Hot cell test tube robot

Abstract

The utility model relates to the field of protective equipment, especially a hot chamber test tube manipulator, include: hand lever subassembly, including sleeve, connecting piece, driving piece, sleeve is equipped with first clamping portion at the connecting end, clamping assembly includes base shell, the clamping jaw of open and close setting at one end of base shell, the one end of base shell away from clamping jaw is equipped with second clamping portion, connecting piece and clamping jaw between be provided with transmission mechanism, transmission mechanism sets up and connects the clamping jaw open and shut when the reciprocating movement of connecting piece in sleeve, and transmission mechanism sets up and can rotate with clamping jaw relatively, base shell is connected at the second clamping portion position and sleeve is in the first clamping portion position, and sleeve and base shell are equipped with multiple alignment installation positions in the circumference, and the first clamping portion can be positioned and clamped with the second clamping portion when sleeve and base shell are in each alignment installation position respectively. The utility model optimizes and designs the connecting structure of sleeve and base shell, and improves the cooperation mode of shaft and push axle, effectively solves the problem in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of protective equipment, and in particular to a hot chamber test tube manipulator. Background Technology

[0002] Hot chambers are primarily used for high-risk operations such as the production, separation, and purification of radioisotopes, as well as the synthesis and packaging of radiopharmaceuticals. Through their specialized structure and protective measures, hot chambers provide operators with a highly safe working environment.

[0003] Hot chambers typically employ a six-sided, fully enclosed design to effectively isolate radioactive materials from contaminating the external environment. For ease of operation, hot chambers are also equipped with robotic arm access ports, allowing operators to grip and control test tubes or other sample containers inside the hot chamber from outside the chamber. Currently, the most commonly used robotic arm structures are manual long-bar grippers, such as the long-bar gripper for hazardous environment operations disclosed in patent publication number CN206519940U.

[0004] Currently, in existing robotic arm structures, the gripping orientation of the handle and the gripping opening of the jaws are fixed. This makes it difficult for users to adjust the orientation when holding the device, which is not conducive to meeting different gripping habits. Moreover, when it is necessary to adjust the orientation of the test tube to transfer it to another position, there is also the problem of uncomfortable gripping posture. Based on the above problems, this application proposes a hot chamber test tube robotic arm. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a hot chamber test tube manipulator. By optimizing the connection structure between the sleeve and the base shell and improving the fit between the shaft and the push shaft, the existing problems in the prior art are effectively solved.

[0006] To address the aforementioned problems, this utility model provides a hot chamber test tube manipulator, comprising: a handle assembly including a sleeve, a connector disposed within the sleeve, and a drive component for axially moving the connector within the sleeve; the sleeve having a connecting end and a first engaging portion at the connecting end; a clamping assembly including a base shell and a gripper closable at one end of the base shell, the base shell having a second engaging portion at the end away from the gripper; a transmission mechanism is provided between the connector and the gripper, the transmission mechanism being configured such that the gripper opens and closes when the connector reciprocates within the sleeve, and the transmission mechanism being rotatable relative to the gripper; the base shell is connected at the second engaging portion and the sleeve at the first engaging portion, and the sleeve and the base shell have multiple aligned mounting positions in the circumferential direction, wherein the first engaging portion can be positioned and engaged with the second engaging portion at each aligned mounting position.

[0007] Furthermore, the transmission mechanism includes a push shaft slidably disposed on the base shell, the push shaft being configured to extend and retract to drive the gripper to open and close; the transmission mechanism also includes a spring disposed between the base shell and the push shaft, the spring providing a force to the push shaft to move away from the gripper; the connecting member includes a shaft rod, the shaft rod and the push shaft being separate structures, the shaft rod being able to push the push shaft to move toward the gripper.

[0008] Furthermore, the drive component includes a handle hinged to the end of the sleeve away from the gripper, the handle being rotatable to move the connector.

