CN105666463A - Tail end tool hand and gripper rapid disassembling and assembling system under nuclear radiation environment - Google Patents
Tail end tool hand and gripper rapid disassembling and assembling system under nuclear radiation environment Download PDFInfo
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- CN105666463A CN105666463A CN201610233106.5A CN201610233106A CN105666463A CN 105666463 A CN105666463 A CN 105666463A CN 201610233106 A CN201610233106 A CN 201610233106A CN 105666463 A CN105666463 A CN 105666463A
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- hands
- instrument hands
- instrument
- assembly
- drive
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention relates to a tool device under the nuclear radiation environment, in particular to a tail end tool hand and gripper rapid disassembling and assembling system under the nuclear radiation environment. The system mainly comprises a tool hand linkage system, a tool hand assembling piece, an assembling and disassembling mechanism and a control system. The tool hand linage system is mainly composed of a suspended wall type linkage movement frame, a hanging type linkage telescopic cylinder and a tool hand supporting arm which are sequentially assembled. The tool hand assembling piece mainly comprises a tool gripper, a drive structure and a drive shell. The assembling and disassembling mechanism comprises a drive shell assembling and disassembling mechanism and a tool gripper assembling and disassembling mechanism. The drive shell assembling and disassembling mechanism is mainly composed of an assembling and disassembling structure, a hinge lifting table, an assembling and disassembling supporting frame and a movement base. The tool gripper assembling and disassembling mechanism is mainly composed of a clamping base and a clamping base movement frame. The tail end tool hand is used for disassembling and assembling of joints of tool hands and tool grippers of the tool hands in nuclear radiation, and therefore components of the tool hands can be conveniently maintained and replaced; the adopted integral structure has the effects that the bearing capacity is high, the movement space is large, movement is flexible and the tool hands and other parts are easy to disassemble and assemble.
Description
Technical field
The present invention relates to the fitting device under a kind of nuclear radiation environment, end-of-arm tooling hands and hands thereof under espespecially a kind of nuclear radiation environment grab fast assembling-disassembling system.
Background technology
Along with the development of China's nuclear industry science and technology, the research and discovery of nuclear industry technology be have also been obtained considerable progress by scientist, and security performance and unfailing performance for operation also greatly improve. In nuclear industry early stage, owing in maintenance, maintenance and accident process, human users is improper, or the too high human casualty accident caused of nuclear matter radioactive dosage constantly occurs in nuclear environment, therefore, Remote operating technology is the indispensable key element of nuclear industry, Remote operating technology, for the frock of internal unit being safeguarded inside radioprotective scene and changing, is greatly reduced irradiation injury and the operation fatigue of operator.
Under nuclear radiation environment, Remote maintenance technology is the operating system of a kind of flexible operation, equipment in nuclear radiation environment is a lot, various pipelines are intricate, passage is narrow, work space is little, but various service kit can be operated by remote control technology, and requisite tooling device is dynamic power machine hands in Remote maintenance system, and for meeting in nuclear radiation environment the anti-irradiation requirement to tooling device, the structural design of dynamic power machine hands, performance effect are also had higher requirements, for meeting its activity requirement flexibly, its structural design is also complex. Operating technology now is applied under nuclear radiation environment to tooling device or even tiny parts to carry out lifting transhipment or change when safeguarding, owing to the restriction of environment makes work difficulty big, operator fatigue degree is also big, if the process for details is careless slightly or careful not, then the achievement in nuclear radiation environment can be produced a very large impact, therefore it is that requirement is higher for the working condition in nuclear radiation environment, not only need careful operating procedure and planning, it is also desirable to good Fixture Design.
The end-of-arm tooling hands of radioprotective scene internal mechanical hands, instrument hands and hands are grabbed and the dismounting of instrument hands and mechanical arm junction, existing connected mode all adopts the connection of numerous bolt fastening, the i.e. each parts of robot tool hands, or each parts are connected with miscellaneous part many employings bolt and nut, need during dismounting to unclamp all bolt and nuts one by one, cable connector needs manually to extract, operation very numerous and diverse, also results in dismounting inconvenience.
Summary of the invention
For solving the problems referred to above, it is contemplated that the fitting device disclosed under a kind of nuclear radiation environment, end-of-arm tooling hands and hands thereof under espespecially a kind of nuclear radiation environment grab fast assembling-disassembling system.
