CN209289328U - A kind of long-range more changing device of master slave manipulator sheath clamp - Google Patents
A kind of long-range more changing device of master slave manipulator sheath clamp Download PDFInfo
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- CN209289328U CN209289328U CN201822095749.5U CN201822095749U CN209289328U CN 209289328 U CN209289328 U CN 209289328U CN 201822095749 U CN201822095749 U CN 201822095749U CN 209289328 U CN209289328 U CN 209289328U
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- attachment device
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Abstract
The utility model discloses a kind of long-range more changing devices of master slave manipulator sheath clamp, and including pedestal, lift, sheath attachment device and the mounting plate placed in inverted trapezoidal, the bottom of the sheath attachment device and mounting plate is fixedly mounted on pedestal；The top of the sheath attachment device offers link slot, and the inner wall bottom of the link slot is set there are two limited block, and the limited block is inserted between two connection blocks on the attachment device I of sheath.By the device and application method of the utility model can cooperative mechanical hand saver set and clamp remotely replaced; to realize the separation and connection of sheath; unhook disassembly, the installation connection of clamp and the installing and dismounting of chela of clamp; it solves the problems, such as that sheath and clamp are remotely replaced to be difficult to realize; and the movement of whole device is without manual operation; to reduce the radioactive dose of staff, protect working environment not contaminated.
Description
Technical field
The utility model belongs to nuclear industrial facility replacement technical field, and in particular to a kind of master slave manipulator sheath clamp is remote
Journey more changing device.
Background technique
With the development of China's nuclear industry science and technology, scientific worker also obtains the research and discovery of nuclear industry technology
Considerable progress has been arrived, the security performance of operation has also greatly been improved with unfailing performance.Remote control operating technology is core
The indispensable element of industry, remote control operating technology for the internal tooling maintenance to internal unit in nuclear radiation scene with more
It changes, greatly reduces the irradiation injury and operation fatigue of operator.
Remote control operating technology is a kind of operating system flexibly run under nuclear radiation environment, in nuclear radiation environment
There are many equipment, and various pipelines are intricate, and channel is narrow, and working space is small, but by essential in remote control system
Operation equipment master slave manipulator can satisfy the job requirements in complicated nuclear radiation environment, and to meet equipment in nuclear radiation environment
Anti- irradiation requirement, higher for the performance requirement of master slave manipulator, to realize its functional requirement, structure design is also more multiple
It is miscellaneous.
Currently, master slave manipulator is widely used in radioactive environment instead of people in the production work in nuclear industry field
Member carries out operation and needs in order to realize that the safe and reliable of manipulator, failure rate are low, subtract reduced-maintenance requirement for manipulator
Motion arm install additional protective case, so that the failure at manipulator operation end, cleaning and maintenance are reduced, further according to actual operating condition feelings
Condition timing needs to change motion arm sheath surely.Master slave manipulator need to be equipped with different operations for different operation applications simultaneously
Clamp, and since work clamp damage failure is also required to the clamp more renewed.
According to different job requirements, the form of used master slave manipulator is also not quite similar.Master slave manipulator is divided into folder
Clamp it is fixed, be unworthy of sheath-clamp it is removable, can be removable etc. with sheath-clamp, wherein application range most it is wide be can be with protecting
The removable master slave manipulator of set-clamp.But since the working environment of master slave manipulator has the characteristics that radioactive, manipulator
The clamp replacement and sheath dismounting of operating side can not be by the direct touch operations of staff, it is necessary to be remotely operated, therefore needed
Want a kind of long-range disassembling, assembling and replacing device and corresponding operation method to solve the problems, such as this, thus reduce staff by according to agent
Amount, protects working environment not contaminated.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of master slave manipulator sheath clamp and remotely more changes the outfit
It sets, is capable of the long-range disassembling, assembling and replacing demand of cooperative mechanical hand saver set and clamp, to realize the separation and connection of sheath, clamp
Unhook disassembly, the installation connection of clamp and the installing and dismounting of chela, remotely replaced with to solve sheath and clamp and be difficult to realize
The technical issues of.
