阅读说明：本技术 一种具有耐辐照功能的液压动力机械手 (Hydraulic power manipulator with irradiation-resistant function ) 是由 吴贲华 吴倩颖 温建林 贾学军 张志勇 贲海峰 杨阳 陆瑞青 于 2019-11-22 设计创作，主要内容包括：本发明属于机械手技术领域,尤其为一种具有耐辐照功能的液压动力机械手,针对现有的机械手操控不便、不便稳定的夹持住废料箱、废料转移效率低的问题,现提出如下方案,其包括位于控制室一侧的两个屏蔽墙,两个屏蔽墙相互靠近的一侧均固定连接有安装座,两个安装座相互靠近的一侧固定连接有同一个导轨,导轨的外侧滚动连接有滑台,滑台的顶部固定连接有第一伺服电机,第一伺服电机的输出轴延伸至滑台内并固定连接有蜗杆,滑台的内侧转动连接有行走齿轮,行走齿轮与导轨的顶侧相啮合。本发明结构设计合理,能够方便稳定的勾住废料箱并进行转移工作,操控方便,转移效率高,提高了核废料处理效率,利于使用。(The invention belongs to the technical field of manipulators, and particularly relates to a hydraulic power manipulator with an irradiation resistance function, aiming at the problems that the existing manipulator is inconvenient to operate and is inconvenient to stably clamp a waste material box, and the waste material transfer efficiency is low. The nuclear waste material hook is reasonable in structural design, can conveniently and stably hook the waste material box and carry out transfer work, is convenient to operate and control, is high in transfer efficiency, improves the nuclear waste material treatment efficiency, and is beneficial to use.)

1. A hydraulic power manipulator with irradiation resistance function comprises two shielding walls (1) located on one side of a control room (33), and is characterized in that one side, close to each other, of each shielding wall (1) is fixedly connected with an installation seat (2), one side, close to each other, of each installation seat (2) is fixedly connected with the same guide rail (3), the outer side of each guide rail (3) is connected with a sliding table (4) in a rolling mode, the top of each sliding table (4) is fixedly connected with a first servo motor (5), an output shaft of each first servo motor (5) extends into each sliding table (4) and is fixedly connected with a worm (8), the inner side of each sliding table (4) is rotatably connected with a walking gear (6), the walking gear (6) is meshed with the top side of each guide rail (3), the front side of each walking gear (6) is fixedly connected with a worm wheel (7), and the worm (8), the central part of the bottom of the sliding table (4) is fixedly connected with a T-shaped shaft (10), the outer side of the T-shaped shaft (10) is rotatably sleeved with a rotary table (11), the periphery of the bottom of the rotary table (11) is fixedly connected with a same mounting plate (13), two sides of the bottom of the mounting plate (13) are respectively and fixedly connected with a second servo motor (14) and a mounting cover (15), an output shaft of the second servo motor (14) extends into the mounting cover (15) and is fixedly connected with a wire reel (16), one end of a steel cable (17) is wound and fixedly connected on the wire reel (16), the other end of the steel cable (17) is fixedly connected with a housing (18), the inner side of the housing (18) is welded with a guide rod (19), two clamping arms (20) are slidably sleeved on the outer side of the guide rod (19), the bottoms of the sides, close to each other side of the two clamping arms (20, the meshing has two rack bars (23) that are central symmetry and set up on synchronizing gear (22), the top side of two arm lock (20) respectively with two rack bar (23) fixed connection, equal fixedly connected with electro-magnet (24) on one side inner wall of one end and housing (18) of the rack bar (23) that lie in the top in two rack bar (23), the outside activity cover of guide bar (19) is equipped with spring (25), the both ends of spring (25) respectively with two arm lock (20) one side swing joint that is close to each other, bottom one side fixedly connected with third servo motor (26) of slip table (4), fixedly connected with drive gear (27) on the output shaft of third servo motor (26), the outside and drive gear (27) of carousel (11) mesh mutually.