For achieving the above object, the technical solution used in the present invention is: end-of-arm tooling hands and hands thereof under a kind of nuclear radiation environment grab fast assembling-disassembling system, instrument hands is the power part being arranged on arm end, disassembly system works in nuclear radiation environment, it is characterized in that, described disassembly system mainly includes instrument hands linked system, instrument hands assembly, charging crane and control system, instrument hands linked system and instrument hands assembly are connected, space displacement and the kinestate of instrument hands assembly is controlled by instrument hands linked system, charging crane is the dismantling device of instrument hands assembly, it is movably set in working environment,
Described instrument hands linked system is mainly made up of the cantilever-type linkage movable stand, suspension type linkage telescopic cylinder and the instrument hands support arm that assemble successively, wherein level linkage headed by instrument hands support arm, instrument hands support arm is made up of multi-joint mechanical arm, and its end fastening means hands assembly swings directly to control instrument hands assembly joint torsional mode; Linkage telescopic cylinder is hanging secondary linkage of telescopic movable on vertical curve, is connected instrument hands support arm to control instrument hands support arm and coordinated signals instrument hands assembly vertical lift bottom it; Linkage movable stand is three grades of linkages, by building moving guide rail in midair and installing travelling carriage and slide to realize plane, linkage telescopic cylinder is lifted on travelling carriage, formed travelling carriage along moving guide rail slide time, drive the linkage telescopic cylinder coupled, instrument hands support arm and instrument hands assembly to slide therewith in same level;
Described instrument hands assembly mainly includes instrument hands and grabs, drives structure and drive shell, instrument hands to grab axially to be connected to beyond drive shell, within driving structure to be arranged on drive shell, instrument hands is grabbed as actuating formula connecting rod cramping body, is made up of a pair active gripping finger and a pair driven gripping finger, and the head end symmetry of two active gripping finger is articulated and connected in same central slider, and two driven gripping finger are respectively hinged at the end of two active gripping finger as bare terminal end simultaneously, drive shell is shaped to the tube structure of ellipticity bottom surface, drive shell top offers a through hole, through hole is slidingly connected and is provided with the inner housing of a cylindrical tube shape, drive shell outer wall gap connects protection shell one layer consistent with its outer wall profile, simultaneously driving housing and be provided with, with the gap location protecting shell, the some flexible sheet magnetic stripes being close to protection outer casing inner wall, some magnetic stripe parallel interval are sticked, drive structure mainly to include driving instrument hands and grab partly or wholly the telescopic drive structure of activity, rotary drive structure and clamping adjustment structure, wherein telescopic drive structure mainly includes by the axially mounted screw mandrel slide block of power transmission shaft, decelerator and slider-actuated motor, screw mandrel slide block is fixedly connected on outside inner housing, drives inner housing along the through hole telescopic slide of drive shell when slider-actuated motor drives the motion of screw mandrel slide block linear telescopic, rotary drive structure is grabbed by being connected the axis axially nested instrument hands that is connected after inner housing successively with clamping adjustment structure, rotary drive structure connects middle shaft rotation thus band power driven tools hands grabs rotation by rotary DC driven by servomotor, clamping adjustment structure is mainly driven by bar linkage structure and DC servo motor and connects to form, bar linkage structure is connected and grabs the central slider place of actively gripping finger at instrument hands, when DC servo motor drive linkage arrangement does push-and-pull campaign, central slider is reciprocating, actively gripping finger moves back and forth with central slider and produces opening and closing stress and make and actuate adjustment, driven gripping finger is made accordingly with active gripping finger and is actuated adjustment,
Described charging crane is that instrument hands grabs charging crane and drive shell charging crane, drive shell charging crane mainly includes construct for handling, hinge lifting platform, handling bracing frame and mobile base, mobile base is the mobile vehicle of four-wheel drive, handling bracing frame is fixedly connected on mobile base, hinge lifting platform installs location by loading and unloading the supporting role of bracing frame, construct for handling is arranged on hinge lifting platform upper surface by loading and unloading substrate, main by the loading and unloading clamp assembled from top to bottom, fastening clasp, rotatable pole and handling substrate composition, the opening of loading and unloading clamp and instrument hands assembly protection outer shell outer wall form fit, chucking opening place has been sticked magnetic stripe adsorbate, magnetic stripe adsorbate protects the mutual magnetic absorption of magnetic stripe of shell with instrument hands assembly, loading and unloading clamp is extremely articulated and connected with fastening clasp in chucking opening one, when magnetic stripe adsorbate does not sense magneticaction, fastening clasp forms hinged expanded configuration with loading and unloading clamp, when magnetic stripe adsorbate is adsorbed onto on magnetic stripe by magneticaction, fastening clasp rotates and forms fastening structure with loading and unloading clamp,Bottom loading and unloading clamp axially mounted with rotatable pole, by rotatable pole control loading and unloading clamp rotate; Hinge lifting platform mainly includes the drive motor, lifting chain and the fixing plate that assemble from the bottom to top, and fixing plate is connected to the lower section of handling substrate thus realizing the elevating control of construct for handling; Instrument hands is grabbed charging crane and is mainly made up of deck and deck movable stand, and deck movable stand is arranged on below deck to drive deck to walk movement.