To achieve the above object, the technical solution of the utility model are as follows:
A kind of long-range more changing device of master slave manipulator sheath clamp, including pedestal, lift, sheath attachment device and
In the mounting plate that inverted trapezoidal is placed, the bottom of the sheath attachment device and mounting plate is fixedly mounted on pedestal；The shield
The top of set of connection devices offers link slot, and the limit there are two limited block is set in the bottom interior wall of the link slot
Block is inserted between two connection blocks on the attachment device I of the sheath of manipulator operation arm；The mounting plate is in court
The clamp mounting groove of open-top is equipped with to a side wall of sheath attachment device, the mounting plate is installed in clamp mounting groove side
There is clamp to import pin, it is two that the clamp, which imports pin, is fixedly mounted on the middle position of mounting plate and is located at same water
On horizontal line；For the lift between sheath attachment device and clamp mounting groove, the entirety of the lift is in mushroom
Shape structure, column structure of the lift by mushroom capitiform structure and positioned at its lower end form integral structure, institute
The bottom end for stating column structure is fixedly installed on pedestal, and the side of the column structure is equipped with the clamp convenient for manipulator operation arm
The clamping face of clamping.
Preferably, the long-range more changing device further includes sheath tripper, and the sheath tripper is mounted on sheath
On the outer wall of attachment device and it is located at away from the side of clamp mounting groove；The sheath tripper be equipped with sheath lead-in groove I and
For stopping the limiting slot of the connection block displacement on attachment device I, the sheath lead-in groove I is located at the top of limiting slot.
Further, the link slot is made of importing groove and sheath lead-in groove II, and the importing groove is led positioned at sheath
Enter the top of slot II；The bottom of the link slot is equipped with tapered pole.
Further, it is also equipped with chela on the mounting plate and imports pin, it is also two that the chela, which imports pin, symmetrically
It is mounted on the left and right sides that the clamp imports pin；The both sides that each chela imports pin further respectively have two chela disassemblies
Auxiliary pin, the chela disassembly auxiliary pin are fixedly mounted on a mounting board.
Further, the clamp mounting groove is outer towards being tilted towards on one side for mounting plate；The clamp mounting groove is located at installation
The middle and lower part of plate, the clamp importing pin and chela importing pin are respectively positioned on upper at the top end opening of the clamp mounting groove
Side, the bottom end of the clamp mounting groove is not contacted with the upper surface of pedestal.
Further, chela mounting device is also fixedly installed on the pedestal, the chela mounting device is located at sheath company
The side of connection device；The chela mounting device is equipped with the chela mounting groove of open-top；It is equipped in the chela mounting groove
Partition is respectively used to place one wait pacify so that chela mounting groove is divided into two chela installing zones in each chela installing zone
The chela of dress；The chela mounting groove is V-type, the groove face gradient of the chela mounting groove and the outside bevel angle one of chela
It causes.
Further, the utility model additionally provides the user of the long-range more changing device of the master slave manipulator sheath clamp
Method, the application method include the separation method of sheath, comprising the following steps:
(1) the connector I of manipulator operation arm and the attachment device I being connected with the bottom end connector I are inserted into sheath
In tripper；
(2) vertical depression manipulator operation arm unlocks connector I, keeps connector I rotatable；
(3) manipulator operation arm is rotated clockwise, until connector I is rotated to the card slot of attachment device I, connector I
It is separated with attachment device I；
(4) elevating mechanism hand motion arm separates connector I with sheath attachment device, and sheaths separate operation can be completed.
Further, the application method includes the connection method of sheath, comprising the following steps:
(1) before attended operation, need other manipulators that the attachment device I of sheath to be installed is put into sheath attachment device
In link slot, sheath attended operation is executed later；
(2) operating stick of manipulator operation of holding with a firm grip arm makes it execute closure clamp movement, moves down manipulator operation
Arm in the attachment device I for being inserted into connector I, while rotating operating stick slightly, it is ensured that is inserted perpendicularly into, rotates operating stick, such as
It is rotatable, then unclamp operating stick；
(3) manipulator operation arm is rotated into 20 ° of pushings counterclockwise, then rotates clockwise 110 °, so that connector I be made to lock
Attachment device I；
(4) manipulator operation arm is lifted from sheath attachment device, rotates left and right the firm degree for checking its locking.
