Target body replacement mechanical arm applied to BNCT

Abstract

The utility model discloses a target body replacement mechanical arm applied to BNCT. The target body replacement mechanical arm comprises a base, a mechanical arm main arm installed at the top of the base, a front arm installed at the front end of the mechanical arm main arm, a bottom plate fixed to the bottom of the front arm, a target body clamp installed at the bottom of the bottom plate and a base plate fixed to the top face of the target body clamp. The two easy-to-disassemble and assemble mechanisms are arranged between the base plate and the bottom plate, and each easy-to-disassemble and assemble mechanism comprises an insertion block fixed on the top surface of the base plate and a cylindrical rotating seat which is rotationally mounted on the top surface of the bottom plate and is positioned on one side of the insertion block; according to the BNCT target replacement mechanical arm, the target replacement mechanical arm applied to BNCT in the prior art is improved and optimized, the connection mode of the front arm and the target clamp is improved and optimized, and the easy-to-disassemble and assemble mechanism is designed, so that the target clamp can be quickly disassembled, assembled and replaced when the BNCT target is replaced subsequently, the BNCT targets of different specifications can be conveniently clamped, and the BNCT target replacement mechanical arm is convenient to use. And the use flexibility and convenience of the whole target body replacement mechanical arm are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical arm, concretely relates to a target body replacement mechanical arm applied to BNCT. BACKGROUND

[0002] In the BNCT (boron neutron capture therapy) device, the component that generates neutrons is called a target body, and the target body insert is the core component of BNCT. Its working environment is an independent environment with radioactive characteristics. Due to the influence of irradiation damage, the target body needs to be frequently replaced. The prior art generally uses a mechanical arm to cooperate with a remote control system to realize the replacement of the target body of BNCT. For example, the existing patent with the announcement number CN212364841 U discloses "a remote control maintenance system applied to BNCT target body replacement for realizing the replacement and maintenance of target body inserts in a radiation environment through remote control. The remote control maintenance system is served in a closed space as a whole and includes a remote operation system, a monitoring system, a target body structure, and a target body storage structure. The target body storage structure mainly includes a shielding container and a load transportation system, which are installed on the side of the target body trailer and share a mounting base with the remote operation robot." It can be seen that the application described in the application is a remote control maintenance system that realizes the replacement of the target body of BNCT through a remote operation robot. The remote operation robot in the application is a target body replacement mechanical arm applied to BNCT and is also the terminal core device in the remote control maintenance system for replacing the target body of BNCT. This target body replacement mechanical arm is a common six-degree-of-freedom mechanical arm.

[0003] In the prior art, the target body replacement mechanical arm applied to BNCT is inconvenient to disassemble and assemble the fixture at the front end of the mechanical arm because the fixture at the front end of the mechanical arm is generally fixed by bolts and other structures. This makes it inconvenient for subsequent operators to quickly replace the corresponding fixture according to the target body that needs to be replaced, reduces the flexibility and convenience of the use of the entire target body replacement mechanical arm, and therefore, the existing target body replacement mechanical arm applied to BNCT needs to be improved and optimized. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a target body replacement mechanical arm applied to BNCT to solve the problems in the background art.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a target body replacement mechanical arm applied to BNCT, including

[0006] The base, the main arm of the robotic arm mounted on top of the base, the forearm mounted at the front end of the main arm of the robotic arm, the base plate fixed to the bottom of the forearm, the target fixture mounted on the bottom of the base plate, and the base plate fixed to the top surface of the target fixture.

[0007] The base plate and the bottom plate are provided with two easily detachable mechanisms, including an insert block fixed to the top surface of the base plate, a cylindrical rotating seat rotatably mounted on the top surface of the bottom plate and located on one side of the insert block, a limiting plate fixed to the top surface of the cylindrical rotating seat, and a limiting slot opened on the side of the top of the insert block. The surface of the bottom plate is provided with two insertion holes corresponding to the insert block. The top of the insert block passes through the insertion holes to the top of the bottom plate. The end of the limiting plate is screwed into the limiting slot.

