Master-slave manipulator driven arm maintenance vehicle

Abstract

The utility model belongs to driven arm overhauling technical field, concretely relates to a kind of master-slave manipulator driven arm overhauling car, including frame base, guide rail frame, lifting component, lifting hook, hoisting embrace clamp, the front end of frame base is rotatably connected with moving wheel, the rear end of frame base is assembled with universal wheel, guide rail frame is detachably fixedly connected on the rear side of frame base upper side, lifting component is detachably vertically slidingly connected on guide rail frame, guide rail frame is fixedly connected with and the vertical adjusting mechanism of transmission connection of lifting component is connected. The utility model is simple and compact, easy to operate, adopts the design scheme of hoisting and transfer integration, changes the original operation mode needing multiple equipment cooperation, requires lower for operator, can be split into multiple lighter and small volume components, can pass through the narrow channel of some special hot chamber, can realize manipulator disassembly, maintenance and transfer work in narrow space and special working condition.

Description

Technical Field

[0001] This utility model belongs to the field of slave arm maintenance technology, specifically relating to a master-slave manipulator slave arm maintenance vehicle. Background Technology

[0002] In specialized industries such as nuclear power, working environments often present hazards such as radioactivity, preventing close-range operations by personnel. Typically, they must rely on manipulators or similar equipment, often operating through barriers like thick concrete walls, to complete tasks. In these extreme and complex environments, driven booms are highly susceptible to damage. However, some driven booms operate in unique environments, such as confined operating spaces, making it difficult for personnel to directly access the area using various equipment for disassembly, repair, and maintenance. Furthermore, the significant weight of the driven boom makes disassembly, repair, and maintenance impossible to perform manually, and commonly used lifting equipment is often insufficient. These factors combined make the disassembly, repair, and maintenance of driven booms exceptionally challenging. Utility Model Content

[0003] The purpose of this utility model is to provide a maintenance vehicle for a master-slave robotic arm and driven arm. It is simple and compact, easy to operate, and adopts an integrated design for hoisting and transportation. It changes the original operation mode that requires the cooperation of multiple equipment, and has lower requirements for operators. It can be disassembled into multiple lighter and smaller parts, which can pass through narrow passages of some special hot chambers. It can realize the disassembly, assembly, maintenance and transportation of robotic arms in narrow spaces and special working conditions.

[0004] The specific technical solution adopted by this utility model is as follows:

[0005] A maintenance vehicle with a master-slave robotic arm and a driven boom includes a chassis base, a guide rail frame, a lifting component, a hook, and a lifting clamp.

[0006] The front end of the frame base is rotatably connected to a movable wheel, and the rear end of the frame base is equipped with a universal wheel.

[0007] The guide rail frame is detachably and fixedly connected to the rear side of the upper side of the chassis base;

[0008] The lifting component is detachably and vertically slidably connected to the guide rail frame, and a vertical adjustment mechanism that is drively connected to the lifting component is fixedly connected to the guide rail frame.

[0009] The hook is detachably and fixedly connected to the lifting component, and the lifting clamp is detachably and fixedly connected to the hook.

[0010] Furthermore, two reinforcing legs are hinged to both sides of the frame base, and each of the two reinforcing legs is threaded with a vertically arranged foot cup.

[0011] Furthermore, a hand crank is hinged to the upper end of the foot cup.

[0012] Furthermore, a side plate is fixedly connected to the outer side of the frame base, and two locking screws are inserted into the side plate. The end of the reinforcing support leg is provided with a through hole, and the locking screw is inserted into the through hole.

[0013] Furthermore, the vertical adjustment mechanism includes a hand-operated and electric integrated cylinder fixedly connected to the guide rail frame, the hand-operated and electric integrated cylinder being connected to a motor, and the piston rod and lifting component of the hand-operated and electric integrated cylinder being detachably connected together.

[0014] Furthermore, the lifting clamp includes clamp block one, clamp block two, and D-type shackle. Both sides of clamp block one are rotatably connected to threaded sleeves. The threaded sleeves are internally threaded with screws. One end of the screw is fixedly connected to an end block. Both sides of clamp block two are provided with slots.

