Power manipulator maintenance system

Abstract

The utility model provides a power manipulator maintenance system, and relates to the technical field of nuclear industry maintenance equipment. Comprising a rack; the rack comprises first supporting rods and second supporting rods which are adjacent to each other and are connected through first connecting rods, the two first supporting rods are connected through second connecting rods, the two second supporting rods are connected through second connecting rods, third connecting rods are arranged between the tops of the second supporting rods, and fourth connecting rods are arranged between the first supporting rods and the second supporting rods which are adjacent to each other. The third connecting rod is connected with a chain box supporting assembly. A limiting frame is arranged on the second connecting rod; the electric control assembly comprises an output cable, an electric control box connected with the two ends of the output cable and a first cable box body. According to the technical scheme, the function of improving the structural strength of the rack can be achieved, the chain box on the telescopic cylinder can be conveniently replaced, the telescopic cylinder placed in the rack can be fixed, the telescopic cylinder does not need to be lifted back into a heat chamber for action verification, operation time is shortened, and the risk that personnel are radiated is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of nuclear industry maintenance equipment, in particular to a power manipulator maintenance system. Background Art

[0002] In the field of nuclear chemical industry, when some equipment of a power manipulator in a high-radioactive place fails, its surface contamination will cause great difficulties for maintenance. If the cause of the failure cannot be found and verified in time during the maintenance process, the occupational health of the maintenance personnel will be at risk.

[0003] When the power manipulator arm fails, the telescopic cylinder of the power manipulator must be lifted out and placed on the maintenance rack to perform segmented measurement and inspection of the power manipulator according to the cable transmission sequence. After the maintenance is completed, the telescopic cylinder of the power manipulator is lifted into the trolley in the high-radioactive area and then powered on for action verification. Since the lifting hole is far away from the lifting point of the telescopic cylinder, all operations such as hooking rely on remote tooling, which has the defects of high installation accuracy requirements, high time cost of lifting operation, and many dangerous factors. Utility Model Content

[0004] The utility model provides a power manipulator maintenance system, which solves the technical problem that the existing system cannot verify the action of the power manipulator after maintenance outside the hot chamber, and the power manipulator needs to be hoisted into the hot chamber for action verification many times, resulting in excessively long operation time and increased risk of radiation exposure for maintenance personnel.

[0005] To solve the above technical problems, the technical solution of this novel invention is as follows:

[0006] A power manipulator maintenance system, comprising:

[0007] Stand;

[0008] The stand comprises a plurality of first support rods and a second support rod, wherein adjacent first support rods and second support rods are connected by a first connecting rod, two first support rods and two second support rods are connected by a second connecting rod, a third connecting rod is arranged between the tops of the second support rods, and a fourth connecting rod is arranged between the tops of the adjacent first support rods and second support rods;

[0009] The length of the first support rod is smaller than that of the second support rod;

[0010] The inner side surface of the third connecting rod is connected to a chain box supporting assembly;

[0011] A limiting frame is provided on the inner side of the second connecting rod;

[0012] Electronic control components;

[0013] The electric control assembly includes an output cable, an electric control box connected to one end of the output cable, and a first cable box body connected to the other end of the output cable.

[0014] Optionally, a positioning pin is provided on the upper surface of the fourth connecting rod.

[0015] Optionally, the chain box supporting assembly includes a chain box supporting rod and a fixing assembly connecting the chain box supporting rod to the third connecting rod.

[0016] Optionally, the chain box support rod is a T-shaped structure;

[0017] The fixing assembly is sleeved on the third connecting rod;

[0018] The chain box support rod is plugged into the inner side surface of the fixing assembly.

[0019] Optionally, the limiting frame includes two limiting plates with the same structure;

[0020] The limiting plate is a sheet-like structure, and the first end of the limiting plate is arc-shaped and the curvature is the same as the curvature of the outer surface of the telescopic cylinder;

[0021] The length of the limiting plate is equal to the distance between the outer surface of the telescopic cylinder and the second connecting rod.

[0022] Optionally, the two limit plates are fixedly connected to one second connecting rod;

[0023] Portions of the two limit plates away from the first end are connected to the second connecting rod through bolts.

