Sword type manipulator capable of being quickly assembled and disassembled

Abstract

The sword type mechanical arm capable of being assembled and disassembled quickly comprises a clamp seat and a remote control rod, a clamp mechanism is connected to the clamp seat, the remote control rod comprises a sleeve and a telescopic rod connected into the sleeve in a sliding mode, a wrench mechanism is arranged at one end of the remote control rod, the other end of the remote control rod is a connecting end, and the connecting end is detachably connected with the clamp seat. A clamping block guide hole and a remote control rod insertion hole are formed in the clamp seat; a clamping block is connected in the clamping block guide hole in a sliding manner, and a connecting hole is formed in the clamping block; a locking screw is arranged on the clamping block, the locking screw extends into the connecting hole, and a third spring is arranged between the clamping block and the bottom of the clamping block guide hole; a limiting mechanism is arranged between the clamping block and the clamp seat; and the sleeve is provided with a locking hole matched with the locking screw. According to the utility model, the remote control lever can be conveniently mounted and dismounted; and when the sword type manipulator is not used, the remote control lever can be detached to reduce the occupation of the space in the hot chamber.

Description

Technical Field

[0001] The utility model relates to the technical field of sword-type manipulators, and particularly relates to a sword-type manipulator that can be quickly loaded and unloaded. Background Art

[0002] At present, the production of radioactive drugs needs to be arranged in a hot cell with lead shielding. For the dispensing operation of drugs inside the hot cell, some links require staff to operate through a sword-type manipulator outside the shielding layer.

[0003] With the development of technology, the hot cells for the production of radioactive drugs are becoming more and more automated and intelligent. More and more detection and automation devices need to be arranged in the limited space of the hot cell, resulting in a relatively cramped space in the hot cell. And the overall length of the sword-type manipulator is relatively long. When it is in the non-use state, the relatively long remote control rod part on the sword-type manipulator will occupy a large space, making the space in the hot cell even more cramped.

[0004] Therefore, if a sword-type manipulator with a remote control rod that can be conveniently and quickly disassembled can be provided, the remote control rod can be quickly installed when the sword-type manipulator needs to be used, and the remote control rod can be disassembled and stored separately when the sword-type manipulator is in the non-use state, so that the use space of the hot cell can be optimized to the greatest extent. Summary of the Invention

[0005] The purpose of the utility model is to provide a sword-type manipulator with a remote control rod that can be conveniently and quickly disassembled. When the sword-type manipulator is in the non-use state, the remote control rod is disassembled and stored separately, so that the use space of the hot cell can be optimized to the greatest extent.

[0006] The purpose of the utility model is realized by the following technical scheme: a sword-type manipulator that can be quickly loaded and unloaded, including a clamp seat and a remote control rod. A clamp mechanism is connected to the clamp seat. The remote control rod includes a sleeve and a telescopic rod slidably connected in the sleeve. One end of the remote control rod is provided with a wrench mechanism, and the other end of the remote control rod is a connection end. The connection end of the remote control rod is detachably connected to the clamp seat through a clamping block.

[0007] Preferably, the clamp seat is provided with a clamping block guide hole and a remote control rod insertion hole; a clamping block is slidably connected in the clamping block guide hole, and a connection hole is provided on the clamping block; a locking screw is provided on the clamping block, and the locking screw extends into the connection hole. A third spring is provided between the clamping block and the bottom of the clamping block guide hole; a locking hole matching with the locking screw is provided on the sleeve;

[0008] When the remote control rod is connected to the clamp seat, the connection end of the remote control rod is inserted into the connection hole on the clamping block, and the locking screw on the clamping block is inserted into the locking hole on the sleeve; the telescopic rod is driven relative to the sleeve through the wrench mechanism to control the opening and closing of the clamp mechanism.

[0009] Preferably, a limiting mechanism is provided between the clamping block and the clamp seat; the limiting mechanism includes a limiting screw connected to the clamp seat; a limiting hole is provided on the clamping block, and the limiting screw extends into the limiting hole.

[0010] Preferably, a second sealing ring is provided between the limiting screw and the clamp seat.