[0008] Preferably, the easy-to-disassemble mechanism further includes a limiting structure, which includes a movable plate movably mounted on the side of the base plate, a hemispherical block fixed to the inner side of the top of the movable plate, and two circular slots opened on the surface of the cylindrical rotating seat, with the end of the hemispherical block embedded in one of the circular slots.

[0009] Preferably, the limiting structure further includes an inner sliding groove formed inside the base plate, an inner slider that slides inside the inner sliding groove, a side connecting plate fixed to the side of the inner slider, and a spring disposed in the inner sliding groove, wherein one end of the side connecting plate extends to the side of the base plate and is fixed to the movable plate.

[0010] Preferably, one end of the spring is fixed to the side of the inner slider, and the other end of the spring is fixed to the inner wall of the inner groove.

[0011] Preferably, both sides of the base plate are provided with side holes corresponding to the side connecting plates, and the side holes are connected to the inner sliding groove.

[0012] Preferably, the top surface of the base plate is fixed with a shaft block corresponding to the cylindrical rotating seat, and the cylindrical rotating seat is rotatably sleeved on the surface of the shaft block.

[0013] Preferably, the easy-to-disassemble mechanism further includes a positioning structure, and the positioning structure is disposed between the insert block and the base plate.

[0014] Preferably, the positioning structure includes a rubber seat fixed to the top surface of the base plate and located on the other side of the insert block. The side of the rubber seat is provided with an integral triangular protrusion, and the other side surface of the insert block is provided with a rectangular notch corresponding to the triangular protrusion. The triangular protrusion is embedded in the rectangular notch.

[0015] Compared with the prior art, the utility model discloses the beneficial effects are: the utility model discloses the target body replacement mechanical arm for the improvement optimization of the application in prior art in BNCT, the connecting mode of forearm and target body clamp is improved and optimized, and the easy dismounting mechanism is designed, can when the subsequent replacement BNCT target body is completed to the dismounting replacement of target body clamp quickly, the convenient clamping different specifications BNCT target body has been improved the use flexibility and convenience of whole target body replacement mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 It is the front view of the utility model;

[0017] Fig. 2 It is the three-dimensional view of the utility model target body clamp and forearm junction;

[0018] Fig. 3 It is the section view of the utility model easy dismounting mechanism;

[0019] In the drawing: 1, base;2, mechanical arm main arm;3, forearm;4, target body clamp;5, base plate;6, bottom plate;61, jack;7, easy dismounting mechanism;71, plug block;72, cylindrical rotary seat;73, limit card plate;74, limit socket;75, positioning structure;751, rubber seat;752, triangular protrusion;753, rectangular notch;76, limit structure;761, movable plate;762, hemispherical clamping block;763, circular clamping groove;764, inner sliding groove;765, spring;766, inner sliding block;767, side connecting plate. DETAILED DESCRIPTION

[0020] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0021] Embodiment 1

[0022] Please refer to Figs. 1-3 , it is the first embodiment of the utility model, and the embodiment provides a kind of technical scheme: a target body replacement mechanical arm applied to BNCT, including

[0023] The base 1, the mechanical arm main arm 2 installed on the top of the base 1, the forearm 3 installed on the front end of the mechanical arm main arm 2, the bottom plate 6 fixed on the bottom of the forearm 3, the target body clamp 4 installed on the bottom of the bottom plate 6, the base plate 5 fixed on the top surface of the target body clamp 4 by bolts, the specific model of the target body clamp 4 is MHZ2-16D, the structural principles of the above-mentioned base 1, mechanical arm main arm 2, forearm 3 and target body clamp 4 are all existing technologies disclosed in existing patents, and specific reference can be made to the existing patent with the publication number CN 212364841 U, which will not be described in detail here.

