Nuclear industry master-slave robotic lifting device

Abstract

This utility model relates to the field of hoisting device technology, specifically a hoisting device for a master-slave manipulator in the nuclear industry. It includes a portal frame, comprising two vertical frames on the left and right sides and a horizontal frame fixedly connected to the top of the vertical frames. The bottom of each vertical frame has a pin for inserting and fixing the master manipulator. A restraining rope is fixedly connected to the middle of the two vertical frames. Each pin includes a pin shaft and a locking shaft. A sliding cylinder is provided on the inner bottom of each of the two vertical frames, with the pin shaft slidably connected to the sliding cylinder. The pin shaft has a locking pin insertion hole, and the sliding cylinder has a sliding cylinder insertion hole. The locking shaft is used to insert and fix the pin shaft and the sliding cylinder. The locking shaft is connected to the vertical frames via a chain. The pin can be inserted and fixed to the hoisting hole on the master manipulator. The restraining rope can be connected to the right-angled frame on the side of the master manipulator to limit its movement and prevent tipping.

Description

Technical Field

[0001] This utility model relates to the field of hoisting device technology, specifically a master-slave manipulator hoisting device for the nuclear industry. Background Technology

[0002] With the development of the manufacturing industry, the demand for high-precision, high-repeatability, and high-reliability operations is increasing. Traditional manual operations are difficult to meet these requirements, which has prompted the research and development of robotic arm technology. In some special fields, such as the nuclear industry, due to the extreme conditions of high radiation, high pressure, and high temperature, it is difficult for humans to operate directly. Master-slave robotic arms have become necessary tools to achieve remote control and operation in dangerous environments.

[0003] When installing the master and slave robotic arms, both need to be mounted on a through-hole component high up on the wall. The master and slave robotic arms need to be mounted on opposite sides of the wall. The installation of the master robotic arm is quite difficult because the counterweights, transmission systems, etc. of the master and slave robotic arms are all located on one side of the master robotic arm, resulting in a heavy overall weight and an imbalance between the left and right sides, making it difficult to connect the master robotic arm to the through-hole component. If slings are used to hoist the master robotic arm, it is very easy for the master robotic arm to become unbalanced, causing it to fall. Utility Model Content

[0004] The main purpose of this utility model is to provide a lifting device for a master-slave manipulator in the nuclear industry, so as to solve the problems of difficulty in lifting the master manipulator in the prior art and the easy imbalance and fall of the master manipulator during lifting.

[0005] To achieve the above objectives, this utility model provides a master-slave manipulator hoisting device for the nuclear industry, including a portal frame. The portal frame includes two vertical frames located on the left and right sides and a horizontal frame fixedly connected to the top of the vertical frames. The bottom of the vertical frames is provided with pins for inserting and fixing the master manipulator. A barrier rope is fixedly connected to the middle of the two vertical frames.

[0006] Furthermore, the pin includes a pin shaft and a locking shaft; a slide cylinder is provided on the bottom inner side of the two vertical frames, the pin shaft is slidably connected to the slide cylinder, the pin shaft is provided with a locking pin insertion hole, the slide cylinder is provided with a slide cylinder insertion hole, and the locking shaft is used to insert and fix the pin shaft and the slide cylinder; the locking shaft is connected to the vertical frames through a chain.

[0007] Furthermore, multiple locking pin holes are arranged side by side along the length of the pin shaft; the end of the pin shaft is provided with a pin shaft plug to prevent the pin shaft from sliding completely into the slide cylinder.

[0008] Furthermore, a connection hole is provided in the middle of the two vertical frames, and the barrier rope is connected to the vertical frames through a bolt and nut assembly.

[0009] Furthermore, reinforcing ribs are provided at the top and bottom of the vertical frame.

[0010] Furthermore, the top of the door frame is fixedly connected with a lifting lug.

[0011] This utility model, by setting a pin, can be inserted and fixed to the lifting hole on the main manipulator; by setting a stop rope, it can be connected to the right-angle frame on the side of the main manipulator to limit its movement and prevent it from tipping over; under the combined action of the pin and the stop rope, the connection and limitation of the main manipulator are completed, thereby enabling the main manipulator to be lifted smoothly and preventing the main manipulator from becoming unbalanced during the lifting process.

[0012] The pin of this utility model includes a pin shaft and a locking shaft, which are easy to connect and disassemble; the locking shaft is connected to the vertical frame by a chain to prevent the locking shaft from falling off; the pin shaft is provided with multiple locking pin holes, and the insertion position of the pin shaft can be adjusted to accommodate main robotic arms of various sizes.

[0013] The barrier rope of this utility model is connected to the vertical frame by a bolt and nut assembly, which makes it easy to disassemble one end of the barrier rope and connect and limit it by passing around the right-angle frame on the side of the main robot arm. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0015] Figure 1 This is a schematic diagram of the nuclear industry master-slave manipulator hoisting device in the embodiment;

[0016] Figure 2 This is a schematic diagram of the master and slave robotic arms in the embodiment;

[0017] Figure 3 This is a schematic diagram of the connection between the master-slave manipulator hoisting device and the master manipulator in the embodiment.

[0018] In the diagram: 1. Door frame; 101. Vertical frame; 101a. Slide cylinder; 101b. Slide cylinder insertion hole; 102. Horizontal frame; 103. Lifting lug; 2. Pin; 201. Pin shaft; 201a. Locking pin insertion hole; 201b. Pin shaft plug; 202. Locking shaft; 203. Chain; 3. Barrier rope; 4. Reinforcing rib; 5. Bolt and nut assembly; 6. Master and slave manipulators; 601. Master manipulator; 601a. ​​Lifting hole; 601b. Right-angle frame; 602. Slave manipulator; 7. Wall. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] like Figure 1 As shown, according to an embodiment of the present invention, a master-slave manipulator hoisting device for nuclear industry is provided, including a portal frame 1. The portal frame 1 includes two vertical frames 101 located on the left and right sides and a horizontal frame 102 fixedly connected to the top of the vertical frames. The bottom of the vertical frames 101 is provided with a pin 2 for inserting and fixing the master manipulator. A barrier rope 3 is fixedly connected to the middle of the two vertical frames 101. The barrier rope 3 is made of plastic-coated steel wire rope.