2. The hydraulic power mechanical arm with the irradiation resistance function as claimed in claim 1, wherein a plurality of supports (12) are welded around the bottom of the rotary table (11), and the top of the mounting plate (13) is welded with the bottom ends of the supports (12).

3. The hydraulic power mechanical arm with the irradiation resistance function as claimed in claim 1, wherein a plurality of positioning rods (31) are welded on one side of each of the two mounting seats (2) away from each other, and the positioning rods (31) are fixedly connected in the corresponding shielding walls (1).

4. The hydraulic power mechanical arm with the irradiation resistance function as claimed in claim 1, wherein one end of each of the two diagonal draw bars (32) is welded to one side of each of the two mounting seats (2) close to each other, and the other end of each diagonal draw bar (32) is welded to the guide rail (3).

5. The hydraulic power mechanical arm with the irradiation resistance function as claimed in claim 1, wherein a mounting frame (29) is fixedly connected to the other side of the bottom of the sliding table (4), and a monitoring camera (30) is fixedly connected to the bottom end of the mounting frame (29).

6. The hydraulic power mechanical arm with the irradiation resistance function as claimed in claim 1, wherein an annular rack (28) is fixedly sleeved on the outer side of the rotary table (11), and the driving gear (27) is meshed with the annular rack (28).

7. The hydraulic power mechanical arm with the irradiation resistance function as claimed in claim 1, wherein a plurality of pulleys (9) are rotatably mounted on the inner side of the sliding table (4), and the pulleys (9) are in rolling connection with the top side of the guide rail (3).

8. The hydraulically powered manipulator with radiation-resistant function of claim 1, characterized in that the distance between two plunger rods (21) is twice the distance between two electromagnets (24).

Technical Field

The invention relates to the technical field of manipulators, in particular to a hydraulic power manipulator with an irradiation resistance function.

Background

The power mechanical arm is an automatic mechanical system used in medium-low level environment, and is an electromechanical integrated system which completes the operations of clamping, carrying, cutting and the like of radioactive wastes in a hot chamber under the control of an operator or the automatic control of an industrial personal computer by installing different sensing devices such as an industrial camera, a tripod head, an inclinometer and the like. For example, chinese patent with publication number CN106782730B discloses an irradiation-resistant power manipulator, which includes a control room, a shielding wall and a hot room, wherein a control system is disposed in the control room, the control system at least includes a central control cabinet, a traveling crane control cabinet, a mechanical arm control cabinet, an operation console and a hand operation box, a penetrating member is disposed on the shielding wall, and an operation execution system is disposed in the hot room, the operation execution system at least includes a traveling crane, a telescopic cylinder, a monitoring device and a tool shelf; control lines of the central control cabinet, the travelling crane control cabinet and the mechanical arm control cabinet penetrate through penetrating pieces on the shielding walls and are connected to the travelling crane, the monitoring equipment and the tool shelf; the manipulator adopts the irradiation-resistant design, can clamp, carry, cut and other operations on the radioactive waste through remote operation in medium-low-level environments such as a hot chamber and the like, reduces the condition that workers directly or indirectly contact the radioactive waste, can replace manpower to treat the radioactive waste, improves the efficiency of nuclear waste treatment, and can perform maintenance operations such as part replacement on nuclear facilities and the like.

However, the design has defects, the manipulator is inconvenient to operate and stably clamps the waste bin, and the waste bin transferring process is not stable enough, so that the hydraulic power manipulator with the irradiation resistance function is provided for solving the problems.

Disclosure of Invention

The invention aims to solve the defects that the existing manipulator is inconvenient to operate and stably clamps a waste box and has low waste material transfer efficiency, and provides a hydraulic power manipulator with an irradiation resistance function.