[0024] Two detachable mechanisms 7 are arranged between the base plate 5 and the bottom plate 6, including an insertion block 71 fixedly welded on the top surface of the base plate 5, a cylindrical rotating seat 72 rotatably arranged on the top surface of the bottom plate 6 and located at one side of the insertion block 71, a limiting clamping plate 73 fixedly welded on the top surface of the cylindrical rotating seat 72, and a limiting clamping hole 74 arranged on the side surface of the top end of the insertion block 71. Two insertion holes 61 corresponding to the insertion block 71 are arranged through the surface of the bottom plate 6, the top end of the insertion block 71 is arranged through the insertion holes 61 to the top of the bottom plate 6, the end of the limiting clamping plate 73 is screwed into the limiting clamping hole 74, the insertion block 71 is limited, the stable installation of the target body clamp 4 is ensured, the limiting structure 76 is further arranged on the detachable mechanism 7, the limiting structure 76 includes a movable plate 761 movably arranged on the side surface of the bottom plate 6, a hemispherical clamping block 762 fixedly arranged on the inner side of the top end of the movable plate 761, and two circular clamping grooves 763 arranged on the surface of the cylindrical rotating seat 72, the end of the hemispherical clamping block 762 is embedded into one of the circular clamping grooves 763, the cylindrical rotating seat 72 and the limiting clamping plate 73 are clamped and limited, the end of the limiting clamping plate 73 can be stably arranged in the limiting clamping hole 74 during daily use, the insertion block 71, the base plate 5 and the target body clamp 4 are stably limited, the installation stability of the target body clamp 4 is ensured, when the target body clamp 4 needs to be disassembled and replaced, the limiting clamping plate 73 is pushed, the cylindrical rotating seat 72 is rotated, the hemispherical clamping block 762 is extruded, the hemispherical clamping block 762 and the movable plate 761 are extruded and shifted, the end of the hemispherical clamping block 762 is extruded out of the circular clamping groove 763, the cylindrical rotating seat 72 and the limiting clamping plate 73 are rotated, the end of the limiting clamping plate 73 is rotated out of the limiting clamping hole 74, the insertion block 71 is no longer limited, the base plate 5 is moved downward, the insertion block 71 is separated from the bottom plate 6, the target body clamp 4 is quickly disassembled and replaced, the convenience of replacing the target body clamp 4 in the target body replacement mechanical arm is greatly improved, the limiting structure 76 further includes an inner sliding groove 764 arranged in the bottom plate 6, an inner sliding block 766 slidingly arranged in the inner sliding groove 764, a side connecting plate 767 fixedly arranged on the side surface of the inner sliding block 766, and a spring 765 arranged in the inner sliding groove 764, one end of the side connecting plate 767 is arranged on the side surface of the bottom plate 6 and fixedly connected with the movable plate 761, under the extrusion of the spring 765, the end of the hemispherical clamping block 762 is stably clamped in the circular clamping groove 763, the clamping and limiting stability of the cylindrical rotating seat 72 is ensured.

[0025] One end of the spring 765 is fixedly arranged on the side surface of the inner sliding block 766, the other end of the spring 765 is fixedly arranged on the inner wall of the inner sliding groove 764, and the installation stability of the spring 765 is ensured.

[0026] The two side surfaces of the bottom plate 6 are provided with side holes corresponding to the side connecting plates 767, and the side holes are communicated with the inner sliding grooves 764, so that the side connecting plates 767 can smoothly penetrate.

[0027] The top surface of the bottom plate 6 is fixed with an axle block corresponding to the cylindrical rotating seat 72, and the cylindrical rotating seat 72 is rotatably arranged on the surface of the axle block, so that the cylindrical rotating seat 72 can smoothly rotate on the top of the bottom plate 6.

[0028] Embodiment 2

[0029] Please refer to Figs. 1-3 As the second embodiment of the utility model, the embodiment is based on the previous embodiment, and the difference is that the positioning structure 75 is arranged, so that the top end of the plug block 71 can be assisted and limited after penetrating the top of the bottom plate 6, and the end of the limiting clamping plate 73 can be conveniently screwed into the limiting clamping hole 74.