The linkage movable stand of described instrument hands linked system mainly includes moving guide rail, whole posture movable stand and travelling carriage, and moving guide rail is build at guided way in midair after being fixed on two lateral walls for a pair; Whole posture movable stand is square frame-like, its relative short edge is slidably connected on two guide rails and forms the overall mounting structure along moving guide rail translation gliding of whole posture movable stand, its relatively short side is the transport way of coherent two guide rails, and long limit is set to track structure to form small-sized slide rail, travelling carriage is movably connected on the long limit of whole posture movable stand to slide along long limit.
The top of the linkage telescopic cylinder of described instrument hands linked system is fix the retracting cylinder supporter being connected with travelling carriage, is the retracting cylinder of five-part form below top, and retracting cylinder is in bottom and instrument hands support arm driving coupling.
Described instrument hands support arm be made up of 2-5 articulated mechanical arm form multi-joint can the support arm of torsionoscillation, instrument hands support arm end is connected to the circular groove place that the outer wall of instrument hands assembly drive shell is offered, make the two be connected with each other by copper post plug and guide pillar, after connection, install fastening bolt again additional.
Described control system is electrically connected with instrument hands linked system, charging crane, instrument hands assembly respectively and forms electric drive control loop, control system is Remote driving control system, by working environment monitor in real time feedback are realized remote pilot, thus controlling instrument hands linked system, charging crane, instrument hands assembly to start length of run under driving effect.
The active gripping finger that described instrument hands is grabbed is crescent shape, is arranged in pairs formation semi-annular shape, and driven gripping finger is vertical bar shape.
Described instrument hands is grabbed and is added and be solidly connected by being connected assembly between inner housing, connect assembly mainly by connector, snap ring, spring and ball composition, wherein connector is be connected to the toroidal cavity outside inner housing, connector installs some balls in top place, ball arranges around side for one week, snap ring is adjacent with spring and is axially connected to instrument hands and grabs, snap ring outer wall is grabbed the deck bayonet shape of charging crane and is mated with instrument hands, snap ring inwall offers the ball grooves of circumferential arrangement simultaneously, when ball is nested in ball grooves, instrument hands is grabbed and is integrated with inner housing nested encryptions.
The method for dismounting of the Joint Manipulator fast assembling-disassembling system under a kind of nuclear radiation environment, it is characterised in that described method for dismounting includes following:
1) extracting tool hands is grabbed:
First, adjustment instrument hands linked system is to control instrument hands assembly particular location in working environment, regulate instrument hands again and grab the position of charging crane, instrument hands assembly and instrument hands is made to grab charging crane apart from close, the deck that the instrument hands of then passing through grabs charging crane sheathed clamping adaptive with the snap ring being connected assembly in instrument hands assembly, after clamping is stable, control instrument hands grips in and pulls forward under setting stress, snap ring compresses spring under a stretching force, ball comes off from ball grooves simultaneously, so that instrument hands grabs disengaging inner housing, then proceed to pull forward, the instrument hands of making is grabbed and is gradually disengaged with the driving structure in inner housing, dismantle completely from inner housing completely until instrument hands is grabbed,
2) dismounting drive shell:
First instrument hands linked system is regulated to control instrument hands assembly particular location in working environment, regulate the position of drive shell charging crane again, make instrument hands assembly and drive shell charging crane apart from close, the loading and unloading clamp absorption then passing through drive shell charging crane is clamped in outside protection shell, quickly adsorption process has been positioned under magneticaction, and protect shell with tightening buckle loop fastener, subsequently unscrew fastening bolt, control drive shell to pull forward under setting stress, the copper post plug making fastening means hands support arm end and drive shell is separated from each other with guide pillar, thus dismantling overall for instrument hands assembly from instrument hands support arm.
Beneficial effects of the present invention is embodied in: the present invention grabs the dismounting of junction for instrument hands in radioprotective and instrument hands thereof, so that the maintenance of self parts and replacing, it is strong that the overall structure adopted has heavily loaded ability, space is big, motion is flexibly, it is prone to the effects such as dismantling device hands and miscellaneous part, the instrument hands linked system adopted is that instrument hands assembly provides the motive power condition being readily transported and control, the effect that the instrument hands assembly adopted and connected mode implementation tool hands assembly junction fast assembling-disassembling thereof are changed, plant maintenance is simple, easy to repair, overall structure solves under nuclear radiation environment complexity, the problem of the Remote operating difficulties of micro-workpiece, reach high efficiency complex parts and safeguard effect easily, not only significantly shorten maintenance, replacing construction, and improve efficiency and the reliability of tool changing, also improve and operate the degree that precisely puts in place.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 is sectional perspective structural representation of the present invention.
Fig. 3 is inventive article hands assembly structural representation.
Fig. 4 is inventive article hands assembly decomposition chart.