Further, the application method includes the connection method of the method for dismounting and clamp of clamp；
The method for dismounting of the clamp the following steps are included:
(1) the connector II of the clamp of manipulator operation arm two clamps are inserted into import between pin；
(2) elevating mechanism hand motion arm is to solve the connector II on lock clip pliers and attachment device II；
(3) manipulator operation arm is rotated by 90 ° counterclockwise, clamp is made to break off relations, elevating mechanism hand motion arm is by clamp and machine
The separation of tool hand motion arm, completes clamp unhook disassembling section；
The installation and connection method of the clamp the following steps are included:
(1) new clamp is put into clamp mounting groove by other manipulators；
(2) operating stick of manipulator operation of holding with a firm grip arm makes it execute closure clamp movement, moves down manipulator operation
Attachment device II is inserted into the connector II of clamp by arm, while rotating operating stick slightly, it is ensured that is inserted perpendicularly into；
(3) manipulator operation arm is rotated 20 ° counterclockwise and then rotates clockwise 110 °, thus locking connection device
II；
(4) finally, left and right slightly rotate clamp, check clamp whether lock reliably, folding clamp check whether with machinery
Hand motion arm correctly connects.
Further, the application method includes the method for dismounting of chela and the installation method of chela；
The method for dismounting of the chela is the following steps are included: be directed at chela for the pin hole on manipulator operation arm clamp chela
Pin is imported, mobile clamp makes chela import the pin hole that pin penetrates on chela, and manipulator's motion arm drives clamp outside
It moves down, by chela disassembly auxiliary pin to the barrier effect on inclined-plane on the outside of chela, chela is released from clamp, is completed
The disassembly of chela, the chela removed hang over chela and import on pin, removed by other manipulators；
The installation method of the chela is the following steps are included: put two new chelas respectively to pincers by other manipulators
In two chela installing zones of pawl mounting groove, make groove face of the outside inclined-plane of each chela towards chela mounting groove, the folder of chela
It holds facing towards partition, clamp to be installed is directed at chela, execute closure clamp movement, two chelas are imported into clamp simultaneously
On, closure clamp ensures to install reliable.
The utility model has the beneficial effects that
By the device and application method of the utility model can cooperative mechanical hand saver set and clamp remotely replaced, from
And realize the separation and connection of sheath, unhook disassembly, the installation connection of clamp and the installing and dismounting of chela of clamp solve shield
Set and clamp remotely replace the problem of being difficult to realize, and the movement of whole device is without manual operation, to reduce work people
The radioactive dose of member, protects working environment not contaminated.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure diagram of the long-range more changing device of master slave manipulator sheath clamp of the utility model；
Fig. 2 is the cutaway view Amplified image of sheath attachment device；
Fig. 3 is the partial enlargement diagram at sheath attachment device limited block；
Fig. 4 is the structural schematic diagram of sheath；
Fig. 5 is the enlarged structure schematic diagram of the clamp of manipulator operation arm；
Fig. 6 is the enlarged structure schematic diagram of attachment device I；
Fig. 7 is the enlarged structure schematic diagram at sheath tripper；
Fig. 8 is the separation process schematic diagram of sheath；
Fig. 9 is the connection procedure schematic diagram of sheath；
Figure 10 is clamp disassembly process schematic diagram；
Figure 11 is that clamp installs connection procedure schematic diagram；
Figure 12 is chela installation process schematic diagram；
Figure 13 is chela disassembly process schematic diagram；
Figure 14 is the overall structure diagram I of the long-range more changing device of master slave manipulator sheath clamp of embodiment 2；
Figure 15 is the overall structure diagram II of the long-range more changing device of master slave manipulator sheath clamp of embodiment 2；
Figure 16 is the enlarged structure schematic diagram of the lift of embodiment 2；
Appended drawing reference: 1, sheath attachment device；2, sheath tripper；21, sheath lead-in groove I；22, limiting slot；3, bottom
Seat；4, link slot；41, groove is imported；42, sheath lead-in groove II；5, limited block；6, tapered pole；7, connector I；8, it connects
Device I；81, inner cavity；82, block is connected；83, card slot；9, manipulator operation arm；10, sheath；11, chela mounting device；12,
Mounting plate；13, clamp mounting groove；14, clamp imports pin；15, chela imports pin；16, chela dismantles auxiliary pin；17,
Chela mounting groove；171, partition；172, groove face；18, chela；181, outside inclined-plane；182, clamping face；183, pin hole；184, even
Junction；19, clamp；191, caliper position；192, connector II；20, lift；201, column structure；202, mushroom capitiform
Structure；203, face is clamped.
