CN218195290U - Dismounting device of ZC204 type manipulator - Google Patents

Abstract

The utility model relates to the field of mechanical equipment, especially, relate to a dismouting device of ZC204 type manipulator. The dismouting device includes: the base body is provided with a jacking mechanism and an auxiliary jacking mechanism, and locking foot supports are hinged around the base body; 2 foot pedals are symmetrically arranged on the side surface of the base body; and the bottom of the extension mechanism is connected with the top of the main jacking mechanism, and the extension direction of the extension mechanism is vertical to the movement direction of the main jacking mechanism. The utility model discloses a dismouting device is supplementary the maintainer to realize tearing open special, the safety inspection fast to ZC204 type manipulator, reduces the maintainer body surface simultaneously and stains and the manipulator topples the possibility of hindering the people, guarantees the continuous steady operation of production line indirectly.

Description

Dismounting device of ZC204 type manipulator

Technical Field

The utility model relates to the field of mechanical equipment, especially, relate to a dismouting device of ZC204 type manipulator.

Background

ZC204 type manipulator is located a certain factory partial shipment hot room post, totally four, mainly used accomplishes a series of actions such as the sample of spent fuel subassembly shearing feed liquid and high-level sample, dilution and bottling, later just can be transferred to other analysis posts and carry out follow-up analysis by the sample that is diluted, in this process, as long as there is a manipulator to break down, will influence the sample of feed liquid sample, dilute and divide the appearance work, just can't provide accurate feed liquid data for technology operation personnel, if do not receive the analysis data for a long time because of the technology personnel, can't master the stability of system, will make whole process system park. The maintenance efficiency of the ZC204 type manipulator is improved, so that reliable data can be fed back to the process operation more quickly, and the process operation is more stable and reliable. And ZC204 type manipulator must wholly demolish, overhaul the back and repack in partial shipment heat chamber prozone, and the heat chamber prozone receives the construction influence and does not set up auxiliary hoisting equipment such as crane, all demolishs, overhauls and repacks through building the scaffold frame temporarily, many people's cooperation in the past, wastes time and energy and safe risk is big.

To sum up, in order to ensure the smooth proceeding of the subsequent production task of the spent fuel post-treatment plant, a set of ZC204 manipulator dismounting device needs to be developed to assist the maintainer to quickly and conveniently complete the dismounting and mounting machine maintenance work of the ZC204 manipulator.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the utility model provides a dismouting device of ZC204 type manipulator, supplementary maintainer realize tearing open specially, the safety inspection fast to ZC204 type manipulator, reduce the maintainer body surface simultaneously and stain and the manipulator topple over and injure people's possibility, guarantee the continuous steady operation of production line indirectly.

The utility model provides a dismouting device of ZC204 type manipulator, include:

the base body is provided with a jacking mechanism and an auxiliary jacking mechanism, and locking foot supports are hinged around the base body; 2 foot pedals are symmetrically arranged on the side surface of the base body;

and the bottom of the extension mechanism is connected with the top of the main jacking mechanism, and the extension direction of the extension mechanism is vertical to the movement direction of the main jacking mechanism.

Preferably, the base body is further provided with a supporting box body, and the supporting box body is connected with the electric cabinet.

Preferably, the main lifting mechanism includes:

the worm and gear lifter is connected with the upper end of the supporting assembly, the lower end of the lifting screw rod of the worm and gear lifter stretches in the inner cavity of the supporting assembly, and the upper end of the lifting screw rod is provided with a jacking tray;

one end of the worm gear lifter is connected with the servo motor, and the other end of the worm gear lifter is provided with a manual emergency hand wheel; the servo motor drives the worm and gear lifter to further drive the screw rod to ascend and descend so that the extending mechanism can ascend and descend;

the lower end of the supporting component is connected with the base body.

Preferably, the supporting component is an aluminum alloy pipe, the upper end and the lower end of the supporting component are respectively provided with a mounting plate, and the supporting component is respectively connected with the base body and the worm and gear lifter through the mounting plates through bolts.

Preferably, the protruding mechanism includes:

the lower part of the supporting plate is connected with the jacking tray, and the upper part of the supporting plate is provided with a guide rail;

after the moving plate is connected with the guide rail clamp, the moving plate is integrally connected with the guide rail combination to form an execution part of the extension mechanism;

the guide rail is matched with the guide rail clamp device for use,

the motor reducer drives a gear at the output end to be matched with a rack welded on the movable plate so as to drive the extending execution part to realize extending and retracting actions; the manipulator support hoop is arranged in the middle of the front end of the movable plate and consists of two annular plates.

