Grabbing mechanical arm for irradiation environment

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a grabbing mechanical arm for an irradiation environment, which comprises an operation mechanism and is used for underground specific operation in nuclear power related fields, and the operation mechanism comprises a control component, a control component and a control component, the lifting assembly comprises a winder installed on the control assembly, a first bobbin is fixed to the lower end of the winder, a second bobbin is slidably installed at the lower end in the first bobbin in a penetrating mode, a third bobbin is slidably installed at the lower end in the second bobbin in a penetrating mode, and a first pipe frame is fixed to the outer wall of the lower end of the first bobbin; a first guide wheel is rotationally mounted on one side of the inner wall of the first pipe frame; a first round seat is fixed on the inner wall of the upper end of the second bobbin; the working depth can be adjusted according to needs so as to adapt to various complex underground operation scenes, and the operation flexibility is improved; and the radiation source is accurately positioned and flexibly operated, so that various complex operation requirements are met, and workers are replaced to enter a high-radiation area to complete operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely is a kind of for irradiation environment's grabbing mechanical arm. BACKGROUND

[0002] The grabbing mechanical arm for irradiation environment is specially designed for high radiation area, with excellent anti-radiation performance and stable grabbing capacity. The mechanical arm is made of high-strength, radiation-resistant special material, which can effectively shield radiation and protect internal electronic components from damage. It has compact structure and exquisite design, with flexible joints and powerful driving force, which can realize precise grabbing and moving operation in narrow space. In addition, the mechanical arm is also equipped with an advanced control system, which can be remotely controlled to ensure that the operator works at a safe distance. The mechanical arm has wide application prospects in high radiation environments such as nuclear power plants and nuclear waste treatment, which can greatly improve work efficiency and reduce personnel risk. It is an indispensable automated tool in irradiation environment;

[0003] According to the search, the publication number: CN114770585B discloses a spiral winding robot, which is used as an end effector of a robot to place and take objects, including: a body and a driving mechanism; the driving mechanism drives the body to transform from an extended state to a tightly wound state with one or more sets of connected equiangular spiral shapes, to place and take objects or to wind and grab objects. The technical scheme has the technical effects of "through spiral motion, the robot can realize tight winding of itself, which is beneficial to provide greater grabbing load and stability, and the robot can realize adaptive grabbing of objects of different sizes".

[0004] The above-mentioned scheme realizes tight winding and efficient winding of the mechanical structure itself through spiral motion mechanism. However, in the specific operation related to nuclear power field, especially in the deep and limited space of underground environment, due to the narrow space and the increased operation difficulty caused by depth, the scheme is difficult to fully exert its advantages under these special conditions, thereby limiting its application potential in some key scenes. UTILITY MODEL CONTENT

[0005] In view of the deficiencies of the prior art, the utility model provides a grabbing mechanical arm for irradiation environment, which can adjust the working depth as needed to adapt to various complex underground operation scenes and improve operation flexibility. In addition, it can accurately position and flexibly operate the radiation source to meet various complex operation requirements and replace workers to complete operation in high radiation area.

[0006] In order to achieve the above object, the utility model discloses a kind of grabbing mechanical arm for irradiation environment, including operating mechanism and being used for the specific operation in downhole of nuclear power related field, operating mechanism includes:

[0007] Control component is arranged in well side and is used to control operating angle;

[0008] Lifting assembly, including the reel installed on control component, the first cylinder tube is fixed with the lower end of reel, the second cylinder tube is slidably installed in the lower end inside the first cylinder tube, the third cylinder tube is slidably installed in the lower end inside the second cylinder tube, the first pipe frame is fixed with the lower end outer wall of first cylinder tube, the first guide wheel is rotatably installed on the inner wall one side of first pipe frame, the first circular seat is fixed with the upper end inner wall of second cylinder tube, the second guide wheel and the third guide wheel are rotatably installed on the upper end and lower end of first circular seat respectively, the second pipe clamp is fixed with the lower end outer wall of second cylinder tube, the connecting wheel is rotatably installed in the inside one side of second pipe clamp, the guide rope is fixedly wound on the connecting wheel, and the other end of guide rope is connected with reel;

[0009] Grabbing component is arranged on the third cylinder tube and is used for grabbing operation.

[0010] Preferably, the lifting assembly further includes three first inner rollers rotatably installed on the outer wall of the first circular seat, and the second circular seat is fixed to the inner upper end of the third cylinder tube, and the second circular seat rotatably has three second inner rollers distributed circumferentially on the outer wall.