[0009] Furthermore, the sleeve is provided with a mounting seat at the handle position, the upper end of the handle is provided with a hinge part that is hinged to the mounting seat, the handle abuts against the shaft at the position above the hinge part, and an adjusting rod is threadedly installed on the side of the handle away from the shaft.

[0010] Furthermore, one of the first snap-fit ​​portion and the second snap-fit ​​portion includes a snap hook, and the other is provided with a protruding ring for the snap hook to engage. The protruding ring is provided with a plurality of positioning grooves at intervals along its circumference for the snap hook to be inserted into. The snap hook can be respectively snapped into each of the positioning grooves so that the sleeve and the base shell are aligned and installed at different positions.

[0011] Furthermore, the sleeve is provided with the hook, the middle part of the hook is hinged to the sleeve, and the end of the hook facing the base shell is formed to be able to engage and fix with the convex ring. A compression spring is provided between the end of the hook away from the base shell and the sleeve, and the compression spring pushes the hook outward.

[0012] Furthermore, there are two hooks, which are symmetrically arranged; the positioning grooves are arranged at equal angular intervals around the center of the convex ring.

[0013] Furthermore, the sleeve includes a first pipe section connected to the base shell and a second pipe section detachably connected to the first pipe section.

[0014] Furthermore, the inner surface of the first pipe segment is provided with a connecting protrusion, and the end of the second pipe segment facing the first pipe segment is provided with a guide groove for the connecting protrusion to enter. The second pipe segment is provided with a limiting groove on one side of the guide groove. The inner end of the guide groove is connected to the inner end of the limiting groove, so that the connecting protrusion moves from the guide groove to the inner end of the limiting groove and then moves outward to the limiting groove.

[0015] Furthermore, the first pipe segment is provided with a threaded hole at the position corresponding to the connecting protrusion, and the robot also includes a connecting post, which is threadedly installed in the threaded hole to form the connecting protrusion.

[0016] The beneficial effect of this utility model is that by optimizing the connection structure between the sleeve and the base shell and improving the matching method between the shaft and the push shaft, the problems existing in the prior art are effectively solved. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0019] Figure 2 for Figure 1 The illustrated embodiment is shown as a side cross-sectional view of the structure at the centerline of the shaft.

[0020] Figure 3 for Figure 1 The illustrated embodiment is a structural diagram after the first pipe section has been removed.

[0021] The components are: 1. Sleeve; 101. First pipe section; 102. Second pipe section; 2. Base shell; 3. Clamp; 4. Push shaft; 5. Spring; 6. Shaft; 7. Handle; 8. Mounting base; 9. Adjusting rod; 10. Hook; 1001. Hook body; 11. Protruding ring; 12. Positioning groove; 13. Compression spring; 14. Connecting column; 15. Guide groove; 16. Limiting groove; 17. Connecting rod. Detailed Implementation

[0022] To more clearly illustrate the overall concept of this utility model, a detailed description will be provided below with reference to the accompanying drawings.

[0023] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0024] Furthermore, it should be understood in the description of this utility model that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two main bodies at the connection point are not connected by an intermediate structure, but are simply connected to form a whole through a connecting structure. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0026] In this utility model, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0027] In this utility model, such as Figure 1-3As shown, a hot chamber test tube manipulator is provided, comprising: a handle assembly including a sleeve 1, a connector disposed within the sleeve 1, and a drive component for axially moving the connector within the sleeve 1; the sleeve 1 having a connecting end, and a first engaging portion at the connecting end; a clamping assembly including a base shell 2 and a jaw 3 openably disposed at one end of the base shell 2, and a second engaging portion at the end of the base shell 2 away from the jaw 3; a transmission mechanism is provided between the connector and the jaw 3, the transmission mechanism being configured such that the jaw 3 opens and closes when the connector reciprocates within the sleeve 1, and the transmission mechanism being rotatable relative to the jaw 3; the base shell 2 is connected to the sleeve 1 at the second engaging portion position and to the sleeve 1 at the first engaging portion position, and the sleeve 1 and the base shell 2 have multiple aligned mounting positions in the circumferential direction, wherein the first engaging portion can be positioned and engaged with the second engaging portion at each aligned mounting position.