Preferably, the sub-jacking mechanism includes: the device comprises a guide post, a linear bearing group, an installation bottom plate, a locking hand wheel, a locking screw rod, a clamping jaw, a linear guide rail, a servo motor and a lifter;

2, the servo motor and the lifter are fixed on a frame of the base body by the linear bearing sets, so that the jacking force of the lifter is transmitted to the base body of the dismounting device, and meanwhile, the linear bearing sets form restraint on the guide columns, so that the guide columns can ascend and descend along straight lines;

the lower end surface of the mounting bottom plate is connected with a jacking tray at the upper part of a screw rod of the elevator, and the upper end surface of the mounting bottom plate is provided with a locking hand wheel, a locking screw rod, a clamping jaw and a linear guide rail;

the locking hand wheel is welded and fixed with the locking screw rod, the waist of the clamping jaw is provided with a hole, the locking screw rod is matched with a nut, the root of the clamping jaw is connected with the linear guide rail slide block through a bolt, and the two points are positioned to ensure that the clamping jaw stably operates.

Preferably, an ethylene propylene diene monomer rubber pad is adhered to the clamping jaw.

Preferably, the locking screw rod is respectively processed with positive and negative T-shaped threads in two sections.

Preferably, an air circuit breaker, an alternating current contactor, an intermediate relay, a thermal relay and an operating handle are arranged in the electric cabinet, so that semi-automatic control and remote operation are realized.

Preferably, walking wheels are welded at the bottom of the base body and comprise 2 directional wheels and 2 universal wheels.

Compared with the prior art, the utility model discloses a dismouting device of ZC204 type manipulator, the structure of cooperation ZC204 type manipulator designs, is applicable to the dismouting and the maintenance of ZC204 type manipulator. Two jacking mechanisms of the device can stably support a ZC204 type manipulator; the base member is firm, is convenient for support climbing mechanism and maintainer and operates. When ZC204 type manipulator broke down, use this ZC204 type manipulator dismouting device to overhaul the manipulator, set up the scaffold frame from the past manual work and dismantle required at least three hours and shorten to an hour, the maintainer illuminated dose value reduces by a wide margin, and this device has designed electrical system, realize controlling entire system, the automation level and the maintenance efficiency that the manipulator overhauld have been improved, relatively in order to overhaul reduced the human input, personnel's dose in the maintenance process has also been reduced and has been stained.

Drawings

FIG. 1 is a schematic view showing the structure of a mounting and demounting device for a ZC204 type robot;

FIG. 2 illustrates a schematic structural view of a main jacking mechanism;

FIG. 3 shows a cross-sectional view of the main jacking mechanism taken along line A;

FIG. 4 shows a top view of the extension mechanism;

FIG. 5 shows a side view of the extension mechanism;

FIG. 6 is a schematic diagram of a secondary jacking mechanism;

FIG. 7 illustrates a side view of a secondary jacking mechanism;

in the figure:

1-a substrate; 2, a pedal; 3, supporting the box body; 4, an electric cabinet; 5, a main jacking mechanism; 6-a stretching mechanism; 7-auxiliary jacking mechanism; 8, locking a foot support; 9-ZC 204 type manipulator; 5-1-a servo motor; 5-2-manual emergency hand wheel; 5-3-worm gear elevator; 5-4-a support assembly; 6-1-guide rail; 6-2-supporting anchor ears; 6-3-a support plate; 6-4-guide rail clamp; 6-5-moving plate; 6-motor reducer; 7-1-a guide post; 7-2-linear bearing set; 7-3-installing a bottom plate; 7-4-locking hand wheel; 7-5-locking a lead screw; 7-6-clamping jaw; 7-linear guide; 7-8-servo motor and elevator.

Detailed Description

For further understanding of the present invention, embodiments of the present invention are described below with reference to examples, but it should be understood that these descriptions are only intended to further illustrate features and advantages of the present invention, and are not intended to limit the present invention.

Referring to the disassembly and assembly process of the ZC204 type manipulator, a driving arm, a wall penetrating pipe and a driven arm of the manipulator cannot be disassembled and assembled separately, and the manipulator needs to be disassembled and assembled back after being overhauled in the front area of a hot chamber. Considering that the ZC204 manipulator dismounting device can realize quick transportation, dismounting and assembling, the dismounting device is modularized.