Specific embodiment
The utility model is described in further detail With reference to embodiment.
Embodiment 1
As shown in figures 1-13, a kind of master slave manipulator sheath clamp remotely more changing device, including pedestal 3, sheath connection dress
Set 1, sheath tripper 2, chela mounting device 11 and the mounting plate 12 placed in inverted trapezoidal, the sheath attachment device
1 and the bottom of mounting plate 12 be fixedly mounted on the base 3.The mounting plate 12 is in the side wall towards sheath attachment device 1
Clamp mounting groove 13 equipped with open-top, the sheath tripper 2 is mounted on the outer wall of sheath attachment device 1 and position
In the side for deviating from clamp mounting groove 13, the sheath attachment device 1, sheath tripper 2 and clamp mounting groove 13 are located at
On straight line, chela mounting device 11 is also fixedly installed on the pedestal 3, the chela mounting device 11 is located at sheath company
The side of connection device 1.
The existing attachment device for manipulator operation arm sheath and the existing company for manipulator operation arm clamp
Connection device is identical in structure.In order to enable reader to be apparent from the master slave manipulator sheath clamp of the utility model
The attachment device of the sheath of manipulator operation arm is labeled as attachment device I herein in subsequent introduction by long-range more changing device,
The attachment device of the clamp of manipulator operation arm is labeled as attachment device II.
The top of the sheath attachment device 1 offers link slot 4, set in the bottom interior wall of the link slot 4 there are two
Limited block 5, the limited block 5 are inserted between two connection blocks 82 on the attachment device I 8 of sheath.Pass through limit
The barrier effect of 5 pairs of the block connection blocks 82 in position, rotate attachment device I 8 in sheath connection procedure can not.The link slot 4
It is made of importing groove 41 and sheath lead-in groove II 42.The top for importing groove 41 and being located at sheath lead-in groove II 42；It leads
Entering groove 41 facilitates the connector of manipulator operation arm 9 and attachment device I 8 to be inserted into link slot 4.The bottom of the link slot 4
Portion is equipped with tapered pole 6, and the design of tapered pole 6 facilitates attachment device I 8 to recognize hole.
The sheath tripper 2 is equipped with the sheath lead-in groove I 21 and attachment device I for stopping manipulator operation arm 9
The limiting slot 22 that connection block 82 on 8 shifts, the limiting slot 22 are used to stop the connection gear on the attachment device I 8 of sheath
Block 82 shifts, and the sheath lead-in groove I 21 is located at the top of limiting slot 22.
The clamp mounting groove 13 is for placing new clamp 19 to be installed.The mounting plate 12 is in clamp mounting groove 13
(i.e. the opposite of mounting plate 12) is equipped with clamp and imports pin 14 on one side, and clamp mounting groove 13 is designed as with centainly oblique
Degree facilitates operator to watch the position of the connector II 192 of clamp 19.It is two that the clamp, which imports pin 14, fixed peace
Mounted in mounting plate 12 middle position and be located at same horizontal line on.It is also equipped with chela on the mounting plate 12 and imports pin
15, it is also two that the chela, which imports pin 15, is symmetrically mounted on the left and right sides that the clamp imports pin 14.Each chela
The both sides for importing pin 15 further respectively have two chela disassembly auxiliary pins 16, the fixed peace of chela disassembly auxiliary pin 16
On mounting plate 12.The clamp mounting groove 13 is outer towards being tilted towards on one side for mounting plate 12.The clamp mounting groove 13
In the middle and lower part of mounting plate 12, the clamp imports pin 14 and chela imports pin 15 and is respectively positioned on the clamp mounting groove 13
The bottom end of top at top end opening, the clamp mounting groove 13 is not contacted with the upper surface of pedestal 3.
The chela mounting device 11 is equipped with the chela mounting groove 17 of open-top.It is equipped in the chela mounting groove 17
Partition 171, so that chela mounting groove 17 is divided into two chela installing zones, it is to be installed that each chela installing zone places one respectively
Chela 18；The chela mounting groove 17 is V-type, 172 gradient of groove face of the chela mounting groove 17 and the outer skew back of chela 18
181 angle of face is consistent, make chela 18 place after top vertically upward.
