CN105666463A - A terminal tool hand and its hand-grip quick disassembly system in a nuclear radiation environment - Google Patents

Abstract

The invention relates to a tooling device under a nuclear radiation environment, in particular to a tail end tool hand and a hand-held quick dismounting system thereof under the nuclear radiation environment, which mainly comprise a tool hand linkage system, a tool hand assembly part, a mounting and dismounting mechanism and a control system, wherein the tool hand linkage system mainly comprises a cantilever type linkage moving frame, a hanging type linkage telescopic cylinder and a tool hand supporting arm which are sequentially assembled, the tool hand assembly part mainly comprises a tool hand holder, a driving structure and a driving shell, and the mounting and dismounting mechanism comprises: the invention is used for dismounting the connection part of a tool hand and the tool hand grip in nuclear radiation so as to be convenient for maintaining and replacing self parts, and the adopted integral structure has the effects of strong heavy load capacity, large motion space, flexible motion, easy dismounting of the tool hand and other parts and the like.

Description

A terminal tool hand and its hand-grip quick disassembly system in a nuclear radiation environment

technical field

The invention relates to a tooling device in a nuclear radiation environment, in particular to an end tool hand in a nuclear radiation environment and a quick disassembly and assembly system thereof.

Background technique

With the development of my country's nuclear industry science and technology, scientific workers have also made considerable progress in the research and exploration of nuclear industry technology, and the safety and reliability of operations have also been greatly improved. In the early days of the nuclear industry, personal injury accidents occurred frequently due to improper operation of personnel during maintenance, maintenance and accidents, or excessive radioactive doses of nuclear materials in the nuclear environment. Therefore, remote control operation technology is an indispensable element of the nuclear industry. Remote control The operation technology is used in the maintenance and replacement of the tooling of the internal equipment in the nuclear radiation site, which greatly reduces the radiation injury and operation fatigue of the operators.

The remote control maintenance technology in the nuclear radiation environment is a flexible operating system. In the nuclear radiation environment, there are many equipments, various pipelines are intricate, the passage is narrow, and the working space is small, but various maintenance tools can be operated through the remote control technology. The indispensable tooling equipment in the remote control maintenance system is the power manipulator, and in order to meet the radiation protection requirements for the tooling equipment in the nuclear radiation environment, there are also high requirements for the structural design and performance of the power manipulator. Flexible requirements, its structural design is also relatively complex. When today's operating technology is used to lift, transfer or replace and maintain tooling equipment and even small parts in a nuclear radiation environment, due to environmental restrictions, the work is difficult and the operator is more fatigued. If the handling of details is a little careless If it is not rigorous enough, it will have a great impact on the work results in the nuclear radiation environment. Therefore, the requirements for working conditions in the nuclear radiation environment are relatively high. Not only careful operation steps and planning are required, but also good tooling design is required. .

For the disassembly and assembly of the terminal tool hand, tool hand and hand grip of the internal manipulator in the nuclear radiation site, and the joint between the tool hand and the manipulator, the existing connection methods all use many bolt-fixed connections, that is, the parts of the manipulator tool hand, Or each part is connected with other parts by bolts and nuts. When disassembling, all the bolts and nuts need to be loosened one by one. The cable connector needs to be pulled out manually. The process is very complicated and inconvenient to disassemble.

Contents of the invention

In order to solve the above problems, the present invention aims to disclose a tooling device in a nuclear radiation environment, especially a terminal tool hand in a nuclear radiation environment and its hand-grip quick disassembly system.

In order to achieve the above object, the technical solution adopted by the present invention is: a terminal tool hand and its quick disassembly system under the nuclear radiation environment. environment, it is characterized in that the disassembly system mainly includes a tool hand linkage system, a tool hand assembly, a loading and unloading mechanism and a control system, the tool hand linkage system is linked with the tool hand assembly, and the tool hand linkage system controls the tool The spatial displacement and motion state of the hand assembly, the loading and unloading mechanism is a disassembly tool for the tool hand assembly, and the activities are set in the working environment;

The tool hand linkage system is mainly composed of a cantilever-type linkage mobile frame, a hanging linkage telescopic cylinder and a tool hand support arm assembled in sequence, wherein the tool hand support arm is the first level of linkage, and the tool hand support arm is composed of a multi-joint mechanical arm Its end is connected to the tool hand assembly to directly control the torsional swing of the tool hand assembly joints; the linkage telescopic tube is a secondary linkage that is suspended on a vertical line for telescopic activities, and its bottom is connected to the tool hand support arm to control the tool hand. The support arm and the linkage control the vertical lifting of the tool hand assembly; the linkage moving frame is a three-stage linkage, by building a moving guide rail in mid-air and installing a sliding frame to realize plane sliding, and the linkage telescopic tube is hoisted on the sliding frame to form a sliding frame along the moving guide rail When sliding, it drives the connected linkage telescopic cylinder, tool hand support arm and tool hand assembly to slide on the same horizontal plane;