[0011] Preferably, the clamp mechanism includes a control rod and two oppositely arranged clamping bodies. The clamping bodies are connected to the clamp seat through a first connecting rod. One end of the first connecting rod is hinged to the clamping body, and the other end of the first connecting rod is hinged to the clamp seat; the first connecting rod, the clamping body and the clamp seat form a parallelogram mechanism; the control rod is slidably connected to the clamp seat, and a second spring is provided between the control rod and the clamp seat; a second connecting rod is provided between the control rod and the first connecting rod. One end of the second connecting rod is hinged to the control rod, and the other end of the second connecting rod is hinged to the first connecting rod.

[0012] Preferably, an outer convex ring is provided on the telescopic rod, a stepped surface is provided on the inner side of the sleeve, and a first spring is provided between the outer convex ring and the stepped surface.

[0013] Preferably, a first sealing ring is provided on the clamping block, and the first sealing ring is in sealing fit with the inner wall of the guiding hole of the clamping block.

[0014] Preferably, a sealing sheath is connected to the clamp seat.

[0015] Preferably, one end of the sealing sheath is fixedly connected to the clamp seat through a hoop.

[0016] The beneficial effects of the present utility model are as follows: In the present utility model, the remote control rod can be conveniently installed and disassembled; when the remote control rod is installed, first press the clamping block, insert the connecting end of the remote control rod into the remote control rod jack on the clamp seat and the connecting hole on the clamping block, and then release the clamping block. The clamping block is lifted upward under the action of the third spring, so that the locking screw on the clamping block is inserted into the locking hole on the sleeve, thereby realizing the connection between the remote control rod and the clamp seat; when the sword-type manipulator operates, the telescopic rod is driven to move through the wrench mechanism, and the opening and closing of the clamp mechanism are controlled by the movement of the telescopic rod, thereby realizing the clamping of the target object; when it is necessary to disassemble the remote control rod, only need to press the clamping block. At this time, the locking screw on the clamping block is disengaged from the locking hole on the sleeve to unlock the remote control rod, and then the remote control rod can be pulled out; the pulled-out remote control rod can be separately stored to reduce the occupation of the space in the hot chamber, and the installation and disassembly process of the control rod is relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the present utility model.

[0018] Figure 2 is a top view of the present utility model.

[0019] Figure 3 This is the front view of the present utility model.

[0020] Figure 4 This is the structural schematic diagram of the clamp seat.

[0021] Figure 5 This is the structural schematic diagram of the clamping block.

[0022] Figure 6 This is Figure 2 the sectional view in the A-A direction in

[0023] Figure 7 This is Figure 6 the enlarged view of part D in

[0024] Figure 8 This is Figure 3 the sectional view in the B-B direction in

[0025] Figure 9 This is Figure 8 the enlarged view of part E in

[0026] Figure 10 This is the structural schematic diagram of the remote control rod.

[0027] In the figure: 1. Clamp seat; 2. Clamping block; 3. Sleeve; 4. Wrench mechanism; 5. Sealing sheath; 6. Hoop; 7. Limit screw; 8. Clamping body; 9. First connecting rod; 10. Guide hole of clamping block; 11. Jack for remote control rod; 12. Jack; 13. Locking screw; 14. Limit hole; 15. First sealing ring; 16. Telescopic rod; 17. Outer convex ring; 18. First spring; 19. Control rod; 20. Second spring; 21. Third spring; 22. Second connecting rod; 23. Locking hole; 24. Second sealing ring. Specific embodiments

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the present utility model.

