CN209648756U - A kind of master slave manipulator sheath attaching/detaching apparatus - Google Patents
A kind of master slave manipulator sheath attaching/detaching apparatus Download PDFInfo
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- CN209648756U CN209648756U CN201822094711.6U CN201822094711U CN209648756U CN 209648756 U CN209648756 U CN 209648756U CN 201822094711 U CN201822094711 U CN 201822094711U CN 209648756 U CN209648756 U CN 209648756U
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- sheath
- attachment device
- tripper
- groove
- manipulator
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Abstract
The utility model discloses a kind of master slave manipulator sheath attaching/detaching apparatus, including pedestal, sheath tripper and sheath attachment device, the sheath attachment device is mounted on the base, and the sheath tripper is mounted on the outer wall of sheath attachment device；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 in the attachment device of manipulator operation arm；The limiting slot of connection block displacement in attachment device of the sheath tripper equipped with sheath lead-in groove I and for stopping manipulator operation arm, the sheath lead-in groove I are located at the top of limiting slot.By the device and application method of the utility model can cooperative mechanical hand saver set remotely replaced; to realize the separation and connection of sheath; it solves the problems, such as that sheath is remotely replaced to be difficult to realize, to reduce the radioactive dose of staff, protects 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 dismounting dress
It sets.
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.Since the working environment of master slave manipulator has the characteristics that radioactive, work people
Member can not directly contact manipulator operation end, it is necessary to be remotely operated, it is therefore desirable to a kind of master slave manipulator sheath dismounting dress
The operating method set and remotely replaced accordingly solves the problems, such as this, to reduce the radioactive dose of staff, protects work
Environment is 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 attaching/detaching apparatus and its use
Method, can cooperative mechanical hand saver set remotely replaced, it is long-range to solve sheath to realize the separation and connection of sheath
The technical issues of replacement is difficult to realize.
To achieve the above object, the technical solution of the utility model are as follows:
A kind of master slave manipulator sheath attaching/detaching apparatus, including pedestal, sheath tripper and sheath attachment device, the shield
Set of connection devices is mounted on the base, and the sheath tripper is mounted on the outer wall of sheath attachment device；The sheath connects
The top of connection device offers link slot, and the inner wall bottom of the link slot sets that there are two limited blocks, and the limited block can
It is inserted between two connection blocks in the attachment device of manipulator operation arm；The sheath tripper is imported equipped with sheath
The limiting slot of connection block displacement on slot I and attachment device for stopping manipulator operation arm, sheath lead-in groove I
In the top of limiting slot.
Preferably, if the sheath tripper is fixedly mounted on the outer wall of sheath attachment device by bolt stem I；Institute
Sheath attachment device is stated to be fixedly mounted on pedestal by multiple bolt II for dividing equally distribution.
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.
Further, the bottom of the link slot is equipped with tapered pole.
Further, the utility model additionally provides the application method of the master slave manipulator sheath attaching/detaching apparatus, described
Application method includes the connection method of the separation method and sheath of sheath.
Further, the separation method of the sheath, specifically includes the following steps:
(1) connector of manipulator operation arm and the attachment device being connected with connector bottom end are inserted into sheath unlock
In device；
(2) vertical depression manipulator operation arm unlocks connector, keeps connector rotatable；
(3) manipulator operation arm is rotated clockwise, until connector is rotated to the card slot of attachment device, connector and company
Connection device separation；
(4) elevating mechanism hand motion arm separates connector with sheath attachment device, and sheaths separate operation can be completed.
Further, the connection method of the sheath, specifically includes the following steps:
(1) before attended operation, need other manipulators that the attachment device 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 for being inserted into connector, while rotating operating stick slightly, it is ensured that is inserted perpendicularly into, rotates operating stick, such as may be used
Rotation, then unclamp operating stick；
(3) manipulator operation arm is rotated into 20 ° of pushings counterclockwise, then rotates clockwise 110 °, so that connector be made to lock
Attachment device；
(4) manipulator operation arm is lifted from sheath attachment device, rotates left and right the firm degree for checking its locking.
The utility model has the beneficial effects that
By the device and application method of the utility model can cooperative mechanical hand saver set remotely replaced, to realize
The separation and connection of sheath solve the problems, such as that sheath is remotely replaced and are difficult to realize, to reduce the radioactive dose of staff, protection
Working environment is 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 sheath provision for disengagement structural schematic diagram of the utility model；
Fig. 2 is the sheath attaching/detaching apparatus diagrammatic cross-section of the utility model；
Fig. 3 is the partial enlargement diagram at the sheath attachment device limited block of the utility model；
Fig. 4 is the schematic diagram at the sheath tripper of the utility model；
Fig. 5 is the enlarged structure schematic diagram of the attachment device of existing manipulator operation arm；
Fig. 6 is the separation process schematic diagram of the sheath of the utility model；
Fig. 7 is the connection procedure schematic diagram of the sheath of the utility model；
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, bolt I；8, it connects
Device；81, inner cavity；82, block is connected；83, card slot；9, manipulator operation arm；10, bolt II；11, sheath；12, connector.
Specific embodiment
The utility model is described in further detail With reference to embodiment.
