CN117182953A - Replacing tool for manipulator clamp - Google Patents

Abstract

The invention provides a tool for replacing a manipulator clamp, which comprises the following components: a bottom plate; the vertical plate is fixedly connected with the bottom plate; the clamp locking device is arranged on the first side of the vertical plate and fixedly connected with the bottom plate; the clamp toe replacing device is arranged on the second side of the vertical plate and fixedly connected with the bottom plate; the clamp replacement device, the mechanical glove sleeve fixing seat dismounting device and the clamp positioning device are fixedly connected to the second side surface of the vertical plate. The technical scheme of the invention has the advantages of simple structure and simple working principle, increases the overhaul space of personnel in the overhaul process, reduces the radiation dose of the personnel in the overhaul process, greatly improves the working efficiency, realizes the continuous and stable operation of the manipulator in the radioactive environment, and ensures the stable operation of the main process system.

Description

Replacing tool for manipulator clamp

Technical Field

The invention relates to the technical field of nuclear industry, in particular to a tool for replacing a manipulator clamp.

Background

The articulated master-slave manipulators are distributed in the analysis center hot chamber, can remotely operate equipment in the hot chamber, and assist other equipment to complete more complex operation work. The articulated master-slave manipulator has an excellent safety sealing function, and the sealing ring and the corrugated pipe of the wall penetrating component part can realize the atmosphere isolation between the inside and outside of the hot room/maintenance room. Because joint formula master slave manipulator is from the hand part all in the radioactivity hot laboratory cave, need maintainer to get into the hot laboratory cave many times when overhauling the manipulator for the maintainer often receives the radiation and shines, and the maintenance degree of difficulty is high.

Disclosure of Invention

The invention provides a tool for replacing a manipulator clamp, which aims to solve the problem that the manipulator clamp is difficult to overhaul and an maintainer is frequently irradiated.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the utility model provides a change frock of manipulator clamp, includes:

a bottom plate;

the vertical plate is fixedly connected with the bottom plate;

the clamp locking device is arranged on the first side of the vertical plate and fixedly connected with the bottom plate;

the clamp toe replacing device is arranged on the second side of the vertical plate and fixedly connected with the bottom plate;

the clamp replacement device, the sleeve fixing seat dismounting device and the clamp positioning device are fixedly connected to the second side surface of the vertical plate.

Optionally, the clamp locking device includes:

the clamp locking device is fixedly connected with the bottom plate through the guide rod;

an upper pressing plate fixedly connected to the end part of the guide rod;

the sliding block is sleeved on the guide rod;

the spring is sleeved on the guide rod, and two ends of the spring are respectively fixed on the upper pressing plate and the sliding block;

the support rod is arranged on the sliding block;

the pull ring is arranged in the middle of the supporting rod;

the first stand column and the second stand column are arranged on the sliding block;

and the T-shaped handle is arranged on the sliding block.

Optionally, the first upright and the second upright are at a preset angle and are arranged at a preset distance;

at least 2 bearings are arranged on the first upright post and the second upright post.

Optionally, the clamp toe replacement device includes:

the clamp toe replacing device is fixedly connected with the bottom plate through the fixing plate;

the clamp toe replacing device stand column is fixedly connected with the fixing plate;

the support frame is fixedly connected with the upright post of the clamp toe replacing device;

a toe clip storage tank fixedly connected with the support frame;

the sliding rail is fixed on the side surface of the supporting frame;

one end of the toe clamping and disassembling device is fixed with the toe clamping storage groove, and the other end of the toe clamping and disassembling device is fixed with the supporting frame.

Optionally, the support frame is U type structure, press from both sides the toe holding tank with press from both sides the toe dismounting device and fix the inboard at U type structure.

Optionally, the clamp exchanging device includes:

the clamp replacing device is fixedly connected with the vertical plate through the vertical column round table;

and the hoof-shaped clamping groove is fixed at the end part of the upright column round table.

Optionally, a clamp slot sliding rail is arranged at the inner side of the hoof-shaped clamping slot.