[0015] Both clamping blocks 1 and 2 are fixedly connected to lifting rings on their upper sides, and the hooks and lifting rings are connected by D-type shackles.

[0016] Furthermore, limit blocks are fixedly connected to both sides of the clamping block.

[0017] Furthermore, it also includes two clamping arms. Both sides of the guide rail frame are fixedly connected to connecting brackets. The two clamping arms are detachably hinged to the two connecting brackets. Clamping pins are inserted into the connecting brackets. The clamping arms are provided with positioning holes. The clamping arms can be inserted into the positioning holes.

[0018] The technical effects achieved by this utility model are as follows:

[0019] This utility model discloses a simple and compact maintenance vehicle for a master-slave robotic arm and driven arm. It is easy to operate and adopts an integrated design for hoisting and transportation, changing the original operation mode that required the cooperation of multiple equipment. It has lower requirements for operators and can be disassembled into multiple lighter and smaller components, which can pass through narrow passages of some special hot chambers. It can realize the disassembly, assembly, maintenance and transportation of robotic arms in narrow spaces and special working conditions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the prior art of this utility model;

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

[0022] Figure 3 This is a schematic diagram of the lifting component of this utility model when it is raised;

[0023] Figure 4This is a diagram illustrating the operation steps of the hoisting clamp of this utility model;

[0024] Figure 5 This is a structural schematic diagram of the hoisting clamp of this utility model;

[0025] Figure 6 This is a utility model Figure 2 A magnified view of a section at point A in the middle;

[0026] Figure 7 This is an exploded view of the structure of this utility model.

[0027] The attached diagram lists the components represented by each number as follows:

[0028] 1. Wall; 2. Wall pipe; 3. First disassembly point; 4. Driven arm to be disassembled; 5. Second disassembly point; 6. Drive arm; 7. Chassis base; 8. Guide rail frame; 9. Handle; 10. Hand-operated electric cylinder; 11. Motor; 12. Clamping arm; 13. Lifting clamp; 14. Clamping pin; 15. Lifting component; 16. Hook; 17. Casters; 18. Reinforced support legs; 19. Foot cup; 20. Hand crank; 21. Lifting lug; 22. Clamping block one; 23. Clamping block two; 24. Slot; 25. Limiting block; 26. Threaded sleeve; 27. End block; 28. Screw; 29. ​​Moving wheel; 30. Lifting ring; 31. D-type shackle; 32. Side plate; 33. Locking screw; 34. Connecting bracket. Detailed Implementation

[0029] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0030] like Figures 1-6 As shown, the driven arm 4 and the driving arm 6 to be disassembled in the prior art are described here. The driven arm 4 to be disassembled is respectively assembled on the side of the wall 1 located inside the hot chamber, and the driving arm 6 is assembled on the side of the wall 1 located outside the hot chamber. The wall 1 is made of concrete.

[0031] A wall tube 2 is fixedly connected inside the wall 1. The driven arm 4 and the driving arm 6 to be disassembled are respectively assembled on both sides of the wall tube 2. The connection position between the driven arm 4 to be disassembled and the wall tube 2 is the first disassembly point 3, and the connection position between the wall tube 2 and the driving arm 6 is the second disassembly point 5. A lifting lug 21 is fixedly connected to the driven arm 4 to be disassembled.

[0032] like Figures 1-6As shown, a master-slave robotic arm maintenance vehicle includes a chassis base 7, a guide rail frame 8, a lifting component 15, a hook 16, a lifting clamp 13, and two clamping arms 12. The chassis base 7, guide rail frame 8, lifting component 15, hook 16, lifting clamp 13, and clamping arms 12 are multiple detachable parts, allowing the maintenance vehicle to be disassembled into several lighter components, such as... Figure 6 As shown, the components are connected by screws and pins, making disassembly and assembly convenient. Except for the guide rail frame 8, which requires two people to work together, the other small parts can be carried by one person. They can pass through the narrow passages of some special hot chambers and then be reassembled inside the hot chamber.

[0033] like Figure 2 As shown, the front end of the frame base 7 is rotatably connected to a movable wheel 29, and the rear end of the frame base 7 is equipped with a universal wheel 17. The universal wheel 17 and the movable wheel 29 facilitate the movement of the frame base 7 on the ground. At the same time, the universal wheel 17 at the rear can be used to turn. The universal wheel 17 is equipped with a foot-operated brake pad for braking.