The embodiment of the utility model discloses a dismouting device of ZC204 type manipulator, as shown in FIG. 1, include:

the device comprises a base body 1, wherein a jacking mechanism 5 and an auxiliary jacking mechanism 7 are arranged on the base body 1, and locking foot supports 8 are hinged around the base body 1; 2 foot pedals 2 are symmetrically arranged on the side surface of the base body 1;

and the bottom of the extending mechanism 6 is connected with the top of the main jacking mechanism 5, and the extending direction of the extending mechanism is vertical to the moving direction of the main jacking mechanism 5.

The base body 1 is a frame made of aluminum alloy sectional materials and used as a supporting base of the whole dismounting device, and the supporting weight of the base body is not less than 1000 kg. Two foot pedals 2 are arranged on the base body 1 to facilitate treading of personnel during overhauling of the ZC204 type manipulator, flexible connection is realized in a bolt-hinge connection mode, and a ball plunger is used for locking during use; 4 locking foot supports of articulated installation all around the frame, the support landing leg utilizes the bolt to realize the height-adjusting, when the pedal board 2 need be trampled to the maintainer, expandes locking foot support and adjusts the landing leg height to guarantee that the dismouting device is whole stable, prevent that the personnel from taking place to turn on one's side when trampling.

For convenient transportation, preferably, walking wheels are welded at the bottom of the base body 1 and comprise 2 directional wheels and 2 universal wheels, so that the trolley can walk and be locked in place.

The base body 1 is further provided with a supporting box body 3, and the supporting box body 3 is connected with an electric cabinet 4.

The supporting box body 3 is mainly made of stainless steel sectional materials, so that the weight is reduced, the strength is high, and a supporting foundation is provided for mounting each module. The electric cabinet 4 is connected to the support box 3 by bolts, and components such as an air circuit breaker, an alternating current contactor, an intermediate relay, a thermal relay and an operating handle are arranged in the electric cabinet, so that semi-automatic control and remote operation (within the extension line range of 2 m) of the dismounting device are realized.

As shown in figures 2 and 3, the main jacking mechanism 5 consists of a servo motor 5-1, a manual emergency hand wheel 5-2, a worm and gear lifter 5-3 and a support assembly 5-4 and provides power for jacking of a ZC204 type manipulator. The main body of the supporting component 5-4 is made of aluminum alloy tubes and plays a supporting role, and mounting plates are arranged at the upper end and the lower end of the supporting component and are respectively connected with the base body 1 and the worm and gear lifter 5-3 through bolts; one end of a worm and gear elevator 5-3 is connected with a servo motor 5-1, the other end is provided with a manual emergency hand wheel 5-2, the emergency hand wheel can still be rotated by an operator after the temporary power failure in the operation process of the device is ensured, the lifting function of the main jacking mechanism is realized, the lower end of a lifting screw rod of the worm and gear elevator is stretched in an internal cavity of a supporting component 5-4, a jacking tray is arranged at the upper end of the screw rod, and the worm and gear elevator is connected with a supporting plate 6-3 of an extension mechanism 6 through bolts. When the main jacking mechanism 5 is driven to operate, the servo motor 5-1 drives the worm and gear lifter 5-3, so that the screw rod is driven to ascend and descend, and the stretching mechanism 6 can realize ascending and descending actions.

As shown in fig. 4 and 5, the extension mechanism 6 consists of a guide rail 6-1, a supporting hoop 6-2, a supporting plate 6-3, a guide rail clamp 6-4, a moving plate 6-5 and a motor reducer 6-6, and provides power for the manipulator to pull out from the wall penetrating pipe. The guide rail 6-1 is matched with the guide rail clamp 6-4 for use, and is a finished linear guide rail product, so that the extension mechanism can easily realize extension and retraction actions along a straight line; the supporting plate 6-3 is formed by splicing a stainless steel plate and an aluminum alloy section and fixing the stainless steel plate and the aluminum alloy section by bolts, the lower part of the supporting plate is connected with a jacking tray at the upper end of a worm gear lifter 5-3 screw rod of the main jacking mechanism 5 by bolts, and the upper part of the supporting plate is welded with a guide rail 6-1; the movable plate 6-5 is connected with the guide rail clamp 6-4 through bolts, and then integrally connected with the guide rail 6-1 in a combined manner to form an execution part of the extension mechanism 6; a gear at the driving output end of the motor reducer 6-6 is matched with and welded with a rack arranged on the moving plate 6-5 so as to drive the extending execution part to realize extending and retracting actions; the manipulator support hoop 6-2 is arranged in the middle of the front end of the moving plate 6-5 and is connected with the moving plate through bolts, the support hoop 6-2 is composed of two annular plates, the manipulator is locked in an encircling mode through hinges and fastening bolts, the manipulator plays a role in fixing the manipulator when the manipulator is pulled out of the wall penetrating pipe, and the manipulator is pulled out of the pre-buried sleeve of the hot chamber when the stretching mechanism 6 is retracted.