Optionally, the sleeve fixing base dismounting device includes:

a connecting plate;

the sleeve fixing seat clamping groove is fixedly connected with the connecting plate;

the sleeve fixing seat clamping groove sliding rail is arranged on the sleeve fixing seat clamping groove;

the end part of the sleeve fixing seat clamping groove sliding rail is provided with a positioning bolt.

Optionally, the inside cavity structure that is of sleeve fixing base draw-in groove, sleeve fixing base draw-in groove slide rail is in sleeve fixing base draw-in groove is inside to slide, carries out spacingly through the locating bolt.

Optionally, the clamp positioning device includes:

a connecting piece;

and the positioning device platform is integrally formed with the connecting piece.

The scheme of the invention at least comprises the following beneficial effects:

the scheme of the invention comprises the following steps: a bottom plate; the vertical plate is fixedly connected with the bottom plate; the clamp locking device is arranged on the first side of the vertical plate and fixedly connected with the bottom plate; the clamp toe replacing device is arranged on the second side of the vertical plate and fixedly connected with the bottom plate; the clamp replacement device, the mechanical glove sleeve fixing seat dismounting device and the clamp positioning device are fixedly connected to the second side surface of the vertical plate. The technical scheme of the invention has the advantages of simple structure and simple working principle, increases the overhaul space of personnel in the overhaul process, reduces the radiation dose of the personnel in the overhaul process, greatly improves the working efficiency, realizes the continuous and stable operation of the manipulator in the radioactive environment, and ensures the stable operation of the main process system.

Drawings

Fig. 1 is a schematic structural diagram of a tool for replacing a manipulator clamp according to an embodiment of the present invention;

FIG. 2 is a schematic view of a clamp locking apparatus provided in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of a gripper toe-change device according to an embodiment of the present invention;

FIG. 4 is a schematic view of a clamp changing device provided by an embodiment of the present invention;

FIG. 5 is a schematic view of a sleeve holder dismounting device according to an embodiment of the present invention;

FIG. 6 is a schematic view of a clamp positioning device provided by an embodiment of the present invention;

FIG. 7 is a perspective view of a clamp provided by an embodiment of the present invention;

FIG. 8 is a front view of a clamp provided by an embodiment of the present invention;

fig. 9 is a schematic view of a toe clip according to an embodiment of the present invention.

Reference numerals illustrate:

11. a bottom plate; 12. a vertical plate; 13. a clamp locking device; 131. a guide rod; 132. an upper press plate; 133. a slide block; 134. a support rod; 135. a pull ring; 1361. a first upright; 1362. a second upright; 137. a T-shaped handle; 138. a bearing; 139. a spring; 14. a clamp toe changing device; 141. a fixing plate; 142. the clamp toe is replaced by the upright post of the device; 143. a support frame; 144. a toe clip storage slot; 145. a slide rail; 146. a toe clip removing device; 15. a clamp changing device; 151. column round table; 152. a hoof-shaped clamping groove; 153. a clamp slot slide rail; 16. the sleeve fixing seat dismounting device; 161. a connecting plate; 162. a sleeve fixing seat clamping groove; 163. the sleeve fixing seat clamping groove sliding rail; 164. positioning bolts; 17. a clamp positioning device; 171. a connecting piece; 172. a positioning device platform; 2. a clamp; 21. a clamp column clamping groove; 22. a clamp toe arm; 23. a clamp toe arm slider; 24. clamping toe; 25. the toe clamping locks the cylindrical pin.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

As shown in fig. 1, an embodiment of the present invention provides a tool for replacing a manipulator clamp, including:

a bottom plate 11;

a vertical plate 12 fixedly connected with the bottom plate 11;

the clamp locking device 13 is arranged on the first side of the vertical plate 12 and fixedly connected with the bottom plate 11;

the clamping toe replacing device 14 is arranged on the second side of the vertical plate 12 and fixedly connected with the bottom plate 11;

a clamp exchanging device 15, a manipulator sleeve fixing base dismounting device 16 and a clamp positioning device 17 which are fixedly connected to the second side surface of the vertical plate 12.

