CN111834027A - Master-slave manipulator protective sleeve locking clamp, protective sleeve replacing device and method - Google Patents
Master-slave manipulator protective sleeve locking clamp, protective sleeve replacing device and method Download PDFInfo
- Publication number
- CN111834027A CN111834027A CN202010514468.8A CN202010514468A CN111834027A CN 111834027 A CN111834027 A CN 111834027A CN 202010514468 A CN202010514468 A CN 202010514468A CN 111834027 A CN111834027 A CN 111834027A
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- CN
- China
- Prior art keywords
- protective sleeve
- replacing device
- master
- clamp
- manipulator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F7/00—Shielded cells or rooms
- G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
- G21F7/061—Integrated manipulators
- G21F7/062—Integrated manipulators mounted in a wall, e.g. pivotably mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F7/00—Shielded cells or rooms
- G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
- G21F7/065—Remotely manipulated machinery
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F7/00—Shielded cells or rooms
- G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
- G21F7/066—Remotely manipulated tools
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
- G21F7/00—Shielded cells or rooms
- G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
- G21F7/067—Transferring devices within cells or boxes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a master-slave manipulator protective sleeve locking clamp, a protective sleeve replacing device and a replacing method. The protective sleeve replacing device and the protective sleeve replacing method disclosed by the invention can replace the protective sleeve from the operation side (cold side), and are suitable for replacing the protective sleeves of driven manipulators such as a driving arm, a driven arm, a wall-penetrating component inseparable integral master-slave manipulator, a separable master-slave manipulator, an integral joint hand and the like.
Description
Technical Field
The invention belongs to the field of nuclear industry, and particularly relates to a master-slave manipulator protective sleeve locking clamp, a protective sleeve replacing device and a protective sleeve replacing method in the field.
Background
Master-slave manipulators are widely used in hazardous environments where personnel cannot approach and enter, such as: the nuclear industry, nuclear chemical industry, nuclear medicine, harmful chemical environment and the like can simulate people to carry out various operations on environmental operation objects. As shown in fig. 1, a master-slave manipulator generally comprises the following parts:
(1) and the active arm is used for operating the manipulator by an operator at the operation side.
(2) The driven arm performs various operations and works in the hot room along with the operation of the operator on the driving arm.
(3) The wall penetrating component, the movement between the driving arm and the driven arm of the manipulator and the transmission of power have certain shielding effect.
(4) And the wall penetrating pipe is embedded in the concrete to protect the wall penetrating component.
(5) The protective sleeve is made of polyvinyl chloride and is not easy to be corroded by acid and alkali. Mounted on the follower arm to protect the follower arm from contamination and for sealing contamination and protecting the wall channel on the operating side. On one hand, the driven arm can be protected from being damaged, and the service life of the manipulator is prolonged; on the other hand, the sealing device has a sealing effect and can protect the safety of operators on the operation side. One end of the protective sleeve is sleeved at the position of the driven arm wrist joint, and the other end of the protective sleeve is clamped at the hot chamber end of the wall penetrating pipe by using a locking clamp. The special design has the elasticity, can follow flexible extension and the shrink of movable arm.
Disclosure of Invention
The invention aims to solve the technical problem of providing a master-slave manipulator protective sleeve locking clamp, a replacing device and a replacing method capable of replacing a protective sleeve on an operation side.
The invention adopts the following technical scheme:
a master-slave manipulator protective sleeve locking clamp is improved in that: the bevel gear comprises an annular steel belt, wherein two opposite ends of the inner side of the annular steel belt are respectively and fixedly provided with a threaded sleeve, the two threaded sleeves are connected through a bidirectional threaded stud, and a bevel gear is arranged in the middle of the bidirectional threaded stud.
A master-slave manipulator protective sleeve replacing device is matched with the lock clamp, and the improvement is that: the novel lock clip comprises a perspective plate, wherein a threaded sleeve is fixedly installed on the perspective plate, a threaded rod is installed in the threaded sleeve, the rear end of the threaded rod is fixedly connected with a handle, the front end of the threaded rod is connected with a retainer with a forward opening, a fixing ring is installed on the forward opening of the retainer, a crank shaft capable of rotating around the threaded rod is further installed on the perspective plate, the front end of the crank shaft extends out of the fixing ring and is provided with a bevel gear corresponding to a lock clip bevel gear, and a crank is installed at the rear end of the crank shaft.