In order to achieve the purpose, the invention adopts the following technical scheme:

a hydraulic power manipulator with an irradiation resistance function comprises two shielding walls located on one side of a control room, wherein one side, close to each other, of each shielding wall is fixedly connected with a mounting seat, one side, close to each other, of each mounting seat is fixedly connected with a guide rail, the outer side of each guide rail is connected with a sliding table in a rolling mode, the top of each sliding table is fixedly connected with a first servo motor, an output shaft of each first servo motor extends into each sliding table and is fixedly connected with a worm, the inner side of each sliding table is rotatably connected with a walking gear, the walking gear is meshed with the top side of each guide rail, the front side of each walking gear is fixedly connected with a worm wheel, the worm wheel is meshed with the worm wheel, the central part of the bottom of each sliding table is fixedly connected with a T-shaped shaft, the outer side of each T-shaped shaft is rotatably sleeved with a rotary table, the output shaft of the second servo motor extends into the mounting cover and is fixedly connected with a wire spool, one end of the steel cable is wound on the wire spool and is fixedly connected with the wire spool, the other end of the steel cable is fixedly connected with a housing, a guide rod is welded on the inner side of the housing, two clamping arms are slidably sleeved on the outer side of the guide rod, the bottom of one side, close to each other, of the two clamping arms is fixedly connected with an inserted rod, a synchronizing gear is rotatably connected with the housing, two gear rods which are arranged in central symmetry are meshed on the synchronizing gear, the top sides of the two clamping arms are fixedly connected with the two gear rods respectively, one end of the upper gear rod in the two gear rods and the inner wall of one side of the housing are fixedly connected with electromagnets, a spring is movably sleeved on the outer side of the guide rod, two ends of the spring are movably connected with one side, close to each other, of the, the outer side of the rotary disc is meshed with the driving gear.

Preferably, a plurality of supports are welded around the bottom of carousel, the top of mounting panel welds mutually with the bottom of support, conveniently keeps mounting panel and carousel to be connected firmly.

Preferably, a plurality of locating levers are all welded to one side that two mount pads kept away from each other, and locating lever fixed connection is in corresponding shielding wall for the mount pad is firm to be installed on shielding wall.

Preferably, one side that two mount pads are close to each other all welds the one end of two diagonal draw bars, and the other end welding of diagonal draw bar is on the guide rail for guide rail non-deformable.

Preferably, the other side of the bottom of the sliding table is fixedly connected with a mounting frame, and the bottom end of the mounting frame is fixedly connected with a monitoring camera for shooting and recording the operation process of the clamping arm in real time.

Preferably, the fixed cover in outside of carousel is equipped with annular rack, drive gear meshes with annular rack mutually for the carousel keeps meshing with drive gear through annular rack and is connected.

Preferably, a plurality of pulleys are rotatably installed on the inner side of the sliding table and are in rolling connection with the top side of the guide rail, so that the sliding table can stably and smoothly walk on the guide rail.

Preferably, the distance between the two inserted rods is twice as long as the distance between the two electromagnets, and the two inserted rods can be aligned and contacted when the two electromagnets are mutually adsorbed.

According to the hydraulic power manipulator with the irradiation resistance function, the worm is driven to rotate through the first servo motor, the worm drives the worm wheel and the walking gear to rotate, the walking gear rotates and walks on the guide rail, the sliding table can be driven to walk on the guide rail, the monitoring camera and the clamp arm are driven to move by the sliding table, and the clamp arm can be conveniently moved to the position above the waste bin;

according to the hydraulic power manipulator with the irradiation resistance function, the wire spool is driven to rotate through the second servo motor, the wire spool rotates to discharge a steel cable, the steel cable can drive the housing and the clamping arm to move up and down, the output shaft of the third servo motor drives the driving gear to rotate, the driving gear drives the turntable to rotate on the outer side of the T-shaped shaft through the annular rack, so that the clamping arm can horizontally rotate, the position and the horizontal angle of the clamping arm can be slowly adjusted, and the clamping arm can conveniently move to be in contact with the hanging ring on the waste bin;

according to the hydraulic power manipulator with the irradiation resistance function, after the clamping arms are contacted with the hanging ring, the clamping arms are mutually adsorbed by the electromagnet, the toothed bars positioned above the clamping arms move towards the left side, the synchronous gear rotates anticlockwise, the other toothed bar moves towards the right side, the two clamping arms drive the two inserting rods to mutually approach and insert into the hanging ring, and then the hanging ring on the waste bin can be hooked; the wire spool is driven by the second servo motor to wind the steel cable, so that the waste bin can be lifted, the waste bin can be driven by the first servo motor to move to transfer the position of the waste bin, after the waste bin is transferred, the electromagnet is powered off, the two clamping arms reset under the elastic force pushing action of the spring, so that the inserted rod is moved out of the waste bin hanging ring, the waste bin can be put down, and the waste transfer work is completed;