In this embodiment, the tool for replacing the manipulator clamp can be suitable for clamp replacement under different working conditions, and specifically comprises the following steps:

working condition one: a new clamp is installed. Tool state: the clamp locking device 13 is in an upper limit.

The new clamp 2 is transported to a destination by a horizontal conveyor, the new clamp 2 is placed on the clamp positioning device 17 in a state of being naturally opened and being vertical to the horizontal plane by a mechanical arm, the hoof-shaped clamping groove 152 of the clamp replacing device 15 is pushed in, and the pull ring 135 of the clamp locking device 13 is pulled by other mechanical arms, so that the clamp 2 is clamped by the upright post part. Then the manipulator of the required installation clamp 2 is operated, the connecting device is inserted into the clamp, the wrist is pressed downwards, the handle is rotated until the connection with the clamp is completed, and the connection is checked to be correct through the clamping action of the clamp.

Working condition II: and (5) disassembling the clamp. Tool state: the clamp locking device 13 is in an upper limit.

The manipulator main hand is operated to set the whole clamp 2 in a state of being vertical to the horizontal plane. Placed on the clamp positioning device 17, pushed into the hoof-shaped clamping groove 152 of the clamp exchanging device 15, and pulled by other manipulators to pull the pull ring 135 of the locking device 13, so that the upright post part clamps the clamp 2. The clamp 2 is then pulled up, the arm is twisted by 90 °, and the arm is pulled up from the clamp 2, so that the clamp 2 is detached from the wrist.

And (3) working condition III: and replacing the clamping toe of the manipulator clamp. Tool state: the clamp lock 13 is in an up/down limit.

The new clamping toe 24 is transported to a destination by a horizontal conveyor, the new clamping toe 24 is placed on the clamping toe storage groove 144 by other manipulators, then the damaged clamping toe 24 is placed on the clamping toe dismounting device 146, the clamping toe locking cylindrical pin 25 is clamped on the clamping toe dismounting device 146, and the clamping toe 24 can be dismounted by pressing downwards. The gripper arm slide 23 is placed in the slide rail 145 on the gripper storage slot 144 and the manipulator gripper is pulled to complete the installation.

And (4) working condition four: and disassembling the sleeve fixing seat. Tool state: the clamp lock 13 is in an up/down limit.

After the clamp is removed, the mechanical glove sleeve fixing base is inserted into the sleeve fixing base dismounting device 16, then the clamp is pulled upwards to twist by 90 degrees, and then the whole manipulator is lifted upwards to separate from the sleeve fixing base.

The tool for replacing the manipulator clamp is simple in structure and working principle, the overhauling space of personnel in the overhauling process is increased, the radiation dose of the personnel in the overhauling process is reduced, the working efficiency is greatly improved, continuous and stable operation of the manipulator in a radioactive environment is realized, and the stable operation of a main process system is ensured.

In an alternative embodiment of the present invention, the clamp locking device 13 includes:

the guide rod 131, the clamp locking device 13 is fixedly connected with the bottom plate 11 through the guide rod 131;

an upper pressing plate 132 fixedly connected to an end of the guide bar 131;

a sliding block 133 sleeved on the guide rod 131;

a spring 139 sleeved on the guide rod 131 and having both ends respectively fixed to the upper pressing plate 132 and the slider 133;

a support bar 134 provided on the slider 133;

a pull ring 135 provided at a central position of the support bar 134;

a first post 1361 and a second post 1362 provided on the slider 133;

a T-shaped handle 137 provided on the slider 133.

In this embodiment, the clamp 2 is clamped by the clamp locking device 13, so that the lifting action of the upright post clamping groove 21 in the clamp 2 is realized, and the upright post clamping groove 21 is kept in a state, so that the inner clamping groove of the adapter of the manipulator clamp can be conveniently in butt joint with the upright post clamping groove 21.

The T-shaped handle 137 is a power supply part in the locking device, when the clamp is disassembled, the T-shaped handle 137 is pulled up, the sliding block 133 is compressed up to form a spring 139, and the two supporting rods 134 form dead points on a line for supporting and maintaining the upper limit state of the sliding block 133.