Embodiment 1
As shown in Figs. 1-5, a kind of master slave manipulator sheath attaching/detaching apparatus, including pedestal 3, sheath tripper 2 and sheath
Attachment device 1, if the sheath tripper 2 is fixedly mounted on the outer wall of sheath attachment device 1 by bolt stem I 7, institute
Sheath attachment device 1 is stated to be fixedly mounted on the base 3 by multiple bolt II 10 for dividing equally distribution.The sheath attachment device 1
Top offer link slot 4, the link slot 4 is made of importing groove 41 and sheath lead-in groove II 42, the importing groove
41 are located at the top of sheath lead-in groove II 42, and the bottom of institute sheath lead-in groove II 42 is equipped with tapered pole 6.Import 41 convenience of groove
The connector 12 and attachment device 8 of manipulator operation arm 9 are inserted into link slot 4, and the design of tapered pole 6 facilitates attachment device 8
Recognize hole.The inner wall bottom of the link slot 4 is set there are two limited block 5, and the limited block 5 is inserted into existing machinery
Between two connection blocks 82 in the attachment device 8 of hand motion arm sheath 11, block 82 is connected by 5 pairs of limited block
Barrier effect rotate attachment device 8 in sheath connection procedure can not.The sheath tripper 2 is equipped with sheath lead-in groove I
21 and limiting slot 22, the limiting slot 22 is used to stop the connection block 82 in the attachment device 8 of manipulator operation arm 9 to shift,
The sheath lead-in groove I 21 is located at the top of limiting slot 22.
In present nuclear industry field, 12 lower end of the connector connection at (to be removed/installation) manipulator operation arm sheath position
There is attachment device 8, as shown in figure 3, the attachment device 8 is equipped with inner cavity 81, connection block 82 and card slot 83, the connector
Spring detent (not shown) is equipped in 12.When attachment device 8 and connector 12 link together, the spring detent is inserted
Enter into the inner cavity of attachment device 8 81, the connector 12 is in the lock state and cannot rotate；Push connector 12, spring
Bayonet lock retracts, and connector 12 is in the unlocked state, and connector 12 can rotate at this time.
Embodiment 2
As shown in figs. 4-7, the utility model additionally provides the application method of the master slave manipulator sheath attaching/detaching apparatus,
The connection of separation and sheath 11 including sheath 11.
The separation method of the sheath, specifically includes the following steps:
(1) connector 12 of manipulator operation arm 9 and attachment device 8(are connected with 12 bottom end of connector) it is inserted into
In sheath tripper 2, limiting slot 22 has position-limiting action to the connection block 82 in attachment device 8.
(2) vertical depression manipulator operation arm 9 unlocks connector 12, keeps connector 12 rotatable.There is bullet on connector 12
Spring bayonet lock, when being pressed downward, spring detent is retracted, and connector 12 is rotatable.
(3) manipulator operation arm 9 is rotated clockwise, until at the rotation to the card slot 83 of attachment device 8 of connector 12, connection
First 12 separate with attachment device 8.
(4) elevating mechanism hand motion arm 9 separates connector 12 with attachment device 8, and sheaths separate operation can be completed.
The connection method of the sheath, specifically includes the following steps:
(1) before attended operation, need other manipulators that the attachment device 8 of sheath to be installed is put into sheath attachment device 1
Link slot 4 in, later execute sheath attended operation.
(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 8 for being inserted into connector 12, while rotating operating stick slightly, it is ensured that and it is inserted perpendicularly into, rotates operating stick,
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, so that connector 12 be made to lock
Determine attachment device 8.
(4) manipulator operation arm 9 is lifted from sheath attachment device 1, rotates left and right the firm degree for checking its locking.
It can not such as rotate, repeat Connection Step.
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 (4)
1. a kind of master slave manipulator sheath attaching/detaching apparatus, it is characterised in that: connect dress with sheath including pedestal, sheath tripper
It sets, the sheath attachment device is mounted on the base, and the sheath tripper is mounted on the outer wall of sheath attachment device；Institute
The top for stating sheath attachment device offers link slot, and the inner wall bottom of the link slot sets that there are two limited block, the limits
Position block is inserted between two connection blocks in the attachment device of manipulator operation arm；The sheath tripper is equipped with
The limiting slot of connection block displacement on sheath lead-in groove I and attachment device for stopping manipulator operation arm, the sheath
Lead-in groove I is located at the top of limiting slot.
2. master slave manipulator sheath attaching/detaching apparatus according to claim 1, it is characterised in that: the sheath tripper is logical
If crossing bolt stem I to be fixedly mounted on the outer wall of sheath attachment device；The sheath attachment device passes through multiple respectively distributions
Bolt II is fixedly mounted on pedestal.
3. master slave manipulator sheath attaching/detaching apparatus according to claim 1, it is characterised in that: the link slot is by importing slope
Mouth and sheath lead-in groove II composition, the top for importing groove and being located at sheath lead-in groove II.
4. master slave manipulator sheath attaching/detaching apparatus according to claim 1, it is characterised in that: the bottom of the link slot is set
There is tapered pole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822094711.6U CN209648756U (en) | 2018-12-13 | 2018-12-13 | A kind of master slave manipulator sheath attaching/detaching apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822094711.6U CN209648756U (en) | 2018-12-13 | 2018-12-13 | A kind of master slave manipulator sheath attaching/detaching apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209648756U true CN209648756U (en) | 2019-11-19 |
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ID=68507956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822094711.6U Active CN209648756U (en) | 2018-12-13 | 2018-12-13 | A kind of master slave manipulator sheath attaching/detaching apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2018
- 2018-12-13 CN CN201822094711.6U patent/CN209648756U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109571534B (en) * | 2018-12-13 | 2024-01-30 | 青岛东卡环保工程技术有限公司 | Master-slave manipulator sheath dismounting device and application method thereof |
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