In present nuclear industry field, the sheath position of manipulator operation arm 9 passes through attachment device I 8 and manipulator operation arm
97 position connector I is connected, and the clamp position of manipulator operation arm 9 is not shown in the figure by attachment device II() and it is mechanical
Hand motion arm 9 is connected.Attachment device I 8 is identical with the structure of attachment device II, and the attachment device I 8 and attachment device II are equal
It is respectively equipped with inner cavity 81, connection block 82 and card slot 83.
Wherein, in the connection cooperation of manipulator operation arm 9 and sheath 10,7 lower end connector I of manipulator operation arm 9
It is connected with attachment device I 8, is equipped with spring detent I(in the connector I 7 and is not shown in the figure).When connector I 7 with connect
When device I 8 links together, the spring detent I is inserted into the inner cavity 81 of attachment device I 8, at the connector I 7
It cannot be rotated in lock state；Connector I 7 is pushed, spring detent I is retracted, and connector I 7 is in the unlocked state, connects at this time
Connector I 7 can rotate.
And common clamp 19 includes caliper position 191 and connector II 192, the top sheet of the connector II 192
Body has certain taper, being capable of the clamped limit of importing pin 14 when thus lifting.The top of the connector II 192 is logical
It crosses attachment device II to be connected with manipulator operation arm 9, is equipped in spring detent II(figure in the connector II 192 and does not show
Out), the connector 102 carries out assembly connection with attachment device 11.When connector II 192 and attachment device II are connected to one
Rise when, the spring detent II is inserted into the inner cavity 81 of attachment device II, the connector II 192 be in the lock state and
It cannot rotate；Connector II 192 is pushed, spring detent II is retracted, and connector II 192 is in the unlocked state, at this time connector
II 192 can rotate.
The utility model additionally provides the application method of the long-range more changing device of the master slave manipulator sheath clamp, described
Application method includes the separation method of sheath, the connection method of sheath, the method for dismounting of clamp, the connection method of clamp, chela
Method for dismounting and chela installation method.
1, the sheath separation method the following steps are included:
(1) the connector I 7 of manipulator operation arm 9 and the attachment device I 8 being connected with 7 bottom end connector I are inserted into
To sheath tripper 2, limiting slot 22 has position-limiting action to the connection block 82 on attachment device I 8.
(2) vertical depression manipulator operation arm 9 unlocks connector I 7, keeps connector I 7 rotatable.Have on connector I 7
Spring detent I, when being pressed downward, spring detent I is retracted, and connector is rotatable.
(3) manipulator operation arm 9 is rotated clockwise, until at the rotation to the card slot 83 of attachment device I 8 of connector I 7,
Connector I 7 is separated with attachment device I 8.
(4) elevating mechanism hand motion arm 9 separates connector I 7 with sheath attachment device 1, and sheaths separate can be completed
Operation.
2, the sheath connection method the following steps are included:
(1) before attended operation, need other manipulators that the attachment device I 8 of sheath is put into the company of sheath attachment device 1
In access slot 4, sheath attended operation is executed later.
(2) operating stick of manipulator operation of holding with a firm grip arm 9 makes it execute closure clamp movement, moves down manipulator operation
Arm 9 in the attachment device I 8 for being inserted into connector I 7, while rotating operating stick slightly, it is ensured that is inserted perpendicularly into, rotation operation
Bar, it is such as rotatable, then unclamp operating stick.
(3) by the 20 ° of pushings of rotation counterclockwise of manipulator operation arm 9, then 110 ° are rotated clockwise, to make connector I 7
Locking connection device I 8.
(4) manipulator operation arm 9 is lifted from sheath attachment device 1, rotates left and right the firm journey for checking its locking
Degree.It can not such as rotate, repeat Connection Step.
3, the clamp method for dismounting the following steps are included:
(1) the connector II of the clamp 19 of manipulator operation arm 9 two clamps are inserted into import between pin 14.
(2) elevating mechanism hand motion arm 9 is to solve the connector II 192 on lock clip pliers 19 and attachment device II.Because of clamp
It is equipped with spring detent II in 19 connector II 192, when elevating mechanism hand mechanical arm, clamp imports pin 14 and blocks clamp company
192 outer ring connector II move it can not (since the connector II 192 of clamp 19 is with certain taper), inner ring Spring Card
Pin II is compressed, and attachment device 11 is rotated.