Fig. 5 is the connecting component structure schematic diagram of inventive article hands assembly.
Fig. 6 is the structural representation sketch of drive shell charging crane of the present invention.
Fig. 7 is the structural representation sketch that inventive article hands grabs charging crane.
Accompanying drawing mark illustrates that: 1-links movable stand, 2-linkage telescopic cylinder, 3-instrument hands support arm, 4-instrument hands assembly, 5-charging crane, 11-moving guide rail, the whole posture movable stand of 12-, 13-travelling carriage, 21-retracting cylinder, 22-retracting cylinder supporter, 41-instrument hands is grabbed, 42-drives structure, 43-drive shell, 44-inner housing, 45-protects shell, 46-magnetic stripe, 47-connects assembly, 411-is gripping finger actively, the driven gripping finger of 412-, 421-telescopic drive structure, 422-rotary drive structure, 423-clamps adjustment structure, 471-connector, 472-snap ring, 473-spring, 474-ball, 51-drive shell charging crane, 52-instrument hands grabs charging crane, 511-construct for handling, 512-hinge lifting platform, 513-loads and unloads bracing frame, 514-moves base, 521-deck, 522-deck movable stand, 5111-loading and unloading clamp, 5112-fastens clasp, the rotatable pole of 5113-, 5114-loads and unloads substrate, 5115-magnetic stripe adsorbate, 5121-drive motor, 5122-lifting chain, 5123-fixes plate.
Detailed description of the invention
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:
End-of-arm tooling hands and hands thereof under a kind of nuclear radiation environment grab fast assembling-disassembling system, instrument hands is the power part being arranged on arm end, disassembly system works in nuclear radiation environment, described disassembly system mainly includes instrument hands linked system, instrument hands assembly 4, charging crane 5 and control system, instrument hands linked system and instrument hands assembly 4 are connected, space displacement and the kinestate of instrument hands assembly 4 is controlled by instrument hands linked system, charging crane 5 is the dismantling device of instrument hands assembly 4, is movably set in working environment;
Described instrument hands linked system is mainly made up of the cantilever-type linkage movable stand 1, suspension type linkage telescopic cylinder 2 and the instrument hands support arm 3 that assemble successively, wherein level linkage headed by instrument hands support arm 3, instrument hands support arm 3 is made up of multi-joint mechanical arm, and its end fastening means hands assembly 4 swings directly to control instrument hands assembly 4 joint torsional mode;Linkage telescopic cylinder 2 is hanging secondary linkage of telescopic movable on vertical curve, is connected instrument hands support arm 3 to control instrument hands support arm 3 and coordinated signals instrument hands assembly 4 vertical lift bottom it; Linkage movable stand 1 is three grades of linkages, by building moving guide rail 11 in midair and installing travelling carriage 13 and slide to realize plane, linkage telescopic cylinder 2 is lifted on travelling carriage 13, formed travelling carriage 13 along moving guide rail 11 slide time, drive the linkage telescopic cylinder 2 coupled, instrument hands support arm 3 and instrument hands assembly 4 to slide therewith in same level;
The linkage movable stand 1 of described instrument hands linked system mainly includes moving guide rail 11, whole posture movable stand 12 and travelling carriage 13, and moving guide rail 11 is build at guided way in midair after being fixed on two lateral walls for a pair; Whole posture movable stand 12 is square frame-like, its relative short edge is slidably connected on two guide rails and forms whole posture movable stand 12 entirety mounting structure along moving guide rail 11 translation gliding, its relatively short side is the transport way of coherent two guide rails, and long limit is set to track structure to form small-sized slide rail, travelling carriage 13 is movably connected on the long limit of whole posture movable stand 12 to slide along long limit; The top of the linkage telescopic cylinder 2 of described instrument hands linked system is the retracting cylinder supporter 22 that is connected fixing with travelling carriage 13, is the retracting cylinder 21 of five-part form below top, and retracting cylinder 21 is in bottom and instrument hands support arm 3 driving coupling; Described instrument hands support arm 3 be made up of 2-5 articulated mechanical arm form multi-joint can the support arm of torsionoscillation, instrument hands support arm 3 end is connected to the circular groove place that the outer wall of instrument hands assembly 4 drive shell 43 is offered, make the two be connected with each other by copper post plug and guide pillar, after connection, install fastening bolt again additional;