[0021] The pin 2 includes a pin 201 and a locking shaft 202; a slide cylinder 101a is provided on the inner bottom of the two vertical frames 101, the pin 201 is slidably connected to the slide cylinder 101a, a plurality of locking pin holes 201a are arranged side by side along its length on the pin 201, and a slide cylinder hole 101b is provided on the slide cylinder 101a, the locking shaft 202 is used to insert and fix the pin 201 and the slide cylinder 101a; the locking shaft 202 is connected to the vertical frame 101 through a chain 203; the end of the pin 201 is provided with a pin plug 201b to prevent the pin 201 from completely sliding into the slide cylinder 101a.

[0022] The pin includes a pin shaft and a locking shaft, which are easy to connect and disassemble; the locking shaft is connected to the vertical frame by a chain to prevent the locking shaft from falling off; the pin shaft is provided with multiple locking pin holes, and the insertion position of the pin shaft can be adjusted to accommodate main robotic arms of various sizes.

[0023] The two vertical frames 101 are provided with connection holes in the middle. The barrier rope 3 is connected to the vertical frame 101 through the bolt and nut assembly 5. The top and bottom of the vertical frame 101 are provided with reinforcing ribs 4. The barrier rope is connected to the vertical frame through the bolt and nut assembly, which makes it easy to disassemble one end of the barrier rope and connect and limit it by passing around the right-angle frame on the side of the main robot.

[0024] The top of the door frame 1 is fixedly connected with a lifting lug 103.

[0025] The nuclear industry master-slave robot lifting device in this embodiment is used to lift the master robot of the master-slave robot system; such as Figure 2 and Figure 3 As shown, the master-slave robot 6 includes a master robot 601 and a slave robot 602. The master robot 601 is located on the right side of the wall 7, and the slave robot is located on the left side of the wall 7. The master robot 601 is provided with a lifting hole 601a and a right-angle frame 601b, and the right-angle frame 601b is located on the right side of the lifting hole 601a.

[0026] The steps for hoisting the master robot arm using a nuclear industry master-slave robot hoisting device are as follows:

[0027] First, attach the lifting lug 103 to the electric forklift and lift the portal frame 1 to the appropriate height;

[0028] Then, use the pin 2 to connect and fix it to the hanging hole 601a, remove one end of the barrier rope 3, pass the removed end of the barrier rope 3 through the right angle frame 601b and return it to its original position to fix it to the door frame 1.

[0029] Finally, slowly raise the electric forklift until the main robotic arm 601 changes from a flat position to a vertical position. During the lifting process, pay close attention to whether the anti-tipping restraint rope 3 is under tension. Only after it is under tension can the installation of the main arm be carried out.

[0030] In this embodiment, a pin is provided to be inserted and fixed to the lifting hole on the main manipulator; a restraining rope is provided to be connected to the right-angle frame on the side of the main manipulator to contain and limit it, preventing tipping; under the combined action of the pin and the restraining rope, the connection and limitation of the main manipulator are completed, thereby enabling the main manipulator to be lifted smoothly and preventing the main manipulator from becoming unbalanced during the lifting process.

[0031] The existing method of using slings to lift the main manipulator takes about 2 hours to lift it to the designated position, and the main manipulator often tipes over. Using the nuclear industry master-slave manipulator lifting device of this embodiment, the main manipulator can be lifted to the designated position in about 0.5 hours, and the tipping problem is eliminated.

[0032] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A master-slave robotic lifting device for the nuclear industry, characterized in that, The system includes a gate-shaped frame (1), which includes two vertical frames (101) located on the left and right sides and a horizontal frame (102) fixedly connected to the top of the vertical frames; the bottom of the vertical frames (101) is provided with a pin (2) for inserting and fixing the main robot arm; the middle of the two vertical frames (101) is fixedly connected with a barrier rope (3).

2. The nuclear industry master slave manipulator hoist device of claim 1, wherein, The pin (2) includes a pin (201) and a locking shaft (202); a slide cylinder (101a) is provided on the inner bottom of the two vertical frames (101), the pin (201) is slidably connected to the slide cylinder (101a), the pin (201) is provided with a locking pin insertion hole (201a), the slide cylinder (101a) is provided with a slide cylinder insertion hole (101b), and the locking shaft (202) is used to insert and fix the pin (201) and the slide cylinder (101a); the locking shaft (202) is connected to the vertical frame (101) through a chain (203).

3. The nuclear industry master slave manipulator hoist device of claim 2, wherein, The locking pin holes (201a) are arranged in a row along the length of the pin (201); the end of the pin (201) is provided with a pin plug (201b) to prevent the pin (201) from completely sliding into the slide cylinder (101a).

4. The nuclear industry master slave manipulator hoist of claim 2 wherein, The two vertical frames (101) are provided with a connecting hole in the middle, and the barrier rope (3) is connected to the vertical frame (101) through a bolt and nut assembly (5).

5. The nuclear industry master slave manipulator hoist of claim 1 wherein, The top and bottom of the vertical frame (101) are provided with reinforcing ribs (4).

6. The nuclear industry master slave manipulator hoist device of claim 1, wherein, The top of the portal frame (1) is fixedly connected with a lifting lug (103).

Images