[0011] Preferably, the lifting assembly further includes three first outer rollers rotatably installed on the inner wall of the first pipe frame, and the second pipe clamp rotatably has three second outer rollers distributed circumferentially on the inner wall.

[0012] Preferably, the lifting assembly further includes a first tensioning wheel rotatably installed in the first circular seat, and the second pipe clamp rotatably has a second tensioning wheel installed on the inner side.

[0013] Preferably, the control component includes a lifting column fixed to the upper end of the base, a first disc seat fixed to the upper end of the lifting column, a cylinder frame rotatably installed on the upper end of the first disc seat, a first motor installed in the cylinder frame, an output end of the first motor fixed to the first disc seat, a shaft seat fixed to the upper end of the cylinder frame, a support arm pivotally connected to the upper end of the shaft seat, an upper shaft frame pivotally connected to the other end of the support arm, an auxiliary arm pivotally connected to the other end of the upper shaft frame, a first air cylinder pivotally connected to the cylinder frame, an output end of the first air cylinder pivotally connected to the end of the support arm, a second disc seat fixed to the lower end of the upper shaft frame, a shell seat rotatably installed on the lower end of the second disc seat, a second motor installed in the shell seat, an output end of the second motor fixed to the second disc seat, an extension arm fixed to the outer wall of the shell seat, a bent frame fixed to the other end of the extension arm, and a reel fixed to the bent frame.

[0014] Preferably, the control assembly further includes a second cylinder fixed to the outer end of the cylinder frame and the upper shaft frame, with a clamp fixed to the lower end of the cylinder body and a chuck fixed to the output end of the second cylinder.

[0015] Preferably, the gripping assembly includes a secondary arm fixed to the lower end of the third tube, a lower shaft frame pivotally connected to the lower end of the secondary arm, a third cylinder pivotally connected to the outer wall of the secondary arm, and the output end of the third cylinder pivotally connected to the lower shaft frame. A housing is fixed to the end of the lower shaft frame, a third motor is installed inside the housing, and a robotic arm is fixed to the output end of the third motor. A camera is installed on the outer wall of the housing.

[0016] Beneficial effects

[0017] This invention provides a gripping robotic arm for use in irradiated environments. Compared with existing technologies, it has the following advantages:

[0018] 1. The guide rope is wound up using a reel, and with the cooperation of the second and third guide pulleys, the guide rope drives the second cylinder upwards into the first cylinder. At the same time, the guide rope also drives the third cylinder upwards into the second cylinder through the connecting pulley. Alternatively, the guide rope is unwound using a reel, and its own weight causes the second cylinder to extend downwards from the first cylinder, while the third cylinder extends downwards from the second cylinder, thus realizing the overall vertical extension and retraction of the lifting assembly. This allows for adjustment of the working depth as needed, adapting to various complex downhole operation scenarios and improving operational flexibility.

[0019] 2. The cylinder frame is rotated by the output of the first motor in the cylinder frame; the support arm is driven by the output of the first cylinder and, with the cooperation of the auxiliary arm, the upper shaft frame is adjusted in height; the extension arm on the housing is rotated by the output of the second motor in the housing; thus achieving precise positioning and flexible operation of the radiation source, thereby meeting various complex operation requirements and replacing workers to enter high radiation areas to complete the operation. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the control component in this utility model;

[0022] Figure 3 This is a cross-sectional view of the lifting component in this utility model;

[0023] Figure 4 This utility model Figure 3 A schematic diagram of the structure of part A in the middle;

[0024] Figure 5 This utility model Figure 3 A schematic diagram of the structure of part B in the middle;

[0025] Figure 6 It is the structural schematic view of the grabbing assembly in the utility model.

[0026] In the figure: 1, operation mechanism; 11, control assembly; 111, base; 112, lifting column; 113, first disc seat; 114, cylinder frame; 115, shaft seat; 116, branch arm; 117, upper shaft frame; 118, auxiliary arm; 119, first air cylinder; 1110, second disc seat; 1111, shell seat; 1112, extension arm; 1113, bent frame; 1114, second air cylinder; 1115, clamping seat; 1116, chuck; 1117, control cabinet; 12, lifting assembly; 121, winder; 122, first cylinder tube; 123, second cylinder tube; 124, third cylinder tube; 125, first tube frame; 126, first guide wheel; 127, first disc seat; 128, second guide wheel; 129, third guide wheel; 1210, second tube clamp; 1211, connecting wheel; 1212, guide rope; 1213, first inner roller; 1214, second disc seat; 1215, second inner roller; 1216, first outer roller; 1217, second outer roller; 1218, first tensioning wheel; 1219, second tensioning wheel; 13, grabbing assembly; 131, auxiliary arm; 132, lower shaft frame; 133, third air cylinder; 134, shell; 135, mechanical hand; 136, camera. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than 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 protection scope of the utility model.