The tool hand assembly mainly includes a tool grip, a drive structure and a drive housing, the tool grip is axially connected outside the drive housing, and the drive structure is installed inside the drive housing; the tool grip is clamped by a retractable connecting rod The body is composed of a pair of active clamping fingers and a pair of driven clamping fingers. The head ends of the two active clamping fingers are symmetrically hinged and connected to the same center slider, and the two driven clamping fingers are respectively hinged at the ends of the two active clamping fingers as clamps. The holding end; the drive shell is formed into a cylindrical structure with an elliptical bottom surface. There is a through hole on the top of the drive shell, and a cylindrical inner shell is movably installed at the through hole. A protective shell with a consistent outer wall profile, and a number of flexible sheet-shaped magnetic strips that are closely attached to the inner wall of the protective shell are installed at the gap between the drive shell and the protective shell, and several magnetic strips are attached in parallel and spaced apart; the driving structure mainly includes the hand grip of the driving tool. Or an integrally movable telescopic drive structure, rotary drive structure and clamping adjustment structure, wherein the telescopic drive structure mainly includes a screw slider installed axially through the transmission shaft, a reducer and a slider drive motor, and the screw slider is fixedly connected to the On the outside of the inner casing, when the slider drive motor drives the linear telescopic movement of the screw slider, the inner casing is driven to telescopically slide along the through hole of the drive casing; the rotary drive structure and the clamping adjustment structure are axially nested sequentially through the connecting axis The tool grip is connected behind the inner shell, and the rotation driving structure drives the rotation of the central axis through the rotating DC servo motor to drive the tool grip to rotate. The clamping adjustment structure is mainly composed of a connecting rod structure and a DC servo motor driving connection. The connecting rod structure Linkage is connected to the center slider of the active gripping finger of the tool hand. When the DC servo motor drives the connecting rod structure for push-pull movement, the center slider moves reciprocatingly, and the active gripping finger generates tension and tension with the reciprocating movement of the center slider. Retraction adjustment, the passive clamping finger makes a corresponding retraction adjustment with the active clamping finger;

The loading and unloading mechanism is a tool hand grasping loading and unloading mechanism and a drive housing loading and unloading mechanism. The driving housing loading and unloading mechanism mainly includes a loading and unloading structure, a hinge lifting platform, a loading and unloading support frame and a mobile base. The mobile base is a four-wheel drive mobile carrier, and the loading and unloading support The frame is fixedly connected to the mobile base, and the hinge lifting table is installed and positioned through the supporting function of the loading and unloading support frame. , a rotatable support rod and a loading and unloading substrate. The opening of the loading and unloading fixture matches the shape of the outer wall of the protective shell of the tool hand assembly. A magnetic strip adsorption body is attached to the opening of the fixture, and the magnetic strip adsorption body and the magnetic strip of the protective shell of the tool hand assembly Mutual magnetic adsorption, the loading and unloading fixture is hingedly connected with the fastening buckle at one end of the fixture opening. When the magnetic strip adsorption body does not sense the magnetic force, the fastening buckle and the loading and unloading fixture form a hinged open structure. When the magnetic force is adsorbed to the magnetic strip, the fastening buckle rotates and forms a fastening structure with the loading and unloading fixture; the bottom of the loading and unloading fixture is installed axially with the rotatable pole, and the rotation of the loading and unloading fixture is controlled by the rotatable pole; the hinge lifting platform mainly includes The drive motor, lifting hinge and fixed plate are assembled from bottom to top. The fixed plate is connected under the loading and unloading substrate to realize the lifting control of the loading and unloading structure; Installed under the deck to drive the deck to move.

The linkage mobile frame of the tool hand linkage system mainly includes a mobile guide rail, a whole frame type mobile frame and a sliding frame. Square frame shape, its relatively short sides are slidably connected to the two guide rails to form an installation structure in which the whole frame mobile frame translates and slides along the moving guide rails. A small slide rail is formed, and the sliding frame is movably connected on the long side of the whole frame mobile frame to slide along the long side.