(3) manipulator operation arm 9 is rotated by 90 ° counterclockwise, clamp 19 is made to break off relations, elevating mechanism hand motion arm 9 is by clamp
19 separate with manipulator operation arm 9, complete 19 unhook disassembling section of clamp.
4, the clamp installation and connection method the following steps are included:
(1) new clamp 19 is put into clamp mounting groove 13 by other manipulators.
(2) operating stick of manipulator operation of holding with a firm grip arm 9 makes it execute closure clamp 19 and acts, moves down manipulator behaviour
Make arm 9, attachment device II is inserted into the connector II 192 of clamp 19, while rotating operating stick slightly, it is ensured that is vertical to insert
Enter.Because clamp mounting groove 13 is designed as incline structure, operator is facilitated to watch the position of the connector II 192 of clamp 19.
(3) by after manipulator operation arm 9 counterclockwise 20 ° of rotation, the connection block 82 of attachment device II is made to be directed at clamp
The card slot 83 of 19 connector II 192, then 110 ° are rotated clockwise, spring detent II stretches out, thus locking connection device II.
Connection Step when clamp 19 can not be closed, more than repetition.
(4) finally, left and right rotates clamp 19 slightly, check whether clamp 19 locks reliably, folding clamp 19 checks whether
It is correctly connect with manipulator operation arm 9.
5, the method for dismounting of the chela is the following steps are included: the pin hole 183 on 9 chela 18 of manipulator operation arm is aligned
Chela imports pin 15, and mobile clamp 19 makes chela import the pin hole 183 that pin 15 penetrates on chela 18, manipulator behaviour
Making arm 9 drives clamp 19 to move down outward, makees by chela disassembly auxiliary pin 16 to the blocking on inclined-plane 181 on the outside of chela
With, chela 18 to be released from clamp 19, completes the disassembly of chela 18, the chela 18 removed hangs over chela and imports on pin 15,
It is removed by other manipulators.
Chela 18 is equipped with pin hole 183, and inwardly, outside inclined-plane 181 outwardly, connects the clamping face 182 on the chela 18
Upward, the clamp 19 is equipped with chela installation card slot 83(and is not shown in the figure in face 184), the joint face 184 1 of the chela 18
In side plugging in fitting to chela installation card slot 83.
6, the installation method of the chela the following steps are included: put two new chelas 18 by other manipulators respectively
To two chela installing zones of chela mounting groove 17, make the outside inclined-plane 181 of each chela 18 towards chela mounting groove 17
Groove face 172, for the clamping face 182 of chela 18 towards partition 171, the top of chela 18 is directed at pincers upward, by clamp 19 to be installed
The top of pawl 18, executes closure clamp 19 and acts, and two chelas 18 is imported on clamp 19 simultaneously, closure clamp 19 ensures to pacify
Dress is reliable.
Embodiment 2
Unlike the first embodiment, as illustrated in figures 14-16, remotely more changing device is also for the master slave manipulator sheath clamp
Including lift 20.Since process device structure is complicated in hot cell, space is small, therefore has in the process of moving from manipulator
The risk slid in clamp, therefore lift 20 described in ad hoc meter, for the mobile clamp sheath more changing device of manipulator.Increase
Lift is added to be conducive to set on-fixed mounting structure for the entire sheath clamp replacement device of the utility model, according to heat
The actual conditions of room working space are put, when required with manipulator grab entire sheath clamp replacement device mention it is required
Operating position carries out the replacement of sheath or clamp.
The lift 20 is installed between sheath attachment device 1 and clamp mounting groove 13.The lift 20
Whole is in mushroom-shaped structure, and the lift is by mushroom capitiform structure 202 and positioned at 201 groups of column structure of its lower end
At integral structure, the bottom end of the column structure 201 is fixedly installed on pedestal 3, and the side of the column structure 201 is set
There is the clamping face 203 that the clamp convenient for manipulator operation arm clamps.