[0028] Please refer to Figure 1 - Figure 6 The utility model provides a kind of technical scheme: a kind of grabbing manipulator for irradiation environment, including operation mechanism 1 and being used for the specific operation in well of nuclear power related field, operation mechanism 1 includes:

[0029] Control assembly 11 is arranged at well side and is used to control operation angle;

[0030] The lifting assembly 12 comprises a winding device 121 mounted on the control assembly 11, a first cylinder tube 122 fixed at the lower end of the winding device 121, a second cylinder tube 123 slidably installed at the lower end inside the first cylinder tube 122, a third cylinder tube 124 slidably installed at the lower end inside the second cylinder tube 123, a first pipe support 125 fixed at the outer wall of the lower end of the first cylinder tube 122, a first guide wheel 126 rotatably installed on one side of the inner wall of the first pipe support 125, a first circular seat 127 fixed at the upper end inner wall of the second cylinder tube 123, a second guide wheel 128 and a third guide wheel 129 rotatably installed at the upper end and the lower end of the first circular seat 127 respectively, a second pipe clamp 1210 fixed at the outer wall of the lower end of the second cylinder tube 123, a connecting wheel 1211 rotatably installed inside one side of the second pipe clamp 1210, a guide rope 1212 fixedly wound on the connecting wheel 1211, and the other end of the guide rope 1212 is connected with the winding device 121.

[0031] The grabbing assembly 13 is arranged on the third cylinder tube 124 and is used for grabbing operation.

[0032] In this embodiment, the guide rope 1212 is wound by the winding device 121, and the guide rope 1212 drives the second cylinder tube 123 to shrink upward into the first cylinder tube 122 under the cooperation of the second guide wheel 128 and the third guide wheel 129, and at the same time, the guide rope 1212 also drives the third cylinder tube 124 to shrink upward into the second cylinder tube 123 through the connecting wheel 1211; or the guide rope 1212 is unwound by the winding device 121, and the second cylinder tube 123 is stretched downward from the first cylinder tube 122 under its own gravity, and at the same time, the third cylinder tube 124 is stretched downward from the second cylinder tube 123, thereby realizing the upward and downward stretching of the whole lifting assembly 12; so as to adjust the working depth as needed, thereby adapting to various complex downhole operation scenes and improving the operation flexibility.

[0033] Specifically, the lifting assembly 12 further comprises three first inner rollers 1213 rotatably installed on the outer wall of the first circular seat 127 in a circumferential distribution, and the third cylinder tube 124 has a second circular seat 1214 fixed at the upper end inside the third cylinder tube 124, and the second circular seat 1214 rotatably has three second inner rollers 1215 rotatably installed on the outer wall in a circumferential distribution.

[0034] In this embodiment, the first inner rollers 1213 and the second inner rollers 1215 improve the stability of the second cylinder tube 123 and the third cylinder tube 124 during the stretching and shrinking process.

[0035] Specifically, the lifting assembly 12 further comprises three first outer rollers 1216 rotatably installed on the inner wall of the first pipe support 125 in a circumferential distribution, and the second pipe clamp 1210 has three second outer rollers 1217 rotatably installed on the inner wall in a circumferential distribution.

[0036] In the embodiment, the first outer roller 1216 and the second outer roller 1217 are used to improve the smoothness of the second bobbin 123 and the third bobbin 124 during the extension and retraction process.

[0037] Specifically, the lifting assembly 12 further comprises a first tensioning roller 1218 rotatably installed inside the first circular seat 127, and a second tensioning roller 1219 rotatably installed on one side inside the second tube clamp 1210.

[0038] In the embodiment, the first tensioning roller 1218 and the second tensioning roller 1219 are used to tension the guide rope 1212.

[0039] Specifically, the control assembly 11 comprises a base 111, an elevating column 112 fixed to the upper end of the base 111, a first disc seat 113 fixed to the upper end of the elevating column 112, a cylinder frame 114 rotatably installed on the upper end of the first disc seat 113, a first motor installed inside the cylinder frame 114, and the output end of the first motor fixed to the first disc seat 113, a shaft seat 115 fixed to the upper end of the cylinder frame 114, a branch arm 116 pivotally connected to the other end of the shaft seat 115, an upper shaft frame 117 pivotally connected to the other end of the branch arm 116, an auxiliary arm 118 pivotally connected to the other end of the upper shaft frame 117, a first air cylinder 119 pivotally connected to the cylinder frame 114, the output end of the first air cylinder 119 pivotally connected to the end of the branch arm 116, a second disc seat 1110 fixed to the lower end of the upper shaft frame 117, a shell seat 1111 rotatably installed on the lower end of the second disc seat 1110, a second motor installed inside the shell seat 1111, and the output end of the second motor fixed to the second disc seat 1110, an extension arm 1112 fixed to the outer wall of the shell seat 1111, a bent frame 1113 fixed to the other end of the extension arm 1112, a winding device 121 fixed to the bent frame 1113, and a control cabinet 1117 installed on the outer wall of the cylinder frame 114.