[0028] When using the robotic arm of this invention, the gripping assembly is placed in the heated chamber, and the sleeve 1 extends out of the heated chamber after passing through the robotic arm's operating hole. The operator can control the opening and closing of the gripper 3 through the drive mechanism. When the operator needs to adjust the relationship between the gripping direction of the drive mechanism and the gripping direction of the gripper 3, the first and second locking parts can be separated, allowing the sleeve 1 and the base shell 2 to rotate relative to each other to a suitable aligned installation position. At this time, the first and second locking parts can be reconnected to meet different gripping postures and test tube orientations, thereby satisfying different gripping habits and usage needs.

[0029] In a preferred embodiment, specifically regarding the structure of this utility model, the transmission mechanism includes a push shaft 4 slidably disposed on the base shell 2, the push shaft 4 being configured to extend and retract to drive the gripper 3 to open and close; the transmission mechanism also includes a spring 5 disposed between the base shell 2 and the push shaft 4, the spring 5 providing a force to the push shaft 4 to move away from the gripper 3; the connecting member includes a shaft 6, the shaft 6 and the push shaft 4 being separate structures, the shaft 6 being able to push the push shaft 4 to move toward the gripper 3.

[0030] As shown in the figure, this allows the operator to push the shaft 6 towards the gripper 3 via the drive component, causing the shaft 6 to push the push shaft 4 to overcome the elastic force of the spring 5 and move towards the gripper 3. After the shaft 6 loses the power to move towards the gripper 3, the spring 5 pushes the push shaft 4 away from the gripper 3, thus realizing the reciprocating movement of the push shaft 4. This achieves the separate structure of the push shaft 4 and the shaft 6, allowing the transmission mechanism and the gripper 3 to rotate relative to each other, so as to maintain the stability of the transmission mechanism when switching between multiple aligned installation positions in the circumferential direction between the base shell 2 and the sleeve 1.

[0031] In the illustrated embodiment, to further specify the structure of this utility model, the driving member includes a handle 7 hinged to the end of the sleeve 1 away from the gripper 3, and the handle 7 is rotatable to drive the connecting member to move.

[0032] In the illustrated embodiment, for the structure of this utility model, more specifically, the sleeve 1 is provided with a mounting seat 8 at the handle 7 position, the upper end of the handle 7 is provided with a hinge part that is hinged to the mounting seat 8, the handle 7 abuts against the shaft 6 at the position above the hinge part, and the mounting seat 8 is threadedly fitted with an adjusting rod 9 on the side of the handle 7 away from the shaft 6.

[0033] As shown in the figure, the operator holds the mounting base 8 and the handle 7 by hand. When it is necessary to push the shaft 6 towards the gripper 3, the operator rotates the handle 7. After the user releases the handle 7, the spring 5 causes the shaft 4 to push the shaft 6 away from the gripper 3. This invention, by providing an adjusting rod 9 threaded onto the mounting base 8, can adjust the limit position of the shaft 6's movement towards the adjusting rod 9, thereby adjusting the opening and closing state of the gripper 3 in its natural state.

[0034] In the illustrated embodiment, regarding the opening and closing method of the gripper 3, more specifically, as shown in the figure, the middle section of the gripper 3 is hinged to the base shell 2, and a connecting rod 17 is provided between the inner end of the gripper 3 and the push shaft 4. The connecting rod 17 is hinged to the push shaft 4 and the gripper 3 respectively, so that the push shaft 4 can drive the gripper 3 to open and close when it moves axially.

[0035] In the illustrated embodiment, as shown in the figure, the spring 5 is sleeved on the outside of the push shaft 4, and a fixing ring that abuts against the spring 5 is fixed on the push shaft 4. The end of the spring 5 facing the gripper 3 abuts against the limiting step inside the base shell 2.