Described instrument hands assembly 4 mainly includes instrument hands and grabs 41, drives structure 42 and drive shell 43, and instrument hands is grabbed 41 and is axially connected to beyond drive shell 43, within driving structure 42 to be arranged on drive shell 43, instrument hands grabs 41 for actuating formula connecting rod cramping body, by a pair, actively gripping finger 411 and a pair driven gripping finger 412 form, the head end symmetry of two active gripping finger 411 is articulated and connected in same central slider, two driven gripping finger 412 are respectively hinged at the end of two active gripping finger 411 as bare terminal end simultaneously, it is crescent shape that described instrument hands grabs the active gripping finger 411 of 41, being arranged in pairs formation semi-annular shape, driven gripping finger 412 is vertical bar shape, drive shell 43 is shaped to the tube structure of ellipticity bottom surface, drive shell 43 top offers a through hole, through hole is slidingly connected and is provided with the inner housing 44 of a cylindrical tube shape, drive shell 43 outer wall gap connects protection shell 45 one layer consistent with its outer wall profile, simultaneously driving housing 43 and be provided with, with the gap location protecting shell 45, the some flexible sheet magnetic stripes 46 being close to protection shell 45 inwall, some magnetic stripe 46 parallel interval are sticked, drive structure 42 mainly to include driving instrument hands and grab 41 partly or wholly movable telescopic drive structures 421, rotary drive structure 422 and clamping adjustment structure 423, wherein telescopic drive structure 421 mainly includes by the axially mounted screw mandrel slide block of power transmission shaft, decelerator and slider-actuated motor, screw mandrel slide block is fixedly connected on outside inner housing 44, drives inner housing 44 along the through hole telescopic slide of drive shell 43 when slider-actuated motor drives the motion of screw mandrel slide block linear telescopic, rotary drive structure 422 grabs 41 with clamping adjustment structure 423 by being connected the axis axially nested instrument hands that is connected after inner housing 44 successively, rotary drive structure 422 connects middle shaft rotation thus band power driven tools hands grabs 41 rotations by rotary DC driven by servomotor, the main driving by bar linkage structure and DC servo motor of clamping adjustment structure 423 connects to form, bar linkage structure is connected and grabs the central slider place of 41 active gripping finger 411 at instrument hands, when DC servo motor drive linkage arrangement does push-and-pull campaign, central slider is reciprocating, actively gripping finger 411 moves back and forth with central slider and produces opening and closing stress and make and actuate adjustment, driven gripping finger 412 is made accordingly with active gripping finger 411 and is actuated adjustment,Described instrument hands is grabbed and is added and be solidly connected by being connected assembly 47 between 41 with inner housing 44, connect assembly 47 main by connector 471, snap ring 472, spring 473 and ball 474 form, wherein connector 471 is be connected to the toroidal cavity outside inner housing 44, connector 471 installs some balls 474 in top place, ball 474 arranges around side for one week, snap ring 472 is adjacent with spring 473 and is axially connected to instrument hands and grabs on 41, snap ring 472 outer wall is grabbed deck 521 bayonet shape of charging crane 52 and is mated with instrument hands, snap ring 472 inwall offers the ball grooves of circumferential arrangement simultaneously, when ball 474 is nested in ball grooves, instrument hands is grabbed 41 and is integrated with inner housing 44 nested encryptions,
Described charging crane 5 grabs charging crane 52 and drive shell charging crane 51 for instrument hands, drive shell charging crane 51 mainly includes construct for handling 511, hinge lifting platform 512, handling bracing frame 513 and mobile base 514, mobile base 514 is the mobile vehicle of four-wheel drive, handling bracing frame 513 is fixedly connected on mobile base 514, hinge lifting platform 512 installs location by loading and unloading the supporting role of bracing frame 513, construct for handling 511 is arranged on hinge lifting platform 512 upper surface by loading and unloading substrate 5114, main by the loading and unloading clamp 5111 assembled from top to bottom, fastening clasp 5112, rotatable pole 5113 and handling substrate 5114 form, the opening of loading and unloading clamp 5111 and instrument hands assembly 4 protect shell 45 outer wall form fit, chucking opening place has been sticked magnetic stripe adsorbate 5115, magnetic stripe adsorbate 5115 and instrument hands assembly 4 protect the mutual magnetic absorption of magnetic stripe of shell 45, loading and unloading clamp 5111 is extremely articulated and connected with fastening clasp 5112 in chucking opening one, when magnetic stripe adsorbate 5115 does not sense magneticaction, fastening clasp 5112 forms hinged expanded configuration with loading and unloading clamp 5111, when magnetic stripe adsorbate 5115 is adsorbed onto on magnetic stripe by magneticaction, fastening clasp 5112 rotates and forms fastening structure with loading and unloading clamp 5111, bottom loading and unloading clamp 5111 axially mounted with rotatable pole 5113, control loading and unloading clamp 5111 by rotatable pole 5113 and rotate, hinge lifting platform 512 mainly includes the drive motor 5121, lifting chain 5122 and the fixing plate 5123 that assemble from the bottom to top, and fixing plate 5123 is connected to the lower section of handling substrate 5114 thus realizing the elevating control of construct for handling 511, instrument hands is grabbed charging crane 52 and is mainly made up of deck 521 and deck movable stand 522, and deck movable stand 522 is arranged on below deck 521 to drive deck 521 to walk movement,
Described control system is electrically connected with instrument hands linked system, charging crane 5, instrument hands assembly 4 respectively and forms electric drive control loop, control system is Remote driving control system, by working environment monitor in real time feedback are realized remote pilot, thus controlling instrument hands linked system, charging crane 5, instrument hands assembly 4 to start length of run under driving effect.