The top of the linkage telescopic cylinder of the tool hand linkage system is a telescopic cylinder support body fixedly connected with the sliding frame, the five-stage telescopic cylinder is below the top, and the telescopic cylinder is connected to the tool hand support arm at the bottom by transmission.

The tool hand support arm is composed of 2-5 articulated mechanical arms to form a multi-joint twistable and swingable support arm. The end of the tool hand support arm is connected to the circular groove opened on the outer wall of the tool hand assembly drive housing, through the copper column The plug and the guide post are connected to each other, and the fastening bolts are installed after the connection.

The control system is electrically connected with the tool hand linkage system, the loading and unloading mechanism, and the tool hand assembly to form an electric drive control circuit. The control system is a remote control drive control system, and the remote control is realized through real-time monitoring and feedback of the working environment. Thereby, the tool hand linkage system, the loading and unloading mechanism, and the tool hand assembly are controlled to start the journey under the driving action.

The active gripping fingers of the tool hand are crescent-shaped, arranged in pairs to form a semi-circular shape, and the driven gripping fingers are straight strips.

The connection between the tool grip and the inner housing is strengthened by a connecting component, the connecting component is mainly composed of a connecting body, a snap ring, a spring and a ball, wherein the connecting body is a ring cavity connected outside the inner housing, A number of balls are installed on the top of the connecting body. The balls are arranged around the side. The snap ring is adjacent to the spring and axially connected to the tool grip. The outer wall of the snap ring matches the shape of the bayonet of the tool grip loading and unloading mechanism. The inner wall of the ring is provided with circumferentially arranged ball grooves. When the balls are nested in the ball grooves, the tool grip is nested and connected with the inner housing as a whole.

A disassembly method of an articulated mechanical arm quick disassembly system in a nuclear radiation environment, characterized in that the disassembly method includes the following:

1) Removal tool hand grip:

First, adjust the tool hand linkage system to control the specific position of the tool hand assembly in the working environment, and then adjust the position of the tool hand grip loading and unloading mechanism so that the distance between the tool hand assembly and the tool grip loading and unloading mechanism is close, and then the tool hand grip The card seat of the loading and unloading mechanism and the snap ring of the connecting component in the tool hand assembly are matched and clamped. After the clamping is stable, the tool hand is controlled to pull forward under the set stress, and the snap ring compresses the spring under the tension, and at the same time The ball falls off from the ball groove, so that the tool grip is separated from the inner casing, and then continues to be pulled forward, so that the tool grip is gradually separated from the driving structure in the inner casing, until the tool grip is completely disassembled from the inner casing;

2) Disassemble the drive housing:

First adjust the tool hand linkage system to control the specific position of the tool hand assembly in the working environment, and then adjust the position of the drive housing loading and unloading mechanism so that the distance between the tool hand assembly and the drive housing loading and unloading mechanism is close, and then through the drive housing loading and unloading The loading and unloading fixture of the mechanism is adsorbed and clamped outside the protective shell, and is quickly positioned under the action of the magnetic force to complete the adsorption process, and the protective shell is fastened with the fastening buckle, and then the fastening bolt is loosened to control the drive shell under the set stress. Pull it forward so that the copper column plug connecting the end of the tool hand support arm and the drive housing and the guide post are separated from each other, thereby disassembling the tool hand assembly as a whole from the tool hand support arm.

The beneficial effect of the present invention is reflected in: the present invention is used for the disassembly and assembly of the tool hand and its tool hand grasping joints in nuclear radiation, so as to facilitate the maintenance and replacement of its own parts, and the overall structure adopted has strong heavy-duty capacity and large space for movement. Large size, flexible movement, easy disassembly and assembly of the tool hand and other parts, etc. The tool hand linkage system adopted provides power support conditions for easy transportation and control of the tool hand assembly, and the tool hand assembly and its connection method are used to realize tool The effect of quick disassembly and replacement of the joints of the hand assembly parts, the process maintenance is simple, and the maintenance is simple. The overall structure solves the problem of difficult remote control operation of complex and fine parts in the nuclear radiation environment, and achieves the effect of high-efficiency and convenient maintenance of complex parts. , not only greatly shorten the maintenance and replacement time, but also improve the efficiency and reliability of tool replacement, and also improve the accuracy of operation.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of a partial three-dimensional structure of the present invention.

Fig. 3 is a structural schematic diagram of the tool hand assembly of the present invention.

Fig. 4 is an exploded structural view of the tool hand assembly of the present invention.

Fig. 5 is a structural schematic diagram of the connecting components of the tool hand assembly of the present invention.

Fig. 6 is a schematic diagram of the structure of the drive housing loading and unloading mechanism of the present invention.