Furthermore, two fixing bolts are arranged on the perspective plate opposite to the through-wall pipe.
Furthermore, the perspective plate is made of transparent glass.
Furthermore, two bearing seats are fixedly arranged on the upper part of the retainer, and bearings for the crankshaft to pass through are fixedly arranged in the two bearing seats.
The improvement of the master-slave manipulator protective sleeve replacing method is that the method comprises the following steps:
(1) a clamp removing tool is adopted to remove a clamp on the old protective sleeve, and a sleeve of the old protective sleeve is separated from a wrist assembly of the driven manipulator;
(2) the driven manipulator is laid flat, and the driven manipulator is pulled out of the hot chamber from the operation side;
(3) the handle of the protective sleeve replacing device is rotated backwards until the handle cannot be rotated, so that the distance between the handle and the perspective plate is maximum;
(4) sleeving a lock clamp on a fixing ring of the protective sleeve replacing device, and meshing a bevel gear at the front end of the crankshaft with a bevel gear of a bidirectional threaded stud of the lock clamp;
(5) sleeving a new protective sleeve outside the lock clamp, and extending a sleeve of the new protective sleeve into the retainer;
(6) slowly pushing the protective sleeve replacing device into the wall penetrating pipe until the perspective plate is attached to the rear end of the wall penetrating pipe, and then screwing two fixing bolts to fix the protective sleeve replacing device in the wall penetrating pipe;
(7) the handle of the protective sleeve replacing device is rotated forwards until the handle cannot rotate, so that the distance between the handle and the perspective plate is minimum, the fixing ring is pushed to move forwards in the wall penetrating pipe to the preset mounting position of the locking clamp, and the old protective sleeve is pushed into the hot chamber from the front end of the wall penetrating pipe;
(8) rotating the crank to drive the bevel gear of the bidirectional threaded stud of the locking clamp to rotate, pulling apart the two threaded sleeves until the crank cannot rotate, and expanding and locking the locking clamp on the inner wall of the wall-penetrating pipe;
(9) unscrewing two fixing bolts, and pulling out the protective sleeve replacing device from the operation side;
(10) poking the sleeves of the new protective sleeves into the hot chamber from the wall-penetrating pipe by adopting a blunt instrument;
(11) and pushing the driven manipulator into the hot chamber from the operation side, installing a clamp between a new protective sleeve and the wrist assembly of the driven manipulator, and finishing the replacement of the new protective sleeve.
The invention has the beneficial effects that:
the protective sleeve replacing device and the protective sleeve replacing method disclosed by the invention can replace the protective sleeve from the operation side (cold side), and are suitable for replacing the protective sleeves of driven manipulators such as a driving arm, a driven arm, a wall-penetrating component inseparable integral master-slave manipulator, a separable master-slave manipulator, an integral joint hand and the like.
Drawings
FIG. 1 is a schematic diagram of the composition of a master-slave manipulator;
fig. 2 is a schematic structural view of a locking clip disclosed in embodiment 1 of the present invention;
fig. 3 is a schematic structural view of a tapered tooth screw lock in the lock clip disclosed in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a master-slave manipulator protective sleeve replacing device disclosed in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of step (2) in the master-slave manipulator protective sheath replacing method disclosed in embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of step (5) in the master-slave manipulator protection sheath replacing method disclosed in embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of step (6) in the master-slave manipulator protection sheath replacing method disclosed in embodiment 1 of the present invention;
FIG. 8 is a schematic view of step (7) in the master-slave manipulator protection sheath replacing method disclosed in embodiment 1 of the present invention;
fig. 9 is a schematic diagram of step (9) in the master-slave manipulator protective sheath replacing method disclosed in embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The bevel gear at the front end of the crankshaft of the protective sleeve replacing device is meshed with the bevel gear of the bidirectional threaded stud, and the crank is rotated to drive the bidirectional threaded stud to rotate by the bevel gear on the locking clamp, so that the bidirectional threaded stud is screwed or loosened in the threaded sleeves to change the distance between the two threaded sleeves, and the steel belt is tightened or loosened.