A kind of method for dismounting of the Joint Manipulator fast assembling-disassembling system under nuclear radiation environment, described method for dismounting includes following:
1) extracting tool hands grabs 41:
First, adjustment instrument hands linked system is to control the instrument hands assembly 4 particular location in working environment, regulate instrument hands again and grab the position of charging crane 52, instrument hands assembly 4 and instrument hands is made to grab charging crane 52 apart from close, the deck 521 that the instrument hands of then passing through grabs charging crane 52 and the adaptive sheathed clamping of snap ring 472 being connected assembly 47 in instrument hands assembly 4, control instrument hands after clamping is stable to grab 41 and pull forward under setting stress, snap ring 472 compresses spring 473 under a stretching force, ball 474 comes off from ball grooves simultaneously, so that instrument hands grabs 41 disengaging inner housings 44, then proceed to pull forward, the instrument hands of making is grabbed 41 and is gradually disengaged with the driving structure in inner housing 44, dismantle completely from inner housing 44 completely until instrument hands grabs 41,
2) dismounting drive shell:
First instrument hands linked system is regulated to control the instrument hands assembly 4 particular location in working environment, regulate the position of drive shell charging crane 51 again, make instrument hands assembly 4 and drive shell charging crane 51 apart from close, loading and unloading clamp 5111 absorption then passing through drive shell charging crane 51 is clamped in outside protection shell 45, quickly adsorption process has been positioned under magneticaction, and buckle protection shell 45 to fasten clasp 5112, subsequently unscrew fastening bolt, control drive shell to pull forward under setting stress, the copper post plug making fastening means hands support arm end and drive shell is separated from each other with guide pillar, thus instrument hands assembly 4 entirety is dismantled from instrument hands support arm.
Same principle is adopted when grabbing 41 and drive shell when installation tool hands.
The above, it it is only presently preferred embodiments of the present invention, not the technical scope of the present invention is imposed any restrictions, the technical staff of the industry, under the inspiration of the technical program, some deformation and amendment, every any amendment, equivalent variations and modification above embodiments made according to the technical spirit of the present invention can be made, all still fall within the scope of technical solution of the present invention.
Claims (8)
1. the end-of-arm tooling hands under a nuclear radiation environment and hands thereof grab fast assembling-disassembling system, instrument hands is the power part being arranged on arm end, disassembly system works in nuclear radiation environment, it is characterized in that, described disassembly system mainly includes instrument hands linked system, instrument hands assembly, charging crane and control system, instrument hands linked system and instrument hands assembly are connected, space displacement and the kinestate of instrument hands assembly is controlled by instrument hands linked system, charging crane is the dismantling device of instrument hands assembly, it is movably set in working environment,
Described instrument hands linked system is mainly made up of the cantilever-type linkage movable stand, suspension type linkage telescopic cylinder and the instrument hands support arm that assemble successively, wherein level linkage headed by instrument hands support arm, instrument hands support arm is made up of multi-joint mechanical arm, and its end fastening means hands assembly swings directly to control instrument hands assembly joint torsional mode; Linkage telescopic cylinder is hanging secondary linkage of telescopic movable on vertical curve, is connected instrument hands support arm to control instrument hands support arm and coordinated signals instrument hands assembly vertical lift bottom it; Linkage movable stand is three grades of linkages, by building moving guide rail in midair and installing travelling carriage and slide to realize plane, linkage telescopic cylinder is lifted on travelling carriage, formed travelling carriage along moving guide rail slide time, drive the linkage telescopic cylinder coupled, instrument hands support arm and instrument hands assembly to slide therewith in same level;
Described instrument hands assembly mainly includes instrument hands and grabs, drives structure and drive shell, instrument hands to grab axially to be connected to beyond drive shell, within driving structure to be arranged on drive shell; Instrument hands is grabbed as actuating formula connecting rod cramping body, is made up of a pair active gripping finger and a pair driven gripping finger, and the head end symmetry of two active gripping finger is articulated and connected in same central slider, and two driven gripping finger are respectively hinged at the end of two active gripping finger as bare terminal end simultaneously; Drive shell is shaped to the tube structure of ellipticity bottom surface, drive shell top offers a through hole, through hole is slidingly connected and is provided with the inner housing of a cylindrical tube shape, drive shell outer wall gap connects protection shell one layer consistent with its outer wall profile, simultaneously driving housing and be provided with, with the gap location protecting shell, the some flexible sheet magnetic stripes being close to protection outer casing inner wall, some magnetic stripe parallel interval are sticked;Drive structure mainly to include driving instrument hands and grab partly or wholly the telescopic drive structure of activity, rotary drive structure and clamping adjustment structure, wherein