When needing to transport, mechanical-hand clamp angle is first adjusted, keeps its clamp side parallel with pedestal 3, slowly mobile folder
It clamps until two chelas of clamp are located at two clamping faces, 203 outside of lift 20, closure clamp clamps lift 20
Clamping face 203, by entire sheath clamp replacement device promotion then move to required operating position.Due to mushroom capitiform knot
The basal diameter of structure 202 is greater than the size of column structure 201, therefore mushroom capitiform structure 202 can guarantee that clamp sheath more changes the outfit
It sets in moving process without departing from clamp, increases security reliability.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (6)
1. a kind of long-range more changing device of master slave manipulator sheath clamp, it is characterised in that: connect including pedestal, lift, sheath
The bottom of connection device and the mounting plate placed in inverted trapezoidal, the sheath attachment device and mounting plate is fixedly mounted on pedestal
On；The top of the sheath attachment device offers link slot, and the inner wall bottom of the link slot sets that there are two limited block, institutes
It states between two connection blocks on the attachment device I for the sheath that limited block is inserted into manipulator operation arm；The installation
Plate is equipped with the clamp mounting groove of open-top in the side wall towards sheath attachment device, and the mounting plate is in clamp mounting groove one
Side is equipped with clamp and imports pin, and it is two that the clamp, which imports pin, is fixedly mounted on the middle position of mounting plate and is located at
In same horizontal line；The lift is between sheath attachment device and clamp mounting groove, the entirety of the lift
In mushroom-shaped structure, integral type that column structure of the lift by mushroom capitiform structure and positioned at its lower end forms
The bottom end of structure, the column structure is fixedly installed on pedestal, and the side of the column structure, which is equipped with, is convenient for manipulator operation
The clamping face of the clamp clamping of arm.
2. the long-range more changing device of master slave manipulator sheath clamp according to claim 1, it is characterised in that: it is described it is long-range more
Changing device further includes sheath tripper, and the sheath tripper, which is mounted on the outer wall of sheath attachment device and is located at, to deviate from
The side of clamp mounting groove；The sheath tripper is equipped with sheath lead-in groove I and for stopping the connection on attachment device I to keep off
The limiting slot of block displacement, the sheath lead-in groove I are located at the top of limiting slot.
3. the long-range more changing device of master slave manipulator sheath clamp according to claim 2, it is characterised in that: the link slot
It is made of importing groove and sheath lead-in groove II, the top for importing groove and being located at sheath lead-in groove II；The link slot
Bottom is equipped with tapered pole.
4. the long-range more changing device of master slave manipulator sheath clamp according to claim 3, it is characterised in that: the mounting plate
On be also equipped with chela and import pin, it is also two that the chela, which imports pin, is symmetrically mounted on the clamp and imports pin
The left and right sides；The both sides that each chela imports pin further respectively have two chela disassembly auxiliary pins, and the chela disassembly is auxiliary
Pin is helped to be fixedly mounted on a mounting board.
5. the long-range more changing device of master slave manipulator sheath clamp according to claim 4, it is characterised in that: the clamp peace
Tankage is outer towards being tilted towards on one side for mounting plate；The clamp mounting groove is located at the middle and lower part of mounting plate, and the clamp imports pin
Nail and chela import pin and are respectively positioned on the top at the top end opening of the clamp mounting groove, and the bottom end of the clamp mounting groove is not
It is contacted with the upper surface of pedestal.
6. the long-range more changing device of master slave manipulator sheath clamp according to claim 5, it is characterised in that: on the pedestal
It is also fixedly installed with chela mounting device, the chela mounting device is located at the side of sheath attachment device；The chela installation
Device is equipped with the chela mounting groove of open-top；Partition is equipped in the chela mounting groove, so that chela mounting groove be divided
At two chela installing zones, it is respectively used to place a chela to be installed in each chela installing zone；The chela mounting groove is V
Type, the groove face gradient of the chela mounting groove and the outside bevel angle of chela are consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822095749.5U CN209289328U (en) | 2018-12-13 | 2018-12-13 | A kind of long-range more changing device of master slave manipulator sheath clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822095749.5U CN209289328U (en) | 2018-12-13 | 2018-12-13 | A kind of long-range more changing device of master slave manipulator sheath clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209289328U true CN209289328U (en) | 2019-08-23 |
Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434874A (en) * | 2018-12-13 | 2019-03-08 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator sheath clamp remotely more changing device and its application method |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434874A (en) * | 2018-12-13 | 2019-03-08 | 青岛东卡环保工程技术有限公司 | A kind of master slave manipulator sheath clamp remotely more changing device and its application method |
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