[0029] As Figures 1 to 10As shown in the figure, a sword-type manipulator that can be quickly loaded and unloaded includes a clamp seat 1 and a remote control rod. A clamp mechanism is connected to the clamp seat 1. The remote control rod includes a sleeve 3 and a telescopic rod 16 slidably connected to the sleeve 3. One end of the remote control rod is provided with a wrench mechanism 4, and the other end of the remote control rod is a connection end, and the connection end is detachably connected to the clamp seat 1; the clamp seat 1 is provided with a clamping block guiding hole 10 and a remote control rod jack 11; a clamping block 2 is slidably connected in the clamping block guiding hole 10, and the clamping block 2 is provided with a connection hole; a locking screw is provided on the clamping block, and the locking screw 13 extends into the connection hole. A third spring 21 is provided between the clamping block 2 and the bottom of the clamping block guiding hole 10; a limiting mechanism is provided between the clamping block 2 and the clamp seat 1; a locking hole 23 is provided on the sleeve and is matched with the locking screw 13; when the remote control rod is connected to the clamp seat 1, the connection end of the remote control rod is inserted into the connection hole on the clamping block 2, and the locking screw 13 on the clamping block 2 is inserted into the locking hole 23 on the sleeve; the telescopic rod 16 is driven to move relative to the sleeve through the wrench mechanism 4 to control the opening and closing of the clamp mechanism.

[0030] In the present utility model, the remote control rod can be conveniently installed and disassembled. When installing the remote control rod, first press the clamping block 2, insert the connection end of the remote control rod into the remote control rod jack 11 on the clamp seat 1 and the connection hole on the clamping block 2, and then release the clamping block 2. The clamping block 2 is lifted upward under the action of the third spring 21, so that the locking screw 13 on the clamping block 2 is inserted into the locking hole 23 on the sleeve, thereby realizing the connection between the remote control rod and the clamp seat 1; when the sword-type manipulator is operating, the telescopic rod 16 is driven to move through the wrench mechanism 4, and the opening and closing of the clamp mechanism are controlled by the movement of the telescopic rod 16, thereby realizing the clamping of the target object; when it is necessary to disassemble the remote control rod, only need to press the clamping block 2. At this time, the locking screw 13 on the clamping block 2 is disengaged from the locking hole 23 on the sleeve to unlock the remote control rod, and then the remote control rod can be pulled out; the pulled-out remote control rod can be stored separately to reduce the occupation of the space in the hot chamber and optimize the space in the hot chamber.

[0031] Among them, the limiting mechanism includes a limiting screw 7 connected to the clamp seat 1; a limiting hole 14 is provided on the clamping block 2, and the limiting screw 7 extends into the limiting hole 14. Among them, the limiting hole 14 is an elongated hole, and the limiting screw 7 extends into the limiting hole 14, and the limiting screw 7 moves within the length range of the limiting hole 14; it not only ensures that the clamping block 2 has a certain moving space, but also can prevent the clamping block from disengaging from the clamping block guiding hole.

[0032] A second sealing ring 24 is provided between the limiting screw 7 and the clamp seat 1. The second sealing ring 24 can realize the sealing fit between the limiting screw 7 and the clamp seat 1.

[0033] A first sealing ring 15 is provided on the clamping block 2, and the first sealing ring 15 is in sealing fit with the inner wall of the clamping block guide hole 10. The first sealing ring 15 can achieve the sealing fit between the clamping block 2 and the clamp seat 1.

[0034] Specifically, the clamp mechanism includes a control rod 19 and two oppositely arranged clamping bodies 8. The clamping bodies 8 are connected to the clamp seat 1 through a first connecting rod 9. One end of the first connecting rod 9 is hinged to the clamping body 8, and the other end of the first connecting rod 9 is hinged to the clamp seat 1; the first connecting rod 9, the clamping body 8 and the clamp seat 1 form a parallelogram mechanism; the control rod 19 is slidably connected to the clamp seat 1, and a second spring 20 is provided between the control rod and the clamp seat 1; a second connecting rod 22 is provided between the control rod and the first connecting rod 9. One end of the second connecting rod 22 is hinged to the control rod, and the other end of the second connecting rod 22 is hinged to the first connecting rod 9.

[0035] Among them, two first connecting rods 9 are provided between each clamping body 8 and the clamp seat 1, and these two first connecting rods 9 are parallel to each other. When the wrench mechanism is tightened, the wrench mechanism drives the telescopic rod 16 to extend forward. The telescopic rod 16 presses against the control rod to extend forward. When the control rod moves, it drives the first connecting rod 9 to rotate through the second connecting rod 22. When the first connecting rod 9 rotates, it drives the clamping bodies 8 to approach each other to clamp the target object; when the wrench mechanism is loosened, the telescopic rod 16 resets, and the control rod resets under the action of the second spring 20. The control rod 19 drives the first connecting rod 9 to rotate in the reverse direction, so that the two clamping bodies 8 open to release the target object.