telescopic drive structure mainly includes by the axially mounted screw mandrel slide block of power transmission shaft, decelerator and slider-actuated motor, screw mandrel slide block is fixedly connected on outside inner housing, drives inner housing along the through hole telescopic slide of drive shell when slider-actuated motor drives the motion of screw mandrel slide block linear telescopic, rotary drive structure is grabbed by being connected the axis axially nested instrument hands that is connected after inner housing successively with clamping adjustment structure, rotary drive structure connects middle shaft rotation thus band power driven tools hands grabs rotation by rotary DC driven by servomotor, clamping adjustment structure is mainly driven by bar linkage structure and DC servo motor and connects to form, bar linkage structure is connected and grabs the central slider place of actively gripping finger at instrument hands, when DC servo motor drive linkage arrangement does push-and-pull campaign, central slider is reciprocating, actively gripping finger moves back and forth with central slider and produces opening and closing stress and make and actuate adjustment, driven gripping finger is made accordingly with active gripping finger and is actuated adjustment,
Described charging crane is that instrument hands grabs charging crane and drive shell charging crane, drive shell charging crane mainly includes construct for handling, hinge lifting platform, handling bracing frame and mobile base, mobile base is the mobile vehicle of four-wheel drive, handling bracing frame is fixedly connected on mobile base, hinge lifting platform installs location by loading and unloading the supporting role of bracing frame, construct for handling is arranged on hinge lifting platform upper surface by loading and unloading substrate, main by the loading and unloading clamp assembled from top to bottom, fastening clasp, rotatable pole and handling substrate composition, the opening of loading and unloading clamp and instrument hands assembly protection outer shell outer wall form fit, chucking opening place has been sticked magnetic stripe adsorbate, magnetic stripe adsorbate protects the mutual magnetic absorption of magnetic stripe of shell with instrument hands assembly, loading and unloading clamp is extremely articulated and connected with fastening clasp in chucking opening one, when magnetic stripe adsorbate does not sense magneticaction, fastening clasp forms hinged expanded configuration with loading and unloading clamp, when magnetic stripe adsorbate is adsorbed onto on magnetic stripe by magneticaction, fastening clasp rotates and forms fastening structure with loading and unloading clamp, bottom loading and unloading clamp axially mounted with rotatable pole, by rotatable pole control loading and unloading clamp rotate, hinge lifting platform mainly includes the drive motor, lifting chain and the fixing plate that assemble from the bottom to top, and fixing plate is connected to the lower section of handling substrate thus realizing the elevating control of construct for handling, instrument hands is grabbed charging crane and is mainly made up of deck and deck movable stand, and deck movable stand is arranged on below deck to drive deck to walk movement.
2. the end-of-arm tooling hands under a kind of nuclear radiation environment according to claim 1 and hands thereof grab fast assembling-disassembling system, it is characterized in that, the linkage movable stand of described instrument hands linked system mainly includes moving guide rail, whole posture movable stand and travelling carriage, and moving guide rail is build at guided way in midair after being fixed on two lateral walls for a pair; Whole posture movable stand is square frame-like, its relative short edge is slidably connected on two guide rails and forms the overall mounting structure along moving guide rail translation gliding of whole posture movable stand, its relatively short side is the transport way of coherent two guide rails, and long limit is set to track structure to form small-sized slide rail, travelling carriage is movably connected on the long limit of whole posture movable stand to slide along long limit.
3. the end-of-arm tooling hands under a kind of nuclear radiation environment according to claim 1 and hands thereof grab fast assembling-disassembling system, it is characterized in that, the top of the linkage telescopic cylinder of described instrument hands linked system is fix the retracting cylinder supporter being connected with travelling carriage, being the retracting cylinder of five-part form below top, retracting cylinder is in bottom and instrument hands support arm driving coupling.
4. the end-of-arm tooling hands under a kind of nuclear radiation environment according to claim 1 and hands thereof grab fast assembling-disassembling system, it is characterized in that, described instrument hands support arm be made up of 2-5 articulated mechanical arm form multi-joint can the support arm of torsionoscillation, instrument hands support arm end is connected to the circular groove place that the outer wall of instrument hands assembly drive shell is offered, make the two be connected with each other by copper post plug and guide pillar, after connection, install fastening bolt again additional.
5. the Joint Manipulator fast assembling-disassembling system under a kind of nuclear radiation environment according to claim 1, it is characterized in that, described control system is electrically connected with instrument hands linked system, charging crane, instrument hands assembly respectively and forms electric drive control loop, control system is Remote driving control system, by working environment monitor in real time feedback are realized remote pilot, thus controlling instrument hands linked system, charging crane, instrument hands assembly to start length of run under driving effect.