the nuclear waste material hook is reasonable in structural design, can conveniently and stably hook the waste material box and carry out transfer work, is convenient to operate and control, is high in transfer efficiency, improves the nuclear waste material treatment efficiency, and is beneficial to use.

Drawings

Fig. 1 is a schematic structural diagram of a hydraulic power manipulator with an irradiation resistance function according to the present invention;

fig. 2 is a schematic structural diagram of a portion a of a hydraulic power manipulator with an irradiation resistance function according to the present invention;

fig. 3 is a schematic structural diagram of a part B of a hydraulic power manipulator with an irradiation resistance function according to the present invention;

fig. 4 is a schematic structural diagram of a part C of a hydraulic power manipulator with an irradiation resistance function according to the present invention;

fig. 5 is a schematic structural diagram of a portion D of a hydraulic power manipulator with an irradiation resistance function according to the present invention.

In the figure: 1. a shield wall; 2. a mounting seat; 3. a guide rail; 4. a sliding table; 5. a first servo motor; 6. a traveling gear; 7. a worm gear; 8. a worm; 9. a pulley; 10. a T-shaped shaft; 11. a turntable; 12. a support; 13. mounting a plate; 14. a second servo motor; 15. mounting a cover; 16. a wire spool; 17. a steel cord; 18. a housing; 19. a guide bar; 20. clamping arms; 21. inserting a rod; 22. a synchronizing gear; 23. a rack bar; 24. an electromagnet; 25. a spring; 26. a third servo motor; 27. a drive gear; 28. an annular rack; 29. a mounting frame; 30. a monitoring camera; 31. positioning a rod; 32. a diagonal member; 33. and a control room.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, a hydraulic power manipulator with irradiation resistance function, comprising two shielding walls 1 located at one side of a control room 33, wherein one side of each shielding wall 1 close to each other is fixedly connected with a mounting seat 2, one side of each mounting seat 2 close to each other is fixedly connected with a same guide rail 3, the outer side of each guide rail 3 is connected with a sliding table 4 in a rolling manner, the top of each sliding table 4 is fixedly connected with a first servo motor 5, the output shaft of each first servo motor 5 extends into each sliding table 4 and is fixedly connected with a worm 8, the inner side of each sliding table 4 is rotatably connected with a walking gear 6, the walking gear 6 is meshed with the top side of each guide rail 3, the front side of each walking gear 6 is fixedly connected with a worm wheel 7, each worm 8 is meshed with the worm wheel 7, the central part of the bottom of each sliding table 4 is fixedly connected with a T-shaped shaft 10, the outer side of each T, a second servo motor 14 and an installation cover 15 are fixedly connected to two sides of the bottom of the installation plate 13 respectively, an output shaft of the second servo motor 14 extends into the installation cover 15 and is fixedly connected with a wire spool 16, one end of a steel cable 17 is wound on the wire spool 16 and is fixedly connected with the wire spool, the other end of the steel cable 17 is fixedly connected with a housing 18, a guide rod 19 is welded on the inner side of the housing 18, two clamping arms 20 are slidably sleeved on the outer side of the guide rod 19, inserting rods 21 are fixedly connected to the bottoms of the mutually adjacent sides of the two clamping arms 20, a synchronizing gear 22 is rotatably connected to the housing 18, two gear rods 23 which are arranged in central symmetry are meshed on the synchronizing gear 22, the top sides of the two clamping arms 20 are fixedly connected with the two gear rods 23 respectively, an electromagnet 24 is fixedly connected to one end of the gear rod 23 above the two gear rods 23 and the inner wall of one side of, the two ends of the spring 25 are movably connected with one side of the two clamping arms 20 close to each other, a third servo motor 26 is fixedly connected with one side of the bottom of the sliding table 4, a driving gear 27 is fixedly connected with an output shaft of the third servo motor 26, and the outer side of the rotary table 11 is meshed with the driving gear 27.

