Quick-changing device for tool head carried at tail end of robot in high-radiation environment

Abstract

The utility model provides a quick-change device for a tool head carried at the tail end of a robot in a high-radiation environment, which comprises a quick-change body, and the quick-change body comprises a robot connecting end used for connecting the robot and a tool connecting end used for connecting a tail end actuating mechanism. Accurate and rapid connection of a robot working arm and a tail end executing mechanism is achieved through the robot connecting end and the tool connecting end of the rapid replacing body, all butt joint work of media such as water, gas, electricity and servo can be completed at the same time through one-time butt joint propelling action, operation is convenient, and replacing work time is short. The problem that in the source item investigation and nuclear facility decommissioning process, due to the fact that the radiation level is high, space arrangement is complex, and the working space is narrow and small, accurate and rapid replacement of tools cannot be achieved is solved.

Description

Technical Field

[0001] This utility model relates to the field of nuclear facility decommissioning and management technology, and in particular to a quick-change device for a robot end-effector tool head in a high-radiation environment. Background Technology

[0002] During the decommissioning and remediation phase of nuclear facilities, the source term investigation, decommissioning and dismantling and waste cleanup processes are constrained by factors such as high radiation levels at the site, complex spatial layout and limited working space, making decommissioning extremely difficult. In addition, most of the current robotic equipment related to nuclear facility decommissioning is an integrated body and tool head, with each robot having only one function, which prevents the robot's functions from being expanded. Some robotic equipment with quick-change devices can only complete docking on one side of the equipment or tool, and the connection method is threaded, resulting in long replacement time.

[0003] Currently, quick-change devices used to enable rapid replacement of end effectors in robots generally suffer from technical problems such as complex structure, high production cost, and low load-bearing capacity. Traditional robot and tool head replacement methods are difficult to meet the needs of high-radiation work environments. Utility Model Content

[0004] The purpose of this invention is to provide a quick-change device for a robot end effector with a tool head in a high-radiation environment, enabling precise and rapid replacement between the end effector and the robot arm.

[0005] According to the purpose of this utility model, this utility model provides a quick-change device for mounting a tool head on the end effector of a robot in a high-radiation environment, including a quick-change body, wherein the quick-change body includes a robot connection end for connecting to the robot and a tool connection end for connecting to the end effector.

[0006] Furthermore, a pneumatic locking mechanism is integrated on the robot's connection end.

[0007] Furthermore, the robot connection end is equipped with a robot-side signal module, a robot-side quick-change body, a robot-side high-voltage module, a robot-side fluid module, and a robot-side servo module.

[0008] Furthermore, the tool connection end includes a tool-side fluid module, a tool-side high-voltage module, a tool-side quick-change body, a tool-side signal module, and a servo module baffle.

[0009] Furthermore, the side of the quick-change body is provided with a positioning pin and a locking device.

[0010] This utility model's technical solution achieves precise and rapid connection between the robot arm and the end effector through the quick-change body's robot connection end and tool connection end. Furthermore, a single docking and propulsion action can simultaneously complete all docking work for media such as water, gas, electricity, and servo drives, making operation convenient and reducing replacement time. It solves the problem of achieving precise and rapid tool replacement during source term investigations and nuclear facility decommissioning due to high radiation levels, complex spatial layouts, and limited working spaces. Attached Figure Description

[0011] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the robot connection end in an embodiment of the present invention;

[0013] Figure 2 This is another structural schematic diagram of the robot connection end according to an embodiment of the present utility model;

[0014] Figure 3 This is a schematic diagram of the tool connection end in an embodiment of the present invention;

[0015] Figure 4 This is another structural schematic diagram of the tool connection end in an embodiment of this utility model;

[0016] In the diagram: 1. Robot-side signal module; 2. Robot-side quick-change body; 3. Robot-side high-voltage module; 4. Robot-side fluid module; 5. Robot-side servo module; 6. Positioning pin; 7. Locking device; 8. Tool-side fluid module; 9. Tool-side high-voltage module; 10. Tool-side quick-change body; 11. Tool-side signal module; 12. Servo module baffle; 13. Positioning hole; 14. Slot. Detailed Implementation