As shown in fig. 4, the present embodiment further discloses a master-slave manipulator protection sleeve replacing device, which is matched with the above-mentioned lock clamp, and comprises a perspective plate 3, a threaded sleeve 31 is fixedly installed on the perspective plate, a threaded rod 32 is installed in the threaded sleeve, the rear end (the end of the replacing device facing to the operation side in the working process) of the threaded rod is fixedly connected with a handle 4, the front end (the end of the replacing device facing to the hot chamber in the working process) is connected with a retainer 5 with a forward opening, a fixed ring 6 is installed on the forward opening of the retainer, a crank shaft 33 capable of rotating around the threaded rod is also installed on the perspective plate, the front end of the crank shaft extends out of the fixed ring and is provided with a bevel gear corresponding to the lock clamp bevel gear, and a crank 7 is also installed at the rear end of the crank shaft.
In this embodiment, two fixing bolts 8 are further installed on the see-through plate at positions opposite to the positions of the through-wall pipes. The perspective board is made of transparent glass so that the operation of the protective sleeve replacing device in the through-wall pipe can be seen clearly through the perspective board. Two bearing seats 51 are fixedly installed on the upper portion of the holder, and bearings through which the crankshaft passes are fixedly installed in both of the bearing seats.
The embodiment also discloses a master-slave manipulator protective sleeve replacing method, which is used for replacing the protective sleeve on the operation side (cold side) by using the protective sleeve locking clamp and the protective sleeve replacing device and comprises the following steps:
(1) a clamp removing tool is adopted to remove a clamp on the old protective sleeve, and a sleeve of the old protective sleeve is separated from a wrist assembly of the driven manipulator;
(2) as shown in fig. 5, the slave robot is laid flat and pulled out of the hot chamber from the operation side (cold side);
(3) the handle of the protective sleeve replacing device is rotated backwards until the handle cannot be rotated, so that the distance between the handle and the perspective plate is maximum;
(4) sleeving a lock clamp on a fixing ring of the protective sleeve replacing device, and meshing a bevel gear at the front end of the crankshaft with a bevel gear of a bidirectional threaded stud of the lock clamp;
(5) as shown in fig. 6, a new protective sleeve is sleeved on the outer side of the lock clamp, and a sleeve of the new protective sleeve is inserted into the retainer;
(6) as shown in fig. 7, the protective sheath replacing device is slowly pushed into the wall penetrating pipe until the perspective plate is attached to the rear end of the wall penetrating pipe, and then two fixing bolts are screwed down to fix the protective sheath replacing device in the wall penetrating pipe;
(7) as shown in fig. 8, the handle of the protective sheath changing device is rotated forward until the handle can not rotate, so that the distance between the handle and the perspective plate is minimized, the fixing ring is pushed to move forward in the wall-through pipe to the preset installation position of the locking clamp, and the old protective sheath is pushed into the hot chamber from the front end of the wall-through pipe;
(8) rotating the crank to drive the bevel gear of the bidirectional threaded stud of the locking clamp to rotate, pulling apart the two threaded sleeves until the crank cannot rotate, and expanding and locking the locking clamp on the inner wall of the wall-penetrating pipe;
(9) as shown in fig. 9, the two fixing bolts are unscrewed, and the protective sheath changing device is pulled out from the operation side;
(10) poking the sleeves of the new protective sleeves into the hot chamber from the wall-penetrating pipe by adopting a blunt instrument;
(11) and pushing the driven manipulator into the hot chamber from the operation side, installing a clamp between a new protective sleeve and the wrist assembly of the driven manipulator, and finishing the replacement of the new protective sleeve.
Claims (6)
1. The utility model provides a principal and subordinate manipulator protective sheath collet which characterized in that: the bevel gear comprises an annular steel belt, wherein two opposite ends of the inner side of the annular steel belt are respectively and fixedly provided with a threaded sleeve, the two threaded sleeves are connected through a bidirectional threaded stud, and a bevel gear is arranged in the middle of the bidirectional threaded stud.