[0024] Optionally, a plurality of reinforcing ribs are arranged between adjacent first support rods and second support rods.

[0025] Optionally, outer sides of the two second support rods are fixedly connected with outer flanges;

[0026] The outer flange is parallel to the second connecting rod.

[0027] Optionally, the first cable box body is connected to a second cable box body on the telescopic cylinder.

[0028] Optionally, the first support rod, the second support rod, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are integrally formed.

[0029] The above solution of the utility model includes at least the following beneficial effects:

[0030] The above scheme of the utility model, the technical scheme of the utility model, includes: a stand; the stand includes a plurality of first support rods and second support rods, the adjacent first support rods and second support rods are connected by a first connecting rod, the two first support rods and the two second support rods are connected by a second connecting rod, a third connecting rod is arranged between the tops of the second support rods, and a fourth connecting rod is arranged at the tops between the adjacent first support rods and the second support rods; the length of the first support rod is less than the second support rod; the inner side of the third connecting rod is connected to the chain box support assembly; the inner side of the second connecting rod is provided with a limited position frame; an electric control assembly; the electric control assembly includes an output cable, an electric control box connected to one end of the output cable, and a first cable box connected to the other end of the output cable. By setting the stand, sufficient space is provided for the maintenance of the telescopic cylinder and the power manipulator. By setting the first connecting rod and the second connecting rod in the stand, the structural strength of the stand is improved. By setting the third connecting rod and connecting the chain box support assembly to the third connecting rod, it is convenient to replace the chain box on the telescopic cylinder. By setting the fourth connecting rod, the telescopic cylinder placed inside the gantry can be fixed. By setting the electric control component, the action verification of the power manipulator after the maintenance is completed can be realized, and there is no need to hoist the telescopic cylinder back into the hot room for action verification, which shortens the operation time and reduces the risk of radiation exposure to personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural diagram of the power manipulator maintenance system of the utility model;

[0032] Figure 2 It is the front view of the bench of the utility model;

[0033] Figure 3 It is a left view of the bench of the utility model;

[0034] Figure 4 It is a three-dimensional diagram of the bench of the utility model;

[0035] Figure 5 It is a structural schematic diagram of the telescopic cylinder of the utility model;

[0036] Figure 6 It is a schematic diagram of the structure of the first and second cable boxes of the utility model;

[0037] Description of reference numerals:

[0038] 1. First support rod; 2. Second support rod; 3. First connecting rod; 4. Second connecting rod; 5. Third connecting rod; 6. Fourth connecting rod; 7. Chain box support assembly; 71. Chain box support rod; 72. Fixing assembly; 8. Limiting plate; 9. Positioning pin; 10. Telescopic cylinder; 11. Reinforcing rib; 12. Outer flange; 13. Output cable; 14. Electric control box; 15. First cable box; 16. Second cable box. DETAILED DESCRIPTION

[0039] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the embodiment of the utility model provides a power manipulator maintenance system, comprising:

[0041] Stand;

[0042] The stand comprises a plurality of first support rods 1 and second support rods 2, wherein adjacent first support rods 1 and second support rods 2 are connected via a first connecting rod 3, two first support rods 1 and two second support rods 2 are connected via a second connecting rod 4, a third connecting rod 5 is arranged between the tops of the second support rods 2, and a fourth connecting rod 6 is arranged between the tops of the adjacent first support rods 1 and second support rods 2;

[0043] The length of the first support rod 1 is smaller than that of the second support rod 2;

[0044] The inner side of the third connecting rod 5 is connected to a chain box supporting assembly 7;

[0045] A limiting frame is provided on the inner side of the second connecting rod 4;

[0046] Electronic control components;

[0047] The electric control assembly includes an output cable 13 , an electric control box 14 connected to one end of the output cable 13 , and a first cable box body 15 connected to the other end of the output cable 13 .

