space inside the suction cups. With the sliding of the pistons, the air inside the multiple groups of suction cups is extracted to form a closed space inside the multiple groups of suction cups, thereby achieving adsorption of waste, coping with waste of different shapes and sizes, and adapting to a variety of work scenarios, increasing the flexibility and versatility of operation, and reducing the uncertainty in the grasping process.

[0014] 2. The utility model provides a double-threaded rod, a slide plate and other devices. With the help of the rotation of the double-threaded rod, two sets of slide plates and multiple sets of suction cups on their outer walls are driven to slide. The sliding of the slide plates can clamp the waste, ensuring that the waste maintains a stable position and direction during transportation, reducing the instability of grabbing caused by the irregular shape of the waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a hot cell power manipulator for large hot cell radioactive waste treatment proposed by the utility model;

[0016] Figure 2 for Figure 1 Structural diagram.

[0017] Figure 3 for Figure 1 Cross-sectional view of the cylinder.

[0018] In the figure: 1. Robotic arm; 2. Rotating shaft; 3. Frame; 4. Servo motor; 5. Double-headed threaded rod; 6. Slider; 7. Slide plate; 8. Limit rod; 9. Suction cup; 10. Connecting pipe; 11. Air cylinder; 12. Electric telescopic rod; 13. Piston. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0020] Reference Figure 1-3 A hot cell power manipulator for treating radioactive waste in a large hot cell comprises a manipulator 1, wherein the end of the manipulator 1 is rotatably connected to a rotating shaft 2, the outer wall of the rotating shaft 2 is fixedly connected to a frame 3, the outer wall of the frame 3 is U-shaped, the inner wall of the frame 3 is rotatably connected to a double-headed threaded rod 5, the double-headed threaded rod 5 is connected to two groups of slides 7 through a connecting mechanism, the outer walls of the two groups of slides 7 are both installed with multiple groups of suction cups 9, the outer walls of both sides of the manipulator 1 are fixedly connected to gas cylinders 11, the outer wall of the gas cylinder 11 is fixedly connected to a connecting pipe 10, the connecting pipe 10 is communicated with the inside of the gas cylinder 11, and the other end of the connecting pipe 10 is communicated with the inside of the multiple groups of suction cups 9 adjacent to it, The connecting mechanism includes two groups of sliders 6 threadedly connected to the threaded sections of the double-headed threaded rod 5, and two groups of slide plates 7 are respectively fixedly connected to the outer walls of the two groups of sliders 6. The slide plates 7 are used to clamp and fix the radioactive waste, and the multiple groups of suction cups 9 are provided to adsorb it. The clamping and fixing of the slide plates 7 can ensure that the waste maintains a stable position and direction during transportation, reduce the grasping instability caused by the irregular shape of the waste, and thus reduce the risk of the waste falling. Combining the clamping and adsorption methods, it can cope with wastes of different shapes and sizes, and adapt to a variety of work scenarios, thereby increasing the flexibility and versatility of operation.

[0021] Reference Figure 2 and Figure 3 The inner wall of the frame 3 is fixedly connected to a limit rod 8, and the limit rod 8 is slidably connected to the two groups of sliders 6. Pistons 13 are slidably connected to the two groups of gas cylinders 11, and the outer wall of the piston 13 contacts the inner wall of the gas cylinder 11. The outer walls of both sides of the robotic arm 1 are fixedly connected to electric telescopic rods 12, and the telescopic ends of the electric telescopic rods 12 are fixedly connected to the adjacent pistons 13. The side walls of the frame 3 are fixedly connected to a servo motor 4, and the end of the output shaft of the servo motor 4 is coaxially fixedly connected to the double-headed threaded rod 5. With the sliding of the piston 13, a negative pressure state can be formed inside the suction cup 9, thereby achieving the adsorption of radioactive waste.

[0022] In the utility model, the specific function of the device is as follows: when using the device, the frame 3 is moved to the specified position with the help of the mechanical arm 1, and then the double-headed threaded rod 5 is driven to rotate with the help of the servo motor 4, and then the two groups of sliders 6 on its threaded section respectively drive the slide plate 7 to slide towards each other until it contacts the outer wall of the radioactive waste, thereby clamping the waste. At this time, the outer wall of the suction cup 9 contacts the outer wall of the waste, and a closed space is formed inside the suction cup 9. Then, with the help of the contraction of the telescopic end of the electric telescopic rod 12, the air in the multiple groups of suction cups 9 is drawn into the inside of the air cylinder 11, so that a negative pressure state is formed inside the suction cup 9, thereby achieving the adsorption of the waste, ensuring that the waste maintains a stable position and direction during transportation, reducing the instability of grasping caused by the irregular shape of the waste, thereby reducing the risk of the waste falling, and combining the clamping and adsorption methods to cope with wastes of different shapes and sizes, and adapt to a variety of work scenarios, increasing the flexibility and versatility of operation.

[0023] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A hot cell powered manipulator for large hot cell radioactive waste treatment, comprising a manipulator arm (1), It is characterized in that The end of the mechanical arm (1) is rotatably connected to a rotating shaft (2), the outer wall of the rotating shaft (2) is fixedly connected to a frame (3), the outer wall of the frame (3) is U-shaped, the inner wall of the frame (3) is rotatably connected to a double-headed threaded rod (5), the double-headed threaded rod (5) is connected to two groups of slides (7) through a connecting mechanism, the outer walls of the two groups of slides (7) are both installed with multiple groups of suction cups (9), the outer walls of both sides of the mechanical arm (1) are fixedly connected to an air cylinder (11), the outer wall of the air cylinder (11) is fixedly connected to a connecting pipe (10), the connecting pipe (10) is connected to the inside of the air cylinder (11), and the other end of the connecting pipe (10) is connected to the inside of the multiple groups of suction cups (9) adjacent to it.

2. A hot cell power manipulator for large hot cell radioactive waste treatment according to claim 1, It is characterized in that The connection mechanism comprises two groups of sliders (6) threadedly connected to the threaded sections of the double-threaded rod (5), and the two groups of slide plates (7) are respectively fixedly connected to the outer walls of the two groups of sliders (6).

3. A hot cell power manipulator for large hot cell radioactive waste treatment according to claim 2, It is characterized in that A limit rod (8) is fixedly connected to the inner wall of the frame (3), and the limit rod (8) is slidably connected to both sets of slide blocks (6).

4. A hot cell power manipulator for large hot cell radioactive waste treatment according to claim 3, It is characterized in that The two groups of gas cylinders (11) are both slidably connected with pistons (13), and the outer wall of the piston (13) is in contact with the inner wall of the gas cylinder (11).

5. A hot cell power manipulator for large hot cell radioactive waste treatment according to claim 4, It is characterized in that The outer walls on both sides of the mechanical arm (1) are fixedly connected to electric telescopic rods (12), and the telescopic ends of the electric telescopic rods (12) are fixedly connected to the pistons (13) adjacent thereto.

6. A hot cell power manipulator for large hot cell radioactive waste treatment according to claim 5, It is characterized in that A servo motor (4) is fixedly connected to the side wall of the frame (3), and the end of the output shaft of the servo motor (4) is coaxially fixedly connected to the double-headed threaded rod (5).

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