[0040] In the embodiment, the output end of the first motor in the cylinder frame 114 is used to drive the cylinder frame 114 to rotate, the output end of the first air cylinder 119 is used to drive the branch arm 116 to adjust the height of the upper shaft frame 117 with the cooperation of the auxiliary arm 118, and the output end of the second motor in the shell seat 1111 is used to drive the extension arm 1112 on the shell seat 1111 to rotate, so as to accurately position and flexibly operate the radiation source, thereby meeting various complex operation requirements and replacing workers to enter high radiation areas to complete operations.

[0041] Specifically, the control assembly 11 further comprises a second air cylinder 1114 fixed to the outer end of the cylinder frame 114 and the upper shaft frame 117, a clamping seat 1115 fixed to the lower end of the cylinder body of the second air cylinder 1114, and a chuck 1116 fixed to the output end of the second air cylinder 1114.

[0042] In the embodiment, the output end of the second cylinder 1114 drives the chuck 1116 and fixes the first disc seat 113 or the second disc seat 1110 by cooperating with the chuck seat 1115, so that the angle of the cylinder frame 114 or the extension arm 1112 is fixed.

[0043] Specifically, the grabbing assembly 13 comprises a sub-arm 131 fixed at the lower end of the third bobbin 124, a lower shaft frame 132 pivotally connected to the lower end of the sub-arm 131, a third cylinder 133 pivotally connected to the outer wall of the sub-arm 131, and an output end of the third cylinder 133 pivotally connected to the lower shaft frame 132, an end portion of the lower shaft frame 132 being fixedly connected with a shell 134, the shell 134 being internally provided with a third motor, an output end of the third motor being fixedly connected with a mechanical hand 135, and the shell 134 being externally provided with a camera 136.

[0044] In the embodiment, the output end of the third cylinder 133 drives the lower shaft frame 132 to drive the mechanical hand 135 on the shell 134 to adjust the angle, the output end of the third motor in the shell 134 drives the mechanical hand 135 to rotate, the angle is adjusted, and the camera 136 can obtain accurate image information of a target object in real time, so that accurate positioning and grabbing are realized.

[0045] The working principle and use process of the utility model are as follows: first, the working mechanism 1 is arranged at the well side, the cylinder frame 114 is driven to rotate by the output end of the first motor in the cylinder frame 114; the output end of the first cylinder 119 drives the support arm 116 to adjust the height of the upper shaft frame 117 under the cooperation of the auxiliary arm 118; the output end of the second motor in the shell seat 1111 drives the extension arm 1112 on the shell seat 1111 to rotate; accurate positioning and flexible operation of the radiation source are realized, so that various complex operation requirements are met, and workers enter the high radiation area to complete the operation;

[0046] Then, the guide rope 1212 is reeled in by the reel 121, the guide rope 1212 drives the second bobbin 123 to shrink upwards into the first bobbin 122 under the cooperation of the second guide wheel 128 and the third guide wheel 129, and the guide rope 1212 also drives the third bobbin 124 to shrink upwards into the second bobbin 123 through the connecting wheel 1211; or the guide rope 1212 is unwound by the reel 121, the second bobbin 123 is stretched downwards from the first bobbin 122 under the gravity, and the third bobbin 124 is stretched downwards from the second bobbin 123, so that the whole lifting assembly 12 is stretched upwards and downwards; so that the working depth is adjusted as required, so that various complex downhole operation scenes are adapted, and the operation flexibility is improved;

[0047] Finally, the output end of the third cylinder 133 drives the lower shaft frame 132 to drive the mechanical arm 135 on the shell 134 to adjust the angle, the output end of the third motor in the shell 134 drives the mechanical arm 135 to rotate, the angle is adjusted, and the camera 136 can obtain the accurate image information of the target object in real time, so as to accurately position and grasp.