After the clamp is installed, the pull ring 135 is slightly stirred, and the elastic force of the spring 139 is added with the gravity of the sliding block 133 to drive the upright post to move downwards. When the upright post moves downwards, the first upright post 1361 firstly contacts the clamp toe arm 22, and at the moment, the clamp opening angle is larger, so that the clamp is easy to clamp inwards;

after the clamp 2 is lowered to a certain height, the second post 1362 comes into contact with the clamp toe 22, allowing the clamp 2 to reach a state in which the clamp inner post is raised.

In an alternative embodiment of the present invention, the first upright 1361 and the second upright 1362 are disposed at a predetermined angle and a predetermined distance apart;

at least 2 bearings 138 are provided on each of the first and second posts 1361, 1362.

In this embodiment, the first upright 1361 and the second upright 1362 are disposed according to a certain inclination angle and a certain spacing distance, the angle and the spacing distance are determined according to the shape and the volume of the manipulator clamp, and the first upright 1361 and the second upright 1362 can clamp the clamp by the disposed angle and the spacing distance, so that the upright in the clamp is in a rising state;

bearings 138 are provided on each post to change sliding into rolling when the post contacts the gripper arms 22. This greatly reduces friction and allows the pliers to be mounted.

In an alternative embodiment of the present invention, the gripper toe exchanging device 14 includes:

a fixing plate 141, wherein the clamp toe changing device 14 is fixedly connected with the bottom plate 11 through the fixing plate 141;

a clamp toe changer column 142 fixedly coupled to the fixing plate 141;

a support bracket 143 fixedly connected to the clamp toe changer column 142;

a toe clip storage groove 144 fixedly connected to the supporting frame 143;

a sliding rail 145 fixed to a side of the supporting frame 143;

and a toe clamping and removing device 146 having one end fixed to the toe clamping and storing groove 144 and the other end fixed to the supporting frame 143.

In this embodiment, the gripper fingers 24 of the gripper are transported into the hot room by a horizontal conveyor and are placed in the gripper storage slot 144 using other manipulators, which can place four gripper fingers 24. After the toe clip 24 is placed, the slider 133 at the lower end of the toe clip arm 22 is placed on the slide rail 145, and moves along the slide rail 145, thereby completing the installation of the toe clip 24.

When removing the toe clip 24, the toe clip locking cylindrical pin 25 is placed above the toe clip removing device 146, and the toe clip 24 can be removed by downward force.

The clamp toe exchanging device 146 uses two clamp toe exchanging device upright posts 142 to connect with the base plate 11, so that the clamp toe exchanging device 14 is fixed with the base plate and is not easy to loosen.

In an alternative embodiment of the present invention, the support frame 143 has a U-shaped structure, and the toe clip storing groove 144 and the toe clip removing device 146 are fixed to the inner side of the U-shaped structure.

In this embodiment, the middle part of the U-shaped structure of the support frame 143 has sufficient space, the clamping toe 24 is inserted into the clamping toe storage slot 144, and sufficient space is left at the lower part of the clamping toe 24 to avoid the contact between the lower part of the clamping toe 24 and the device;

when the clip toe dismounting device 146 dismantles the clip toe 24, the clip toe 24 needs to be pushed downwards with force, so that the space of the support frame 143 with the U-shaped structure can avoid the damage to the device or the clip toe 24 caused by touching the device when the clip toe 24 moves downwards.

In an alternative embodiment of the present invention, the clamp exchanging device 15 includes:

the upright round table 151, the clamp replacing device 15 is fixedly connected with the upright plate 12 through the upright round table 151;

and a hoof-shaped clamping groove 152 fixed at the end part of the upright circular table 151.

In an alternative embodiment of the present invention, the inner side of the shoe-shaped clamping groove 152 is provided with a clamping groove sliding rail 153.

In the above-described embodiments, the clamp changing device 15 can realize the placement and the change of the clamp. The spring is mounted on the column boss 151 of the clamp changing device 15, and the part is mounted on the vertical plate 12 of the tool. The clamp 2 is placed in place by the clamp slot slide rail 153 on the clamp changing device 15, and the plane of the clamp slot slide rail 153 is set to be a wedge-shaped surface, so that the clamp is easier to clamp in place.