[0030] Specifically, the easy-to-disassemble mechanism 7 further comprises a positioning structure 75, and the positioning structure 75 is arranged between the plug block 71 and the bottom plate 6. The positioning structure 75 comprises a rubber seat 751 which is fixedly glued to the top surface of the bottom plate 6 and located on the other side of the plug block 71. The side surface of the rubber seat 751 is provided with an integral triangular protrusion 752, and both are made of rubber material and can be elastically deformed when being pressed. Meanwhile, an oval cavity is formed in the rubber seat 751, so that the triangular protrusion 752 has sufficient deformation space when being pressed. The other side surface of the plug block 71 is provided with a rectangular notch 753 corresponding to the triangular protrusion 752. After the top end of the plug block 71 penetrates the top of the bottom plate 6, the triangular protrusion 752 is embedded into the rectangular notch 753, so that the triangular protrusion 752 is pressed into the rectangular notch 753, thereby assisting in limiting the plug block 71 and the target body clamp 4, and facilitating the operator to screw the end of the limiting clamping plate 73 into the limiting clamping hole 74.

[0031] Although the embodiments of the utility model have been shown and described (detailed in the foregoing detailed description), it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A target body replacement robot arm for BNCT, characterized by: include Base (1), main arm of the robotic arm (2) mounted on the top of the base (1), forearm (3) mounted on the front end of the main arm of the robotic arm (2), base plate (6) fixed to the bottom of the forearm (3), target fixture (4) mounted on the bottom of the base plate (6), base plate (5) fixed to the top surface of the target fixture (4); And two easily detachable mechanisms (7) are provided between the substrate (5) and the base plate (6), including an insert (71) fixed on the top surface of the substrate (5), a cylindrical rotating seat (72) rotatably mounted on the top surface of the base plate (6) and located on one side of the insert (71), a limiting plate (73) fixed on the top surface of the cylindrical rotating seat (72), and a limiting slot (74) opened on the side of the top of the insert (71). The surface of the base plate (6) has two insertion holes (61) corresponding to the insert (71) through it. The top of the insert (71) passes through the insertion holes (61) to the top of the base plate (6). The end of the limiting plate (73) is screwed into the limiting slot (74).

2. The target body replacement robot arm for BNCT according to claim 1, wherein: The easy-to-disassemble mechanism (7) also includes a limiting structure (76), which includes a movable plate (761) movably mounted on the side of the base plate (6), a hemispherical locking block (762) fixed on the inner side of the top of the movable plate (761), and two circular slots (763) opened on the surface of the cylindrical rotating seat (72). The end of the hemispherical locking block (762) is embedded in one of the circular slots (763).

3. The target body replacement robot arm for BNCT according to claim 2, wherein: The limiting structure (76) further includes an inner slide groove (764) opened inside the base plate (6), an inner slider (766) sliding inside the inner slide groove (764), a side connecting plate (767) fixed to the side of the inner slider (766), and a spring (765) set in the inner slide groove (764). One end of the side connecting plate (767) extends to the side of the base plate (6) and is fixed to the movable plate (761).

4. The target body replacement robot arm for BNCT according to claim 3, wherein: One end of the spring (765) is fixed to the side of the inner slider (766), and the other end of the spring (765) is fixed to the inner wall of the inner groove (764).

5. The target body replacement robot arm for BNCT according to claim 4, wherein: Both sides of the base plate (6) are provided with side holes corresponding to the side connecting plate (767), and the side holes are connected to the inner sliding groove (764).

6. The target body replacement robot arm for BNCT according to claim 1, wherein: The top surface of the base plate (6) is fixed with a shaft block corresponding to the cylindrical rotating seat (72), and the cylindrical rotating seat (72) is rotatably sleeved on the surface of the shaft block.

7. The target body replacement robot arm for BNCT according to claim 1, wherein: The easy-to-disassemble mechanism (7) also includes a positioning structure (75), which is located between the insert block (71) and the base plate (6).

8. The target body replacement robot arm for BNCT according to claim 7, wherein: The positioning structure (75) includes a rubber seat (751) fixed to the top surface of the base plate (6) and located on the other side of the insert (71). The side of the rubber seat (751) is provided with an integral triangular protrusion (752), and the other side surface of the insert (71) is provided with a rectangular notch (753) corresponding to the triangular protrusion (752). The triangular protrusion (752) is embedded in the rectangular notch (753).

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