[0036] In the illustrated embodiment, for the structure of this utility model, one of the first snap-fit ​​part and the second snap-fit ​​part includes a snap hook 10, and the other is provided with a protruding ring 11 for the snap hook 10 to snap into. The protruding ring 11 is provided with a plurality of positioning grooves 12 for the snap hook 10 to be inserted into along its circumference. The snap hook 10 can be respectively snapped into each of the positioning grooves 12 so that the sleeve 1 and the base shell 2 correspond to different aligned installation positions.

[0037] By positioning the hook 10 into the positioning groove 12, the first and second locking parts can be positioned and locked together at multiple positions (aligned installation positions) around the sleeve 1, so as to provide multiple matching methods for the gripping direction of the handle 7 and the clamping orientation of the claw 3.

[0038] In the illustrated embodiment, for the structure of this utility model, more specifically, the sleeve 1 is provided with the hook 10, the middle part of the hook 10 is hinged to the sleeve 1, and the end of the hook 10 facing the base shell 2 is formed to form a hook body 1001 that can be engaged and fixed with the protruding ring 11. A compression spring 13 is provided between the end of the hook 10 away from the base shell 2 and the sleeve 1, and the compression spring 13 pushes the hook 10 outward.

[0039] As shown in the figure, the sleeve and the base shell 2 can be circumferentially positioned by inserting the hook 10 into the positioning groove 12, and the sleeve and the base shell 2 can be axially positioned by engaging the structure with the convex ring 11.

[0040] In the illustrated embodiment, to further specify the structure of this utility model, two hooks 10 are provided, and the two hooks 10 are symmetrically arranged; the positioning grooves 12 are arranged at equal angular intervals around the center of the convex ring 11.

[0041] As shown in the figure, there are a total of 4 positioning grooves 12. The 4 positioning grooves 12 are arranged at 90-degree intervals around the center of the convex ring 11, so that the handle 7 can be adjusted relative to the gripper 3 at a corresponding orientation of 90°.

[0042] In the illustrated embodiment, for the structure of this utility model, more specifically, the sleeve 1 includes a first pipe section 101 connected to the base shell 2 and a second pipe section 102 detachably connected to the first pipe section 101.

[0043] With this setup, when adjustments are needed, the base shell 2 and the first rod section can be extended outward from the hot chamber, allowing the second pipe section 102 to be removed. The alignment and installation positions of the first pipe section 101 and the base shell 2 can then be adjusted, further facilitating operation.

[0044] In the illustrated embodiment, to further specify the structure of this utility model, the inner surface of the first pipe segment 101 is provided with a connecting protrusion, and the end of the second pipe segment 102 facing the first pipe segment 101 is provided with a guide groove 15 for the connecting protrusion to enter. The second pipe segment 102 is provided with a limiting groove 16 on one side of the guide groove 15. The inner end of the guide groove 15 communicates with the inner end of the limiting groove 16, so that the connecting protrusion moves from the guide groove 15 to the inner end of the limiting groove 16 and then moves outward to the limiting groove 16.

[0045] As shown in the figure, when it is necessary to connect the first pipe segment 101 and the second pipe segment 102, the guide groove 15 is aligned with the connecting protrusion and moved relative to it. After the connecting protrusion moves to the inner end of the guide groove 15, the sleeve and the base shell 2 are rotated relative to each other, so that the connecting protrusion enters the limiting groove 16. At this time, the connection of the first pipe segment 101 and the second pipe segment 102 can be completed. When it is necessary to separate the first pipe segment 101 and the second pipe segment 102, the operation is reversed.

[0046] In the illustrated embodiment, to further specify the structure of this utility model, the first pipe section 101 is provided with a threaded hole at the position corresponding to the connecting protrusion, and the robot arm also includes a connecting post 14, which is threadedly installed in the threaded hole and forms the connecting protrusion.