After clamping the clamp, pulling upwards, and rotating for 90 degrees; the clamp can be disassembled, pressed downwards and rotated by 90 degrees, and then the clamp can be installed.

In an alternative embodiment of the present invention, the sleeve holder removing device 16 includes:

a connection plate 161;

a sleeve fixing seat clamping groove 162 fixedly connected with the connecting plate 161;

a sleeve holder slot rail 163 disposed on the sleeve holder slot 162;

the end of the sleeve fixing seat clamping groove sliding rail 163 is provided with a positioning bolt 164.

In this embodiment, when the sleeve fixing base dismounting device 16 works, the clamp is firstly dismounted by using the clamp dismounting device, then the whole mechanical glove sleeve fixing base is pulled outwards, after the clamp adapter is not interfered with the hoof-shaped clamping groove 152, the clamp adapter is inserted into the sleeve fixing base clamping groove 162, pushed inwards to enable the clamp adapter to slide into the hoof-shaped clamping groove 152, then pulled upwards, and rotated by 90 degrees, and the mechanical glove sleeve fixing base can be dismounted.

After the mechanical glove sleeve fixing seat is detached through the sleeve fixing seat detaching device 16, the whole manipulator can be pulled out of the hot chamber area, but the sleeve is still fixed on the hot chamber wall, the sleeve fixing seat and the sleeve are not detached, so that the atmosphere in the hot chamber is not overflowed, and unnecessary cross contamination is not caused.

When the novel sleeve is installed, the original sleeve and the sleeve fixing seat are treated as waste, the novel sleeve and the novel sleeve fixing seat are installed on the whole hand outside the hot chamber, and then the sleeve and the whole hand are installed in together.

In an alternative embodiment of the present invention, the sleeve fixing base clamping groove 162 has a hollow structure, and the sleeve fixing base clamping groove sliding rail 163 slides inside the sleeve fixing base clamping groove 162 and is limited by the positioning bolt 164.

In this embodiment, the sleeve fixing base clamping groove 162 has a rectangular cavity structure, a rectangular through hole is formed on one side, and the sleeve fixing base clamping groove sliding rail 163 passes through the through hole to be arranged in the cavity of the sleeve fixing base clamping groove 162 and can slide in the cavity;

one end of the sleeve fixing seat clamping groove sliding rail 163 far away from the cavity is provided with a positioning bolt 164. The positioning bolt 164 limits the sleeve fixing seat clamping groove sliding rail 163, so that the sleeve fixing seat clamping groove sliding rail 163 is prevented from excessively sliding and completely sliding into the cavity, and cannot be pulled out.

In an alternative embodiment of the present invention, the clamp positioning device 17 includes:

a connection member 171;

a positioning device platform 172 integrally formed with the connector 171.

In this embodiment, the clamp positioning device 17 is fixedly connected to the riser 12 through the connecting piece 171, and the clamp positioning device 17 is used for placing a clamp to realize the first positioning of the clamp.

The clamp wrist base is first placed on the positioning device platform 172, and the clamp positioning device 17 contacts the clamp earlier than the clamp changing device 15 for positioning in the vertical direction of the clamp, so that the clamp changing device 15 can slide into the clamping groove at the upper part of the clamp.

The replacing tool for the manipulator clamp disclosed by the embodiment of the invention has the following advantages:

1. the convenience of tool replacement and maintenance of the joint type master-slave manipulator clamp is improved. The manipulator clamp can be replaced and the manipulator clamp toe can be replaced and the manipulator sleeve fixing seat can be disassembled by remote operation outside the hot chamber, so that the times of entering the hot chamber by maintenance personnel are reduced, and the irradiation time is greatly reduced.

2. The tool for replacing the manipulator clamp can realize the rapid disassembly and assembly of the clamp, the clamp toe and the oversleeve fixing seat, the operation difficulty is reduced, the maintenance time of maintenance personnel is shortened, and the working efficiency is improved.