6. the Joint Manipulator fast assembling-disassembling system under a kind of nuclear radiation environment according to claim 1, it is characterised in that the active gripping finger that described instrument hands is grabbed is crescent shape, is arranged in pairs formation semi-annular shape, and driven gripping finger is vertical bar shape.
7. the Joint Manipulator fast assembling-disassembling system under a kind of nuclear radiation environment according to claim 1, it is characterized in that, described instrument hands is grabbed and is added and be solidly connected by being connected assembly between inner housing, connect assembly mainly by connector, snap ring, spring and ball composition, wherein connector is be connected to the toroidal cavity outside inner housing, connector installs some balls in top place, ball arranges around side for one week, snap ring is adjacent with spring and is axially connected to instrument hands and grabs, snap ring outer wall is grabbed the deck bayonet shape of charging crane and is mated with instrument hands, snap ring inwall offers the ball grooves of circumferential arrangement simultaneously, when ball is nested in ball grooves, instrument hands is grabbed and is integrated with inner housing nested encryptions.
8. the method for dismounting of the Joint Manipulator fast assembling-disassembling system under the use a kind of nuclear radiation environment described in claim 1, it is characterised in that described method for dismounting includes following:
1) extracting tool hands is grabbed:
First, adjustment instrument hands linked system is to control instrument hands assembly particular location in working environment, regulate instrument hands again and grab the position of charging crane, instrument hands assembly and instrument hands is made to grab charging crane apart from close, the deck that the instrument hands of then passing through grabs charging crane sheathed clamping adaptive with the snap ring being connected assembly in instrument hands assembly, after clamping is stable, control instrument hands grips in and pulls forward under setting stress, snap ring compresses spring under a stretching force, ball comes off from ball grooves simultaneously, so that instrument hands grabs disengaging inner housing, then proceed to pull forward, the instrument hands of making is grabbed and is gradually disengaged with the driving structure in inner housing, dismantle completely from inner housing completely until instrument hands is grabbed,
2) dismounting drive shell:
First instrument hands linked system is regulated to control instrument hands assembly particular location in working environment, regulate the position of drive shell charging crane again, make instrument hands assembly and drive shell charging crane apart from close, the loading and unloading clamp absorption then passing through drive shell charging crane is clamped in outside protection shell, quickly adsorption process has been positioned under magneticaction, and protect shell with tightening buckle loop fastener, subsequently unscrew fastening bolt, control drive shell to pull forward under setting stress, the copper post plug making fastening means hands support arm end and drive shell is separated from each other with guide pillar, thus dismantling overall for instrument hands assembly from instrument hands support arm.
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| CN201610233106.5A CN105666463B (en) | 2016-04-15 | 2016-04-15 | End-of-arm tooling hand and its hand under a kind of nuclear radiation environment grab fast assembling-disassembling system |
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| CN201610233106.5A CN105666463B (en) | 2016-04-15 | 2016-04-15 | End-of-arm tooling hand and its hand under a kind of nuclear radiation environment grab fast assembling-disassembling system |
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| CN105666463A true CN105666463A (en) | 2016-06-15 |
| CN105666463B CN105666463B (en) | 2018-06-19 |
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| CN107768214B (en) * | 2017-10-13 | 2023-12-01 | 四川大学 | Electron gun overhauling equipment under nuclear radiation environment |
| CN111908148A (en) * | 2018-07-26 | 2020-11-10 | 王顺岭 | Stacker crane with staggered stacking function and using method |
| CN109571534A (en) * | 2018-12-13 | 2019-04-05 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator sheath attaching/detaching apparatus and its application method |
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| CN109551512A (en) * | 2019-01-24 | 2019-04-02 | 电子科技大学中山学院 | It is a kind of can convenient dismounting joint arrangement |
| CN111015686B (en) * | 2019-12-30 | 2022-02-01 | 西南科技大学 | Tension disassembling mobile robot, tension disassembling recovery system and control method thereof |
| CN111015686A (en) * | 2019-12-30 | 2020-04-17 | 西南科技大学 | Tension disassembling mobile robot, tension disassembling recovery system and control method thereof |
| CN111633628A (en) * | 2020-04-22 | 2020-09-08 | 上海沃典工业自动化有限公司 | Ground rail equipment of large robot |
| CN113652647A (en) * | 2021-08-16 | 2021-11-16 | 佛山市博顿光电科技有限公司 | Protective baffle replacing equipment and replacing method thereof, and protective baffle of film coating machine |
| CN114800446A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Industrial robot with quick assembling and disassembling function of mechanical arm |
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| CN114770551B (en) * | 2022-05-20 | 2024-02-20 | 中国原子能科学研究院 | Retired robot |
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