[0036] An outer convex ring 17 is provided on the telescopic rod 16, a stepped surface is provided on the inner side of the sleeve 3, and a first spring 18 is provided between the outer convex ring 17 and the stepped surface. When the wrench mechanism is loosened, the telescopic rod 16 is reset through the first spring 18. When the telescopic rod 16 resets, the moving direction of the telescopic rod 16 is towards the wrench mechanism.

[0037] A sealing sheath 5 is connected to the clamp seat 1. Among them, one end of the sealing sheath 5 is fixedly connected to the clamp seat 1 through a hoop 6.

[0038] The present invention is not limited to the above-mentioned best embodiment. Anyone can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as it has the same or similar technical solutions as the present application, it falls within the protection scope of the present invention.

Claims

1. A sword-type manipulator that can be quickly loaded and unloaded, characterized in that, It includes a clamp seat and a remote control rod. A clamp mechanism is connected to the clamp seat. The remote control rod includes a sleeve and a telescopic rod slidably connected in the sleeve. One end of the remote control rod is provided with a wrench mechanism, and the other end of the remote control rod is a connection end. The connection end is detachably connected to the clamp seat through a clamping block.

2. The quick-loading and unloading sword-type manipulator according to claim 1, characterized in that, The clamp seat is provided with a clamping block guide hole and a remote control rod insertion hole; a clamping block is slidably connected in the clamping block guide hole, and the clamping block is provided with a connection hole; a locking screw is provided on the clamping block, and the locking screw extends into the connection hole. A third spring is provided between the clamping block and the bottom of the clamping block guide hole; a locking hole matched with the locking screw is provided on the sleeve; When the remote control rod is connected to the clamp seat, the connection end of the remote control rod is inserted into the connection hole on the clamping block, and the locking screw on the clamping block is inserted into the locking hole on the sleeve; the telescopic rod is driven to move relative to the sleeve through the wrench mechanism to control the opening and closing of the clamp mechanism.

3. The quick-loading and unloading sword-type manipulator according to claim 2, characterized in that, A limiting mechanism is provided between the clamping block and the clamp seat; the limiting mechanism includes a limiting screw connected to the clamp seat; a limiting hole is provided on the clamping block, and the limiting screw extends into the limiting hole.

4. The quick-disassembly and quick-assembly sword-type manipulator according to claim 3, characterized in that, A second sealing ring is provided between the limiting screw and the clamp seat.

5. A quick-disassembly and quick-assembly sword-type manipulator according to claim 2, characterized in that, The clamp mechanism includes a control rod and two oppositely arranged clamping bodies. The clamping bodies are connected to the clamp seat through a first connecting rod. One end of the first connecting rod is hinged to the clamping body, and the other end of the first connecting rod is hinged to the clamp seat; the first connecting rod, the clamping body and the clamp seat form a parallelogram mechanism; the control rod is slidably connected to the clamp seat, and a second spring is provided between the control rod and the clamp seat; a second connecting rod is provided between the control rod and the first connecting rod. One end of the second connecting rod is hinged to the control rod, and the other end of the second connecting rod is hinged to the first connecting rod.

6. The quick-loading and unloading sword-type manipulator according to claim 2, characterized in that An outer convex ring is provided on the telescopic rod, a stepped surface is provided on the inner side of the sleeve, and a first spring is provided between the outer convex ring and the stepped surface.

7. A quick-disassembly and quick-assembly sword-type manipulator according to claim 2, characterized in that, A first sealing ring is provided on the clamping block, and the first sealing ring is in sealing fit with the inner wall of the clamping block guide hole.

8. A quick-disassembly and quick-assembly sword-type manipulator according to claim 2, characterized in that, A sealing sheath is connected to the clamp seat.

9. The quick-loading and unloading sword-type manipulator according to claim 8, characterized in that, One end of the sealing sheath is fixedly connected to the clamp seat through a hoop.

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