2. A master-slave manipulator protection sleeve replacing device, which is matched with the locking clamp of claim 1, and is characterized in that: the novel lock clip comprises a perspective plate, wherein a threaded sleeve is fixedly installed on the perspective plate, a threaded rod is installed in the threaded sleeve, the rear end of the threaded rod is fixedly connected with a handle, the front end of the threaded rod is connected with a retainer with a forward opening, a fixing ring is installed on the forward opening of the retainer, a crank shaft capable of rotating around the threaded rod is further installed on the perspective plate, the front end of the crank shaft extends out of the fixing ring and is provided with a bevel gear corresponding to a lock clip bevel gear, and a crank is installed at the rear end of the crank shaft.
3. The master-slave manipulator protective sleeve replacing device as claimed in claim 2, wherein: two fixing bolts are also arranged on the perspective plate opposite to the position of the through-wall pipe.
4. The master-slave manipulator protective sleeve replacing device as claimed in claim 2, wherein: the perspective plate is made of transparent glass.
5. The master-slave manipulator protective sleeve replacing device as claimed in claim 2, wherein: two bearing blocks are fixedly arranged on the upper part of the retainer, and bearings for the crankshaft to pass through are fixedly arranged in the two bearing blocks.
6. A master-slave manipulator protective sleeve replacing method is characterized by comprising the following steps:
(1) a clamp removing tool is adopted to remove a clamp on the old protective sleeve, and a sleeve of the old protective sleeve is separated from a wrist assembly of the driven manipulator;
(2) the driven manipulator is laid flat, and the driven manipulator is pulled out of the hot chamber from the operation side;
(3) the handle of the protective sleeve replacing device is rotated backwards until the handle cannot be rotated, so that the distance between the handle and the perspective plate is maximum;
(4) sleeving a lock clamp on a fixing ring of the protective sleeve replacing device, and meshing a bevel gear at the front end of the crankshaft with a bevel gear of a bidirectional threaded stud of the lock clamp;
(5) sleeving a new protective sleeve outside the lock clamp, and extending a sleeve of the new protective sleeve into the retainer;
(6) slowly pushing the protective sleeve replacing device into the wall penetrating pipe until the perspective plate is attached to the rear end of the wall penetrating pipe, and then screwing two fixing bolts to fix the protective sleeve replacing device in the wall penetrating pipe;
(7) the handle of the protective sleeve replacing device is rotated forwards until the handle cannot rotate, so that the distance between the handle and the perspective plate is minimum, the fixing ring is pushed to move forwards in the wall penetrating pipe to the preset mounting position of the locking clamp, and the old protective sleeve is pushed into the hot chamber from the front end of the wall penetrating pipe;
(8) rotating the crank to drive the bevel gear of the bidirectional threaded stud of the locking clamp to rotate, pulling apart the two threaded sleeves until the crank cannot rotate, and expanding and locking the locking clamp on the inner wall of the wall-penetrating pipe;
(9) unscrewing two fixing bolts, and pulling out the protective sleeve replacing device from the operation side;
(10) poking the sleeves of the new protective sleeves into the hot chamber from the wall-penetrating pipe by adopting a blunt instrument;
(11) and pushing the driven manipulator into the hot chamber from the operation side, installing a clamp between a new protective sleeve and the wrist assembly of the driven manipulator, and finishing the replacement of the new protective sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010514468.8A CN111834027A (en) | 2020-06-08 | 2020-06-08 | Master-slave manipulator protective sleeve locking clamp, protective sleeve replacing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010514468.8A CN111834027A (en) | 2020-06-08 | 2020-06-08 | Master-slave manipulator protective sleeve locking clamp, protective sleeve replacing device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111834027A true CN111834027A (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010514468.8A Pending CN111834027A (en) | 2020-06-08 | 2020-06-08 | Master-slave manipulator protective sleeve locking clamp, protective sleeve replacing device and method |
Country Status (1)
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| CN (1) | CN111834027A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954050A (en) * | 2021-10-14 | 2022-01-21 | 中国核动力研究设计院 | Wall-through connecting device of split type manipulator and manipulator comprising same |
-
2020
- 2020-06-08 CN CN202010514468.8A patent/CN111834027A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954050A (en) * | 2021-10-14 | 2022-01-21 | 中国核动力研究设计院 | Wall-through connecting device of split type manipulator and manipulator comprising same |
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