3. The tool replacing structure of the manipulator clamp is simple and compact in design, functions of clamping the clamp, clamping the toe, disassembling and assembling the sleeve fixing seat and the like are concentrated on one tool, the occupied area of the tool in a hot chamber is reduced, and other works are not hindered.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims (10)

1. The utility model provides a change frock of manipulator clamp which characterized in that includes:

a bottom plate (11);

a vertical plate (12) fixedly connected with the bottom plate (11);

the clamp locking device (13) is arranged on the first side of the vertical plate (12) and fixedly connected with the bottom plate (11);

the clamping toe replacing device (14) is arranged on the second side of the vertical plate (12) and fixedly connected with the bottom plate (11);

the clamp replacement device (15), the sleeve fixing seat dismounting device (16) and the clamp positioning device (17) are fixedly connected to the second side surface of the vertical plate (12).

2. The tool for changing a manipulator clamp according to claim 1, wherein the clamp locking device (13) comprises:

the clamp locking device (13) is fixedly connected with the bottom plate (11) through the guide rod (131);

an upper pressing plate (132) fixedly connected to the end of the guide rod (131);

a sliding block (133) sleeved on the guide rod (131);

a spring (139) sleeved on the guide rod (131) and having both ends respectively fixed on the upper pressing plate (132) and the slider (133);

a support bar (134) provided on the slider (133);

the pull ring (135) is arranged in the middle of the supporting rod (134);

a first upright (1361) and a second upright (1362) provided on the slider (133);

and the T-shaped handle (137) is arranged on the sliding block (133).

3. The tool for replacing a robot clamp according to claim 2, wherein the first upright (1361) and the second upright (1362) are at a predetermined angle and are disposed at a predetermined distance;

at least 2 bearings (138) are arranged on the first upright (1361) and the second upright (1362).

4. The manipulator clamp changing tool according to claim 1, wherein the clamp toe changing device (14) comprises:

the clamp toe replacing device (14) is fixedly connected with the bottom plate (11) through the fixing plate (141);

a clamp toe changing device upright post (142) fixedly connected with the fixing plate (141);

the supporting frame (143) is fixedly connected with the clamp toe replacement device upright post (142);

a toe clip storage tank (144) fixedly connected to the support bracket (143);

a sliding rail (145) fixed on the side surface of the supporting frame (143);

and one end of the toe clamping and disassembling device (146) is fixed with the toe clamping and storing groove (144), and the other end of the toe clamping and disassembling device is fixed with the supporting frame (143).

5. The tool for replacing the manipulator clamp according to claim 4, wherein the supporting frame (143) is of a U-shaped structure, and the toe clamping storage groove (144) and the toe clamping dismounting device (146) are fixed on the inner side of the U-shaped structure.

6. The tool for changing a manipulator clamp according to claim 1, wherein the clamp changing device (15) comprises:

the clamp replacing device (15) is fixedly connected with the vertical plate (12) through the vertical column round table (151);

and the hoof-shaped clamping groove (152) is fixed at the end part of the upright column round table (151).

7. The tool for replacing the manipulator clamp according to claim 6, wherein a clamp clamping groove sliding rail (153) is arranged on the inner side of the hoof-shaped clamping groove (152).

8. The manipulator clamp replacement fixture according to claim 1, wherein the sleeve holder dismounting device (16) comprises:

a connection plate (161);

a sleeve fixing seat clamping groove (162) fixedly connected with the connecting plate (161);

a sleeve fixing seat clamping groove sliding rail (163) arranged on the sleeve fixing seat clamping groove (162);

the end part of the sleeve fixing seat clamping groove sliding rail (163) is provided with a positioning bolt (164).

9. The tool for replacing the manipulator clamp according to claim 8, wherein the sleeve fixing seat clamping groove (162) is of a cavity structure, the sleeve fixing seat clamping groove sliding rail (163) slides in the sleeve fixing seat clamping groove (162), and limiting is performed through the positioning bolt (164).

10. The tool for changing a manipulator clamp according to claim 1, wherein the clamp positioning device (17) comprises:

a connecting member (171);

and a positioning device platform (172) integrally formed with the connecting piece (171).