[0017] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Example 1

[0021] like Figures 1-4 As shown,

[0022] A quick-change device for mounting tool heads on the end effector of a robot in high-radiation environments includes a quick-change body. The quick-change body includes a robot connection end for connecting to the robot and a tool connection end for connecting to the end effector. The robot connection end can be mounted on the robot arm, and the end effector is mounted on the tool connection end. Different end effectors are mounted on the robot arm through the tool connection end of the quick-change body, enabling precise positioning and rapid switching of the end effector.

[0023] Specifically, such as Figure 1 and Figure 2 As shown, the robot connection end is equipped with a robot-side signal module 1, a robot-side quick-change body 2, a robot-side high-voltage module 3, a robot-side fluid module 4, and a robot-side servo module 5.

[0024] The robot-side quick-change body 2 is fixed to the robot end via bolts. The robot-side fluid module 4 is connected to the coolant pipeline on the robot. The robot-side signal module 1 is connected to the sensor circuit. The robot-side high-voltage module 3 is connected to the plasma gun arc ignition and power supply circuit. The robot-side servo module 5 is connected to the servo motor control circuit and power supply circuit.

[0025] like Figure 3 and Figure 4 As shown, the tool connection end includes a tool-side fluid module 8, a tool-side high-voltage module 9, a tool-side quick-change body 10, a tool-side signal module 11, and a servo module baffle 12.

[0026] The tool-side fluid module 8 connects to the coolant lines on the plasma cutting tool and can be plugged into the robot-side fluid module 4. The tool-side high-voltage module 9 connects to the plasma gun's arc ignition and power supply lines and can be plugged into the robot-side high-voltage module 3. The tool-side quick-change body 10 is fixed to the tool by bolts. The positioning hole 13 on the tool-side quick-change body 10 cooperates with the positioning pin 6 on the robot-side quick-change body 2 for guidance and positioning. The tool-side quick-change body 10 has a slot 14. The cylinder on the robot-side quick-change body 2 pushes the wedge piston to expand the steel ball into the slot 14 on the tool-side quick-change body 10 and locks it in place. When the cylinder on the robot-side quick-change body 2 retracts, the steel ball springs back and retracts from the slot 14 on the tool-side quick-change body 10 to release the lock. The tool-side signal module 11 connects to the sensor control lines and can be plugged into the robot-side signal module 1. The servo module baffle 12 is used to seal and protect the robot-side servo module 5 during docking, preventing foreign objects from entering the robot-side servo module 5.

[0027] like Figure 3 and Figure 4 As shown, the side of the quick-change body is provided with a locking device 7, and the positioning pin 6 is a tapered pin that fits into a tapered hole. During the docking process, it can cooperate with the positioning hole 13 to achieve the guiding and positioning function.

[0028] The locking device 7 includes a cylinder, a wedge piston, and a steel ball. A slot 14 is provided on the tool-side quick-change body 10. The cylinder pushes the wedge piston to expand the steel ball into the slot 14 and lock it in place. When the cylinder retracts, the steel ball springs back out of the slot 14 and releases the lock.

[0029] This utility model quick-change body includes a robot connection end for connecting to a robot and a tool connection end for connecting to an end effector. Both the robot connection end and the tool connection end are provided with compatible electrical connectors and several compatible signal control, water, gas, electricity and servo signal connectors. The quick-change body can be connected to the robot working arm and the end effector through the above interfaces.

[0030] The quick-change body of this utility model is connected to the robot working arm through the robot-side signal module 1, robot-side high-voltage module 3, robot-side fluid module 4 and robot-side servo module 5 on the robot connection end, and is connected to the end effector through the tool-side fluid module 8, tool-side high-voltage module 9, tool-side quick-change body 10, tool-side signal module 11 and servo module baffle 12 on the tool connection end.