[0047] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0048] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A hot chamber test tube manipulator, characterized in that, include: A lever assembly includes a sleeve, a connector disposed within the sleeve, and a drive member that drives the connector to move axially within the sleeve. The sleeve has a connecting end, and the sleeve is provided with a first snap-fit ​​portion at the connecting end. The clamping assembly includes a base shell and a gripper that can be opened and closed at one end of the base shell, wherein a second engaging portion is provided at the end of the base shell away from the gripper; A transmission mechanism is provided between the connector and the gripper. The transmission mechanism is configured such that the gripper opens and closes when the connector reciprocates within the sleeve, and the transmission mechanism is configured to rotate relative to the gripper. The base shell is connected at the second snap-fit ​​position and the sleeve is connected at the first snap-fit ​​position. The sleeve and the base shell are provided with multiple alignment and installation positions in the circumferential direction. When the sleeve and the base shell are in each alignment and installation position, the first snap-fit ​​can be positioned and snapped with the second snap-fit.

2. The hot chamber test tube manipulator according to claim 1, characterized in that, The transmission mechanism includes a push shaft that is slidably disposed on the base shell, and the push shaft is configured to extend and retract to drive the gripper to open and close. The transmission mechanism also includes a spring disposed between the base shell and the push shaft, the spring providing a force to the push shaft to move away from the gripper; The connector includes a shaft, which is a separate structure from the push shaft. The shaft can push the push shaft to move toward the gripper.

3. The hot chamber test tube manipulator according to claim 2, characterized in that, The drive unit includes a handle hinged to the end of the sleeve away from the gripper, the handle being rotatable to move the connector.

4. The hot chamber test tube manipulator according to claim 3, characterized in that, The sleeve is provided with a mounting seat at the handle position. The upper end of the handle is provided with a hinge part that is hinged to the mounting seat. The handle abuts against the shaft at the position above the hinge part. An adjusting rod is threadedly installed on the side of the handle away from the shaft.

5. The hot chamber test tube manipulator according to claim 1, characterized in that, One of the first snap-fit ​​portion and the second snap-fit ​​portion includes a snap hook, and the other is provided with a protruding ring for the snap hook to engage. The protruding ring is provided with a plurality of positioning grooves at intervals along its circumference for the snap hook to be inserted into. The snap hook can be respectively snapped into each of the positioning grooves so that the sleeve and the base shell are aligned and installed in different positions.

6. The hot chamber test tube manipulator according to claim 5, characterized in that, The sleeve is provided with the hook, the middle part of the hook is hinged to the sleeve, and the end of the hook facing the base shell is formed to be able to engage and fix with the convex ring. A compression spring is provided between the end of the hook away from the base shell and the sleeve, and the compression spring pushes the hook outward.

7. The hot chamber test tube manipulator according to claim 5, characterized in that, The hooks are provided in two symmetrical arrangements; the positioning grooves are arranged at equal angular intervals around the center of the convex ring.

8. The hot chamber test tube manipulator according to any one of claims 2 to 4, characterized in that, The sleeve includes a first pipe section connected to the base shell and a second pipe section detachably connected to the first pipe section.

9. The hot chamber test tube manipulator according to claim 8, characterized in that, The inner surface of the first pipe segment is provided with a connecting protrusion, and the end of the second pipe segment facing the first pipe segment is provided with a guide groove for the connecting protrusion to enter. The second pipe segment is provided with a limiting groove on one side of the guide groove. The inner end of the guide groove is connected to the inner end of the limiting groove, so that the connecting protrusion moves from the guide groove to the inner end of the limiting groove and then moves outward to the limiting groove.

10. The hot chamber test tube manipulator according to claim 9, characterized in that, The first pipe section has a threaded hole at the position corresponding to the connecting protrusion. The robot also includes a connecting post, which is threadedly installed in the threaded hole to form the connecting protrusion.

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