As shown in fig. 6 and 7, the auxiliary jacking mechanism 7 consists of a guide post 7-1, a linear bearing group 7-2, an installation bottom plate 7-3, a locking hand wheel 7-4, a locking screw 7-5, a clamping jaw 7-6, a linear guide rail 7-7, a servo motor and a lifter 7-8, and plays a role in supporting and assisting when the manipulator is drawn out from the hot chamber embedded sleeve, so that the manipulator can be stably pulled out. The auxiliary jacking mechanism 7 is integrally installed on a frame of the base body 1 in a bolt connection mode, the 2 sets of linear bearing sets 7-2 fix the servo motor and the lifter 7-8 on the frame of the base body 1 in a bolt connection mode so as to transmit the jacking force of the lifter to the base body 1 of the dismounting device, and meanwhile, the linear bearing sets 7-2 form restraint on the guide column 7-1, so that the guide column can ascend and descend along a straight line; the mounting bottom plate 7-3 is made of stainless steel and provides a mounting base for a locking part of the auxiliary jacking mechanism 7, the lower end face of the mounting bottom plate is connected with a jacking tray at the upper part of a screw rod of the elevator, and the upper end face of the mounting bottom plate is provided with a locking hand wheel 7-4, a locking screw rod 7-5, a clamping jaw 7-6 and a linear guide rail 7-7; a locking hand wheel 7-4 is welded and fixed with a locking screw rod 7-5, a hole is formed in the waist of a clamping jaw 7-6, the locking screw rod 7-5 is installed to match with a nut, the root of the locking screw rod is connected with a linear guide rail slide block through a bolt, bright spot positioning ensures that the clamping jaw 7-6 operates stably, and an ethylene propylene diene monomer rubber gasket is bonded on the clamping jaw 7-6, so that the friction between the clamping jaw and a manipulator can be increased when the extension mechanism 6 retracts; the locking screw rod 7-5 is respectively provided with positive and negative T-shaped threads in two sections, and during operation, an operator drives the locking screw rod 7-5 by manually swinging the locking hand wheel 7-4, and drives the clamping jaw 7-6 to move inwards and outwards by matching with the threads, so that auxiliary clamping of the manipulator is realized. When the auxiliary jacking mechanism 7 needs to be driven to operate, the servo motor and the lifter 7-8 drive the screw rod to ascend and descend, and drive the clamping jaw 7-6 to realize ascending and descending actions.

The dismounting device is used for dismounting the ZC204 type manipulator from the embedded sleeve of the hot chamber wall body and supporting the manipulator in the front area of the hot chamber, so that the overhauling and maintenance of maintainers are facilitated. Because ZC204 type manipulator is very heavy, and length is longer, takes out the process focus position and constantly takes place to change, cooperation use main climbing mechanism 5, stretch out mechanism 6, vice climbing mechanism 7 during the maintenance for the manipulator is in the support range of base member 1 all the time at dismouting in-process focus, guarantees the manipulator and takes out or the in-process focus adjustment of installation, prevents that the dismouting device from empting.

When ZC204 type manipulator broke down, used this dismouting device, maintainer can realize fast, safely the maintenance to ZC204 type manipulator, and its concrete implementation flow is as follows:

1) The maintenance personnel assemble the dismounting device in the front area of the split charging hot chamber;

2) A maintainer pushes the dismounting device to be right below the ZC204 manipulator 9, the working position is adjusted, the dismounting device is ensured to be tightly close to the front wall surface of the hot chamber, and the universal wheels are locked;

3) The maintainer removes the connecting bolt on the flange of the embedded sleeve of the wall-penetrating manipulator;

4) A maintainer pulls out a small part of the manipulator wall penetrating assembly for lifting the main jacking mechanism 5;

5) The maintainer starts a servo motor 5-1 of the main jacking mechanism 5, and operates a supporting hoop 6-2 of the extension mechanism 6 when a lifting ring of the servo motor contacts the manipulator through-wall pipe to lock and fix the manipulator through-wall pipe;

6) The maintainer starts a driving motor reducer 6-6 of the extension mechanism 6, integrally extracts the manipulator wall pipe, and stops the operation of the extension mechanism 6 when the manipulator wall pipe is extracted by about 0.4 m;