[0048] In the above embodiment, the stand includes two first support rods 1 and two second support rods 2, and the second connecting rod 4 is vertically arranged between the two first support rods 1 and the two second support rods 2. The first connecting rod 3 is arranged between two adjacent groups of the first support rods 1 and the second support rods 2, and further, the number of the first connecting rods 3 between the two groups of the first support rods 1 and the second support rods 2 is the same. By arranging the first connecting rod 3 and the second connecting rod 4 in the stand, the role of fixing the limit frame and improving the structural strength of the stand is played.

[0049] Preferably, two second connecting rods 4 are arranged between two first supporting rods 1 and two second supporting rods 2, and two first connecting rods 3 are arranged between two groups of the first supporting rods 1 and the second supporting rods 2. The first connecting rods 3 are vertically connected to the first supporting rods 1 and the second supporting rods 2, and the second connecting rods 4 are vertically connected to the first supporting rods 1 or the second supporting rods 2, and the two first connecting rods 3 and the second connecting rods 4 form a rectangle.

[0050] The height of the second support rod 2 is greater than that of the first support rod 1 , and the third connecting rod 5 is arranged between the tops of the second support rods 2 to fix the chain box supporting assembly 7 .

[0051] The fourth connecting rod 6 is parallel to the first connecting rod 3 and one end is vertically connected to the side of the second supporting rod 2, and the other end is connected to the top of the first supporting rod 1, playing the role of fixing the telescopic cylinder 10 placed in the stand.

[0052] A limit frame is arranged on the inner side of the second connecting rod 4 to fix the position of the telescopic cylinder 10 placed in the stand.

[0053] The heights of the first support rod 1 and the second support rod 2 are both greater than the sum of the lengths of the telescopic cylinder 10 and the power manipulator that need to be verified for action, and the lengths of the first connecting rod 3, the second connecting rod 4, the third connecting rod 5, and the fourth connecting rod 6 are less than the lengths of each side of the telescopic cylinder 10, ensuring that the telescopic cylinder 10 can be fixed while the clamp of the power manipulator can be rotated, the clamp opened and closed, the clamp extended and retracted to adjust the clamp part, the forearm rotation, the upper arm rotation, the shoulder joint rotation, and the telescopic cylinder 10 rotation to verify the arm movements.

[0054] like Figure 6As shown, at least seven stepless speed knobs are provided on the outer surface of the electric control box 14, and the stepless speed knobs are connected to different motor drive circuits in the electric control box 14, and the motor drive circuits are connected to the corresponding relays one by one. The relay is connected to a programmable logic controller (PLC) arranged in the electric control box 14. If the power indicator light of the electric control box 14 shows normal, the action signal can be transmitted to the programmable logic controller. A 24V switching power supply for powering the programmable logic controller is also provided in the electric control box 14. The programmable logic controller outputs signals to two servo drivers, wherein the power supply voltage of the servo driver is AC30V and AC75V, which is powered by a transformer arranged in the electric control box 14. The servo driver outputs a voltage of DC0V-DC30V or DC0V-DC75V to the servo motor according to the degree of rotation of the stepless speed knob to drive the action, and at the same time, the control of the entire circuit is realized by setting an intermediate relay in the electric control box 14. One end of the output cable 13 is connected to the servo driver in the electric control box 14, and the other end is connected to the first cable box body 15. The bottom of the first cable box 15 is provided with a pin, which can be connected to the second cable box 16 on the telescopic cylinder 10 , so as to realize direct control of the posture of the mechanical power arm through the electric control box 14 .

[0055] Since the knobs on the outer surface of the electric control box 14 are all stepless speed knobs, the speed of all movements of the power manipulator can be controlled, and an interlock is arranged between each stepless speed knob to ensure that only one joint of the power manipulator can perform action verification at the same time, avoiding mechanical damage to the power manipulator due to too fast movement or two actions being performed at the same time.

[0056] The technical solution of the utility model provides sufficient space for the maintenance of the telescopic cylinder 10 and the power manipulator by setting a stand. By setting the first connecting rod 3 and the second connecting rod 4 in the stand, the structural strength of the stand is improved. By setting the third connecting rod 5 and connecting the chain box support assembly 7 to the third connecting rod 5, it is convenient to replace the chain box on the telescopic cylinder 10. By setting the fourth connecting rod 6, the telescopic cylinder 10 placed inside the stand can be fixed. By setting the electric control assembly, the action verification of the power manipulator after the maintenance is completed is realized, and there is no need to hoist the telescopic cylinder 10 back into the hot room for action verification, which shortens the operation time and reduces the risk of personnel being exposed to radiation.