In this embodiment, the welding has a plurality of supports 12 around the bottom of carousel 11, and the top of mounting panel 13 welds mutually with the bottom of support 12, conveniently keeps mounting panel 13 and carousel 11 to be connected firmly.

In this embodiment, a plurality of locating levers 31 have all been welded to one side that two mount pads 2 kept away from each other, and locating lever 31 fixed connection is in corresponding shielding wall 1 for mount pad 2 is firm to be installed on shielding wall 1.

In this embodiment, one side that two mount pads 2 are close to each other all welds the one end of two diagonal draw bars 32, and the other end welding of diagonal draw bar 32 is on guide rail 3 for guide rail 3 non-deformable.

In this embodiment, the other side of the bottom of the sliding table 4 is fixedly connected with an installation frame 29, and the bottom end of the installation frame 29 is fixedly connected with a monitoring camera 30 for recording the operation process of the clamping arm 20 in real time.

In this embodiment, the outer side of the rotary disk 11 is fixedly sleeved with an annular rack 28, and the driving gear 27 is meshed with the annular rack 28, so that the rotary disk 11 is kept meshed with the driving gear 27 through the annular rack 28.

In this embodiment, a plurality of pulleys 9 are installed in the inboard rotation of slip table 4, and a plurality of pulleys 9 all with the top side roll connection of guide rail 3 for the walking on guide rail 3 that slip table 4 can be steady smooth and easy.

In this embodiment, the distance between the two insertion rods 21 is twice the distance between the two electromagnets 24, and the two insertion rods 21 can be aligned and contacted when the two electromagnets 24 are attracted to each other.

In this embodiment, the control room 33 is used for controlling the first servo motor 5, the second servo motor 14, the third servo motor 26, the electromagnet 24 and the monitoring camera 30, when the first servo motor 5 is powered on, the worm 8 can be driven to rotate, the worm 8 can drive the worm wheel 7 to rotate in a labor-saving manner, the worm wheel 7 drives the walking gear 6 to rotate, the walking gear 6 rotates and walks on the guide rail 3, the sliding table 4 can be driven to walk on the guide rail 3, the sliding table 4 can drive the monitoring camera 30 and the clamping arm 20 to move, and the clamping arm 20 can be conveniently moved to the upper part of the waste bin; when the second servo motor 14 is electrified, the wire spool 16 is driven to rotate, the wire spool 16 rotates to discharge the steel cable 17, the steel cable 17 can drive the housing 18 and the clamping arm 20 to move up and down, and when the third servo motor 26 is electrified, the driving gear 27 is driven to rotate, the driving gear 27 drives the turntable 11 to rotate on the outer side of the T-shaped shaft 10 through the annular rack 28, so that the clamping arm 20 can rotate horizontally, the position and the horizontal angle of the clamping arm 20 can be adjusted slowly, and the clamping arm 20 can be moved to be in contact with a hanging ring on a waste material box conveniently; after the clamping arms 20 are contacted with the hanging ring, when the electromagnets 24 are electrified, the two electromagnets 24 are mutually adsorbed, the toothed bar 23 positioned above the two electromagnets moves towards the left side, so that the synchronous gear 22 rotates anticlockwise, the other toothed bar 23 moves towards the right side, and the two clamping arms 20 drive the two inserting rods 21 to mutually approach and insert into the hanging ring, so that the hanging ring on the waste bin can be hooked; the wire spool 16 is driven by the second servo motor 14 to wind the steel cable 17, so that the waste box can be lifted, the waste box can be driven by the first servo motor 5 to move to transfer the position of the waste box, after the waste box is transferred, the electromagnet 24 is powered off, the two clamping arms 20 are reset under the elastic force pushing action of the spring 25, the inserting rod 21 is moved out of the waste box hanging ring, the waste box can be put down, and the waste material transfer work is completed.