[0034] like Figures 2-3 and Figure 6 As shown, two reinforcing legs 18 are hinged to both sides of the frame base 7. They retract when moving and unfold when working. Each reinforcing leg 18 is threaded with a vertically arranged foot cup 19. The distance between the lower side of the foot cup 19 and the ground support can be adjusted by rotating the foot cup 19. The foot cup 19 supports the reinforcing legs 18. A hand crank 20 is hinged to the upper end of the foot cup 19. The height of the foot cup 19 can be adjusted according to the ground conditions by rotating the hand crank 20, making the equipment more stable during operation.

[0035] like Figures 2-3 and Figure 6 As shown, a side plate 32 is fixedly connected to the outer side of the frame base 7. Two locking screws 33 are inserted into the side plate 32. A through hole is opened at the end of the reinforcing leg 18. When the reinforcing leg 18 rotates and retracts, the locking screws 33 can be inserted into the through hole to position the reinforcing leg 18. Then, a nut is set at the lower end of the locking screws 33.

[0036] The guide rail frame 8 is detachably fixed to the rear side of the upper side of the frame base 7. The fixing method can be screw connection. A handle 9 can be fixedly connected to the rear side of the guide rail frame 8, so that the user can hold the handle 9 to push the maintenance vehicle to move.

[0037] The lifting component 15 is detachably and vertically slidably connected to the guide rail frame 8. A vertical adjustment mechanism, which is drively connected to the lifting component 15, is fixedly connected to the guide rail frame 8 to drive the lifting component 15 to slide vertically. Considering the possibility of no power or air supply on site, and the limitations of the hot chamber space or the maintenance configuration of the operating area, the installation and disassembly of the driven boom 4 is very difficult. Therefore, this equipment adopts a lifting structure to realize the installation and disassembly of the driven boom assembly. The vertical adjustment mechanism includes a hand-operated integrated hydraulic cylinder 10 fixedly connected to the guide rail frame 8. The hand-operated integrated hydraulic cylinder 10 is connected to a motor 11. The piston rod of the hand-operated integrated hydraulic cylinder 10 is detachably connected to the lifting component 15. The connection method can be screw connection or snap-fit. The lifting speed is controlled by the motor 11 through frequency conversion speed regulation. When there is power, the motor 11 is used for electric lifting; when there is no power, manual lifting is used.

[0038] like Figures 2-5 As shown, the hook 16 is detachably fixed to the lifting component 15, and its fixing method can be screw connection. The lifting clamp 13 is detachably fixed to the hook 16. The lifting clamp 13 is used to connect with the lifting lug 21 on the driven boom 4 to be disassembled, so as to realize the lifting of the driven boom 4 to be disassembled.

[0039] Specifically, the lifting clamp 13 includes clamp block one 22, clamp block two 23, and D-type shackle 31. Both sides of clamp block one 22 are rotatably connected to threaded sleeves 26. The threaded sleeves 26 are internally threaded with screws 28. One end of the screws 28 is fixedly connected to an end block 27. Both sides of clamp block two 23 are provided with slots 24. At this time, clamp block one 22 and clamp block two 23 can be assembled on the outside of the lifting lug 21. Then, rotate the threaded sleeves 26 so that the end block 27 rotates to the side of clamp block two 23. Then rotate the end block 27 so that the end block 27 and clamp block two 23 are tightly abutted, thereby locking clamp block one 22 and clamp block two 23. It can stably fix the upper end of the driven boom 4 to be disassembled and the reverse clamp.

[0040] Limiting blocks 25 can be fixedly connected to both sides of the clamping block 23. The limiting blocks 25 can limit the end block 27 and reduce the phenomenon of the end block 27 falling off.

[0041] Both clamping block 1 22 and clamping block 2 23 are fixedly connected to the upper side of lifting rings 30, and the hook 16 and lifting rings 30 are connected by D-type shackles 31.