[0057] In an optional embodiment of the present invention, a positioning pin 9 is provided on the upper surface of the fourth connecting rod 6 .

[0058] In the above embodiment, the positioning pin 9 is a cylinder and its bottom is fixedly connected to the upper surface of the fourth connecting rod 6. The diameter of the positioning pin 9 is the same as the diameter of the positioning hole on the edge of the telescopic cylinder 10, and the position corresponds to the positioning hole, playing the role of fixing the telescopic cylinder 10.

[0059] In an optional embodiment of the present invention, the chain box supporting assembly 7 includes a chain box supporting rod 71 and a fixing assembly 72 connecting the chain box supporting rod 71 to the third connecting rod 5 .

[0060] In an optional embodiment of the present invention, the chain box support rod 71 is a T-shaped structure; the fixing assembly 72 is sleeved on the third connecting rod 5; and the chain box support rod 71 is plugged into the inner side of the fixing assembly 72.

[0061] In the above two embodiments, the chain box support rod 71 is a T-shaped structure, wherein the two ends of the short rod in the T-shaped structure are respectively located above the chain box at the top of the telescopic cylinder 10 and the counterweight symmetrically arranged with the chain box, and the chain box or the counterweight can be replaced by using the chain box support rod 71. One end of the long rod of the T-shaped structure is fixedly connected to the short rod, and the other end is plugged into the inner side of the fixing component 72. The fixing component 72 is sleeved on the third connecting rod 5, and the position can be adjusted according to the actual environment. Preferably, the long rod of the T-shaped structure is a telescopic tube.

[0062] When in use, first put the telescopic cylinder 10 and the power manipulator connected to the telescopic cylinder 10 into the stand and fix them with the positioning pin 9, then adjust the position of the fixing assembly 72, insert the chain box support rod 71 into the inner side of the fixing assembly 72 after adjustment, and finally tie the chain box support rod 71 and the counterweight block with a sling, and the function of the counterweight block is to carry the drum cable in the telescopic cylinder 10 to keep it in an extended state. When the drum cable in the telescopic cylinder 10 needs to be replaced, the support rod 71 bears the weight of the counterweight block through the sling, and the tensile force of the drum cable in the telescopic cylinder 10 is shared, so that the cables inside the telescopic cylinder 71 can be replaced one by one.

[0063] In an optional embodiment of the utility model, the limit frame includes two limit plates 8 with the same structure; the limit plate 8 is a sheet structure, the first end of the limit plate 8 is arc-shaped and the curvature is the same as the curvature of the outer surface of the telescopic cylinder 10; the length of the limit plate 8 is equal to the distance between the outer surface of the telescopic cylinder 10 and the second connecting rod 4.

[0064] In an optional embodiment of the present invention, the two limit plates 8 are fixedly connected to one second connecting rod 4; parts of the two limit plates 8 away from the first end are connected to the second connecting rod 4 by bolts.

[0065] like Figure 4 As shown, in the above two embodiments, one end of the two limit plates 8 of a limit frame, which is far away from the first end of the limit frame, is respectively connected with the upper and lower ends of the second connecting rod 4 by bolts. The curvature of the first end of the limit plate 8 is the same as the curvature of the corresponding part of the telescopic cylinder 10 fixed in the platform and the limit plate 8, and the length of the limit plate 8 is the same as the length of the telescopic cylinder 10 from the second connecting rod 4, which plays a role in limiting the position of the telescopic cylinder 10 in the platform, and avoids the telescopic cylinder 10 from swinging when the power manipulator is verified.

[0066] In an optional embodiment of the present invention, a plurality of reinforcing ribs 11 are arranged between adjacent first support rods 1 and second support rods 2 .

[0067] like Figure 3 As shown, in this embodiment, the reinforcing rib 11 is obliquely arranged between the adjacent first support rods 1 and second support rods 2 to enhance the structural strength of the stand.