[0048] It should be noted that, in this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0049] Although the embodiments of the present application have been shown and described, 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 present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A gripping robotic arm for use in irradiated environments, characterized in that: The working mechanism (1) is used for specific downhole operations in the nuclear power-related field. The working mechanism (1) includes: Control component (11), located on the well side and used to control the operating angle; The lifting assembly (12) includes a winding device (121) mounted on the control assembly (11). A first bobbin (122) is fixed to the lower end of the winding device (121). A second bobbin (123) is slidably installed through the lower end of the first bobbin (122). A third bobbin (124) is slidably installed through the lower end of the second bobbin (123). A first tube support (125) is fixed to the outer wall of the lower end of the first bobbin (122). A first guide wheel (126) is rotatably installed on one side of the inner wall of the first tube support (125). The upper inner wall of the second tube (123) is fixed with a first round seat (127). The upper and lower ends of the first round seat (127) are respectively rotatably mounted with a second guide wheel (128) and a third guide wheel (129). The lower outer wall of the second tube (123) is fixed with a second tube clamp (1210). The inner side of the second tube clamp (1210) is rotatably mounted with a connecting wheel (1211). A guide rope (1212) is fixedly wound on the connecting wheel (1211), and the other end of the guide rope (1212) is connected to the winder (121). A gripping component (13) is disposed on the third cylinder (124) and used for gripping operations.

2. The gripping robotic arm for use in irradiated environments according to claim 1, characterized in that: The lifting assembly (12) further includes three first inner rollers (1213) rotatably mounted on the outer wall of the first round seat (127) and distributed circumferentially. The upper end of the third cylinder (124) is fixed with a second round seat (1214), and three second inner rollers (1215) are rotatably mounted on the outer wall of the second round seat (1214).

3. A gripping robotic arm for use in irradiated environments according to claim 1, characterized in that: The lifting assembly (12) further includes three first outer rollers (1216) rotatably mounted on the inner wall of the first pipe rack (125) and three second outer rollers (1217) rotatably mounted on the inner wall of the second pipe clamp (1210).

4. A gripping robotic arm for use in irradiated environments according to claim 1, characterized in that: The lifting assembly (12) further includes a first tensioning wheel (1218) rotatably installed inside the first round seat (127), and a second tensioning wheel (1219) rotatably installed on one side inside the second tube clamp (1210).

5. A gripping robotic arm for use in irradiated environments according to claim 1, characterized in that: The control component (11) includes a base (111) with a lifting column (112) fixed to the upper end, a first disc seat (113) fixed to the upper end of the lifting column (112), a cylinder frame (114) rotatably mounted on the upper end of the first disc seat (113), a first motor installed inside the cylinder frame (114), and the output end of the first motor fixed to the first disc seat (113). A shaft seat (115) is fixed to the upper end of the cylinder frame (114), a support arm (116) is pivotally connected to the upper end of the shaft seat (115), an upper shaft frame (117) is pivotally connected to the other end of the support arm (116), an auxiliary arm (118) is pivotally connected inside the shaft seat (115), and the other end of the auxiliary arm (118) is pivotally connected to the upper shaft frame (117). A first cylinder (119) is pivotally connected to the frame (114), and the output end of the first cylinder (119) is pivotally connected to the end of the support arm (116). A second disc seat (1110) is fixed at the lower end of the upper shaft frame (117). A housing seat (1111) is rotatably mounted at the lower end of the second disc seat (1110). A second motor is installed inside the housing seat (1111), and the output end of the second motor is fixed to the second disc seat (1110). An extension arm (1112) is fixed to the outer wall of the housing seat (1111). A bending frame (1113) is fixed to the other end of the extension arm (1112), and a winding device (121) is fixed on the bending frame (1113). A control cabinet (1117) is installed on the outer wall of the drum frame (114).

6. A gripping robotic arm for use in irradiated environments according to claim 5, characterized in that: The control assembly (11) further includes a second cylinder (1114) fixed to the outer end of the cylinder frame (114) and the upper shaft frame (117). The lower end of the cylinder body of the second cylinder (1114) is fixed with a clamp (1115), and the output end of the second cylinder (1114) is fixed with a chuck (1116).

7. A gripping robotic arm for use in irradiated environments according to claim 1, characterized in that: The gripping assembly (13) includes a secondary arm (131) fixed to the lower end of the third tube (124). The lower end of the secondary arm (131) is pivotally connected to a lower shaft frame (132). A third cylinder (133) is pivotally connected to the outer wall of the secondary arm (131), and the output end of the third cylinder (133) is pivotally connected to the lower shaft frame (132). A housing (134) is fixed to the end of the lower shaft frame (132). A third motor is installed inside the housing (134), and a robotic arm (135) is fixed to the output end of the third motor. A camera (136) is installed on the outer wall of the housing (134).

Images