[0042] Both sides of the guide rail frame 8 are fixedly connected to the connecting brackets 34. The two clamping arms 12 are detachably hinged to the two connecting brackets 34. At this time, after the driven arm 4 to be disassembled is lifted by the hook 16, the clamping arms 12 can be rotated to clamp the driven arm 4 to be disassembled, thereby improving the stability of the driven arm 4 to be disassembled.

[0043] A clamping pin 14 can be inserted into the connecting bracket 34, and a positioning hole is provided on the clamping arm 12. The clamping arm 12 can be inserted into the positioning hole to fix the clamping arm 12.

[0044] Specifically, the clamping arm 12 and the connecting bracket 34 can be connected by a detachable pin, so that the clamping arm 12 can rotate around the pin axis, and the clamping arm 12 can be installed and removed by inserting and removing the pin.

[0045] In summary, this technical solution is simple and compact, easy to operate, and adopts an integrated design for hoisting and transportation, changing the original operation mode that required the cooperation of multiple equipment. It has lower requirements for operators and can be disassembled into multiple lighter and smaller components, which can pass through narrow passages of some special hot chambers, enabling robotic arms to disassemble, maintain and transport in narrow spaces and under special working conditions.

[0046] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A master slave manipulator slave arm service vehicle characterized by: Includes chassis base (7), guide rail frame (8), lifting component (15), hook (16), and lifting clamp (13); The front end of the frame base (7) is rotatably connected to a movable wheel (29), and the rear end of the frame base (7) is equipped with a universal wheel (17). The guide rail frame (8) is detachably fixed to the rear side of the upper side of the frame base (7); The lifting component (15) is detachably and vertically slidably connected to the guide rail frame (8), and the guide rail frame (8) is fixedly connected to a vertical adjustment mechanism that is connected to the lifting component (15) in a transmission. The hook (16) is detachably and fixedly connected to the lifting component (15), and the lifting clamp (13) is detachably and fixedly connected to the hook (16).

2. The master slave manipulator maintenance vehicle of claim 1 wherein: Two reinforcing feet (18) are hinged to both sides of the frame base (7), and vertically arranged foot cups (19) are threaded onto both reinforcing feet (18).

3. A master slave manipulator slave arm service vehicle according to claim 2, characterized in that: A hand crank (20) is hinged to the upper end of the foot cup (19).

4. The master slave manipulator maintenance vehicle of claim 2 wherein: A side plate (32) is fixedly connected to the outer side of the frame base (7). Two locking screws (33) are inserted into the side plate (32). A through hole is opened at the end of the reinforcing support (18). The locking screws (33) are inserted into the through hole.

5. The master slave manipulator maintenance vehicle of claim 1 wherein: A handle (9) is fixedly connected to the rear side of the guide rail frame (8).

6. The master slave manipulator maintenance vehicle of claim 1 wherein: The vertical adjustment mechanism includes a hand-held electric cylinder (10) fixedly connected to the guide rail frame (8), the hand-held electric cylinder (10) is connected to a motor (11), and the piston rod and lifting component (15) of the hand-held electric cylinder (10) are detachably connected together.

7. The master slave manipulator maintenance vehicle of claim 1 wherein: The lifting clamp (13) includes clamp block one (22), clamp block two (23) and D-type shackle (31). Both sides of clamp block one (22) are rotatably connected with threaded sleeves (26). The threaded sleeves (26) are internally threaded with screws (28). One end of the screws (28) is fixedly connected with an end block (27). Both sides of clamp block two (23) are provided with slots (24). The upper sides of the first clamping block (22) and the second clamping block (23) are fixedly connected with lifting rings (30), and the hook (16) and the lifting rings (30) are connected by D-type shackles (31).

8. A master-slave robotic arm maintenance vehicle according to claim 7, characterized in that: Limiting blocks (25) are fixedly connected to both sides of the clamping block two (23).

9. A master-slave robotic arm maintenance vehicle according to claim 1, characterized in that: It also includes two clamping arms (12), and connecting brackets (34) are fixedly connected to both sides of the guide rail frame (8). The two clamping arms (12) are detachably hinged to the two connecting brackets (34). A clamping pin (14) is inserted into the connecting bracket (34). A positioning hole is opened on the clamping arm (12), and the clamping arm (12) can be inserted into the positioning hole.

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