7) A maintainer starts a motor of the auxiliary jacking mechanism 7, when a clamping jaw 7-6 contacts a manipulator driven arm, an operator manually locks a hand wheel 7-4 to realize auxiliary clamping of the manipulator;

8) The maintenance personnel unlock the universal wheels on the base of the dismounting device and push the dismounting device to draw the whole ZC204 type manipulator out of the hot chamber wall-through embedded sleeve;

9) The maintainer overhauls the ZC204 manipulator (open the pedal 2 auxiliary overhaul when necessary)

10 The reloading process is reversed from that described above.

The above description of the embodiments is only intended to help understand the method of the present invention and its core ideas. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the scope of the appended claims.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a dismouting device of ZC204 type manipulator which characterized in that includes:

the base body is provided with a jacking mechanism and an auxiliary jacking mechanism, and locking foot supports are hinged around the base body; 2 foot pedals are symmetrically arranged on the side surface of the base body;

and the bottom of the extension mechanism is connected with the top of the main jacking mechanism, and the extension direction of the extension mechanism is vertical to the movement direction of the main jacking mechanism.

2. A device for dismounting a ZC204 type manipulator according to claim 1 further comprising a support box on the base, the support box being connected to an electrical cabinet.

3. The device for dismounting and mounting of type ZC204 manipulators of claim 1 characterized in that said main jacking mechanism comprises:

the worm gear and worm lifter is connected with the upper end of the supporting assembly, the lower end of a lifting screw rod of the worm gear and worm lifter stretches in an inner cavity of the supporting assembly, and a jacking tray is arranged at the upper end of the lifting screw rod;

one end of the worm gear lifter is connected with the servo motor, and the other end of the worm gear lifter is provided with a manual emergency hand wheel; the servo motor drives the worm and gear lifter to further drive the screw rod to ascend and descend so that the extending mechanism can ascend and descend;

the lower end of the supporting component is connected with the base body.

4. The device for the disassembly and assembly of a ZC204 type manipulator according to claim 3, wherein the support component is an aluminum alloy tube with mounting plates on both its upper and lower ends, bolted to the base and worm gear elevator respectively through the mounting plates.

5. Device for the disassembly and assembly of a type ZC204 robot according to claim 3, characterized in that said extension mechanism comprises:

the lower part of the supporting plate is connected with the jacking tray, and the upper part of the supporting plate is provided with a guide rail;

after the moving plate is connected with the guide rail clamp, the moving plate is integrally connected with the guide rail combination to form an execution part of the extension mechanism;

the guide rail is matched with the guide rail clamp device for use,

a gear at the driving output end of the motor reducer is matched with a rack welded on the movable plate so as to drive the extending execution part to realize extending and retracting actions; the manipulator support hoop is arranged in the middle of the front end of the movable plate and consists of two annular plates.

6. The device for dismounting and mounting of type ZC204 manipulators of claim 1 characterized in that said secondary jacking mechanism comprises: the device comprises a guide post, a linear bearing group, a mounting bottom plate, a locking hand wheel, a locking screw rod, a clamping jaw, a linear guide rail, a servo motor and a lifter;

2, the servo motor and the lifter are fixed on a frame of the base body by the linear bearing sets, so that the jacking force of the lifter is transmitted to the base body of the dismounting device, and meanwhile, the linear bearing sets form restraint on the guide columns, so that the guide columns can ascend and descend along straight lines;

the lower end surface of the mounting bottom plate is connected with a jacking tray at the upper part of a screw rod of the elevator, and the upper end surface of the mounting bottom plate is provided with a locking hand wheel, a locking screw rod, a clamping jaw and a linear guide rail;

the locking hand wheel is welded and fixed with the locking screw rod, the waist of the clamping jaw is provided with a hole, the locking screw rod is matched with a nut, the root of the clamping jaw is connected with the linear guide rail slide block through a bolt, and the two points are positioned to ensure that the clamping jaw stably operates.

7. The device for dismounting a ZC204 type manipulator according to claim 6, wherein the clamping jaws are glued with ethylene propylene diene rubber pads.

8. The device for dismounting a ZC204 type manipulator according to claim 6, wherein the locking screw rod is respectively processed with a positive T-shaped thread and a negative T-shaped thread in two sections.

9. The device of claim 2, wherein the electric cabinet is provided with an air circuit breaker, an AC contactor, an intermediate relay, a thermal relay and an operating handle to realize semi-automatic control and remote operation.

10. The device for dismounting a ZC204 type manipulator according to claim 1, wherein the bottom of the base body is welded with walking wheels, and the walking wheels comprise 2 directional wheels and 2 universal wheels.

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