[0031] The quick-change device automatically inserts the tool, moving it from the initial position to near the tool storage rack. After the positioning pin 6 aligns with the positioning hole 13, it is locked by the locking device 7, exits the storage position, returns to the initial position, and completes the automatic tool retrieval.

[0032] The quick-change device automatically inserts the tool, moving from the initial position to near the tool storage location. After precisely positioning and inserting the tool into the storage location, the locking device 7 unlocks, exiting the storage location and returning to the initial position, thus completing the automatic tool insertion.

[0033] This invention achieves precise and rapid connection between the robot arm and the end effector through the quick-change robot connection end and tool connection end of the main body. Moreover, a single docking and pushing action can simultaneously complete all docking work for media such as water, gas, electricity and servo, making it convenient to operate and shortening the replacement time.

[0034] This invention solves the problem of making it impossible to accurately and quickly replace tools manually during source term investigations and nuclear facility decommissioning due to high radiation levels, complex spatial layouts, and limited working space. It has a wide range of applications and can be widely used in the end-effectors of similar robotic arms in the nuclear industry and other non-nuclear fields, reducing the difficulty and time required for tool head replacement.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A quick-change device for mounting tool heads at the end effector of a robot in a high-radiation environment, characterized in that, The device includes a quick-change body, which comprises a robot connection end for connecting to a robot and a tool connection end for connecting to an end effector. The robot connection end is equipped with a robot-side signal module, a robot-side quick-change body, a robot-side high-voltage module, a robot-side fluid module, and a robot-side servo module. The robot-side quick-change body is fixed to the robot end effector by bolts. The robot-side fluid module is connected to the coolant pipeline on the robot. The robot-side signal module is connected to sensor circuitry. The robot-side high-voltage module is connected to the plasma gun arc initiation and power supply circuitry. The robot-side servo module is connected to the control and power supply circuitry of the servo motor.

2. The quick-change device for mounting tool heads at the end effector of a robot in a high-radiation environment according to claim 1, characterized in that, The robot connection end is snapped into place with the tool connection end.

3. The quick-change device for mounting tool heads at the end effector of a robot in a high-radiation environment according to claim 1, characterized in that, The tool connection end includes a tool-side fluid module, a tool-side high-voltage module, a tool-side quick-change body, a tool-side signal module, and a servo module baffle.

4. The quick-change device for mounting a tool head at the end of a robot in a high-radiation environment according to claim 3, characterized in that, The system comprises a tool-side fluid module, a tool-side high-voltage electrical module, a tool-side quick-change body, a tool-side signal module, and a servo module baffle. The tool-side fluid module is connected to the coolant piping on the plasma cutting tool and is plugged into the robot-side fluid module. The tool-side high-voltage electrical module is connected to the plasma gun arc initiation and power supply lines and is plugged into the robot-side high-voltage electrical module. The tool-side quick-change body is fixed to the tool with bolts. The tool-side signal module is connected to the sensor control lines and is plugged into the robot-side signal module. The servo module baffle acts as a seal and protector when docked with the robot-side servo module.

5. The quick-change device for mounting a tool head at the end of a robot in a high-radiation environment according to claim 4, characterized in that, The tool-side quick-change body is provided with a positioning hole, which cooperates with the positioning pin on the robot-side quick-change body for guiding and positioning.

6. The quick-change device for mounting a tool head at the end of a robot in a high-radiation environment according to claim 5, characterized in that, The quick-change body is equipped with a locking device.

7. The quick-change device for mounting a tool head at the end of a robot in a high-radiation environment according to claim 6, characterized in that, The locking device includes a cylinder, a wedge piston, and a steel ball, and the tool side quick-change body has a slot.

8. The quick-change device for mounting a tool head at the end of a robot in a high-radiation environment according to claim 7, characterized in that, The cylinder on the robot-side quick-change body pushes the wedge-shaped piston to expand the steel ball into the slot on the tool-side quick-change body and lock it in place. When the cylinder on the robot-side quick-change body retracts, the steel ball springs back and retracts from the slot on the tool-side quick-change body to release the lock.

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