[0068] In an optional embodiment of the present invention, outer sides of the two second support rods 2 are fixedly connected with outer flanges 12 ; the outer flanges 12 are parallel to the second connecting rods 4 .

[0069] In this embodiment, the outer flange 12 is arranged on the outer side of the second support rod 2, and serves to connect the stand with other equipment in the working environment.

[0070] In an optional embodiment of the present invention, the first cable box body 15 is connected to the second cable box body 16 on the telescopic cylinder 10 .

[0071] like Figure 1 As shown, in this embodiment, a slot is provided on the second cable box body 16 , and the slot can be plugged with the pin on the first cable box body 15 , so as to control the power manipulator through the electric control box 14 .

[0072] In an optional embodiment of the present invention, the first support rod 1, the second support rod 2, the first connecting rod 3, the second connecting rod 4, the third connecting rod 5 and the fourth connecting rod 6 are integrally formed.

[0073] In this embodiment, the first support rod 1, the second support rod 2, the first connecting rod 3, the second connecting rod 4, the third connecting rod 5, and the fourth connecting rod 6 are integrally formed to enhance the structural strength of the stand.

[0074] The above is a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A power manipulator maintenance system, characterized in that: include: Stand; The stand comprises a plurality of first support rods (1) and second support rods (2), adjacent first support rods (1) and second support rods (2) are connected by a first connecting rod (3), two first support rods (1) and two second support rods (2) are connected by a second connecting rod (4), a third connecting rod (5) is arranged between the tops of the second support rods (2), and a fourth connecting rod (6) is arranged between the tops of the adjacent first support rods (1) and second support rods (2); The length of the first support rod (1) is shorter than that of the second support rod (2); The inner side of the third connecting rod (5) is connected to a chain box supporting assembly (7); A limiting frame is provided on the inner side of the second connecting rod (4); Electronic control components; The electric control assembly comprises an output cable (13), an electric control box (14) connected to one end of the output cable (13), and a first cable box body (15) connected to the other end of the output cable (13).

2. The power manipulator maintenance system according to claim 1, characterized in that: A positioning pin (9) is provided on the upper surface of the fourth connecting rod (6).

3. The power manipulator maintenance system according to claim 1, characterized in that: The chain box support assembly (7) comprises a chain box support rod (71) and a fixing assembly (72) connecting the chain box support rod (71) and the third connecting rod (5).

4. The power manipulator maintenance system according to claim 3, characterized in that: The chain box support rod (71) is a T-shaped structure; The fixing assembly (72) is sleeved on the third connecting rod (5); The chain box support rod (71) is plugged into the inner side surface of the fixing assembly (72).

5. The power manipulator maintenance system according to claim 1, characterized in that: The limiting frame comprises two limiting plates (8) with the same structure; The limiting plate (8) is a sheet-like structure, and the first end of the limiting plate (8) is arc-shaped and has the same curvature as the outer surface of the telescopic cylinder (10); The length of the limiting plate (8) is equal to the distance between the outer surface of the telescopic cylinder (10) and the second connecting rod (4).

6. The power manipulator maintenance system according to claim 5, characterized in that: The two limit plates (8) are both fixedly connected to the second connecting rod (4); Portions of the two limiting plates (8) away from the first end are connected to the second connecting rod (4) via bolts.

7. The power manipulator maintenance system according to claim 1, characterized in that: A plurality of reinforcing ribs (11) are arranged between adjacent first support rods (1) and second support rods (2).

8. The power manipulator maintenance system according to claim 1, characterized in that: The outer sides of the two second support rods (2) are fixedly connected with outer flanges (12); The outer flange (12) is parallel to the second connecting rod (4).

9. The power manipulator maintenance system according to claim 1, characterized in that: The first cable box body (15) is connected to the second cable box body (16) on the telescopic cylinder (10).

10. The power manipulator maintenance system according to claim 1, characterized in that: The first support rod (1), the second support rod (2), the first connecting rod (3), the second connecting rod (4), the third connecting rod (5) and the fourth connecting rod (6) are integrally formed.

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