Fig. 7 is a schematic diagram of the structure of the tool hand grip loading and unloading mechanism of the present invention.

Notes on drawings: 1-linkage mobile frame, 2-linkage telescopic cylinder, 3-tool hand support arm, 4-tool hand assembly, 5-loading and unloading mechanism, 11-moving guide rail, 12-whole frame mobile frame, 13 -sliding frame, 21-telescopic cylinder, 22-telescopic cylinder support body, 41-tool grip, 42-drive structure, 43-drive shell, 44-inner shell, 45-protective shell, 46-magnetic strip, 47 -connection assembly, 411-active clamp finger, 412-driven clamp finger, 421-telescopic drive structure, 422-rotary drive structure, 423-clamping adjustment structure, 471-connector, 472-clip ring, 473-spring, 474-Ball, 51-Drive shell loading and unloading mechanism, 52-Tool hand grip loading and unloading mechanism, 511-Loading and unloading structure, 512-Hinge lifting platform, 513-Loading and unloading support frame, 514-Mobile base, 521-Card holder, 522-Card Seat mobile frame, 5111-loading fixture, 5112-fastening buckle, 5113-rotatable pole, 5114-loading and unloading substrate, 5115-magnetic strip adsorption body, 5121-driving motor, 5122-lifting hinge, 5123-fixing plate.

detailed description

The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

A terminal tool hand in a nuclear radiation environment and its hand-grip quick disassembly system. The tool hand is a power component arranged at the end of the manipulator. The disassembly system works in a nuclear radiation environment. The disassembly system mainly includes the tool hand Linkage system, tool hand assembly 4, loading and unloading mechanism 5 and control system, the tool hand linkage system is linked with the tool hand assembly 4, the spatial displacement and motion state of the tool hand assembly 4 are controlled through the tool hand linkage system, and the loading and unloading mechanism 5 It is a disassembly tool for the tool hand assembly 4, and the activity is set in the working environment;

The tool hand linkage system is mainly composed of a cantilever-type linkage mobile frame 1 assembled in sequence, a hanging linkage telescopic tube 2 and a tool hand support arm 3, wherein the tool hand support arm 3 is the head linkage, and the tool hand support arm 3 It is composed of a multi-joint mechanical arm, the end of which is connected to the tool hand assembly 4 to directly control the torsional swing of the tool hand assembly 4 joints; the linkage telescopic tube 2 is a secondary linkage for telescopic activities hanging on a vertical line, and its bottom is connected The tool hand support arm 3 is used to control the tool hand support arm 3 and the vertical lifting of the tool hand assembly 4 in linkage control; the linkage mobile frame 1 is a three-level linkage, and the sliding frame 13 is built in mid-air to realize plane sliding and linkage The telescopic tube 2 is hoisted on the sliding frame 13, so that when the sliding frame 13 slides along the moving guide rail 11, the linked linkage telescopic tube 2, the tool hand support arm 3 and the tool hand assembly 4 slide along the same horizontal plane;

The linkage mobile frame 1 of the tool hand linkage system mainly includes a mobile guide rail 11, a whole frame type mobile frame 12 and a sliding frame 13, and the mobile guide rail 11 is a pair of guide rails fixed on the opposite side walls and built in mid-air; the whole frame The mobile frame 12 is a square frame shape, and its relatively short sides are slidably connected on the two guide rails to form an installation structure in which the whole frame type mobile frame 12 translates and slides along the mobile guide rail 11 as a whole, and its relatively long side is a transmission path connecting the two guide rails. And the long side is set as a track structure to form a small slide rail, and the sliding frame 13 is movably connected on the long side of the whole frame type mobile frame 12 to slide along the long side; The sliding frame 13 is fixedly connected to the telescopic cylinder support body 22, below the top is a five-stage telescopic cylinder 21, and the telescopic cylinder 21 is in transmission connection with the tool hand support arm 3 at the bottom; the tool hand support arm 3 is composed of 2-5 joints The mechanical arm is composed of a support arm with multi-joints that can rotate and swing. The end of the tool hand support arm 3 is connected to the circular groove opened on the outer wall of the tool hand assembly 4 drive housing 43, and the two are connected to each other through a copper post plug and a guide post. , and then install the fastening bolts after connecting;

The tool hand assembly 4 mainly includes a tool grip 41, a drive structure 42 and a drive housing 43, the tool grip 41 is axially connected outside the drive housing 43, and the drive structure 42 is installed in the drive housing 43; The hand grip 41 is a retractable connecting rod clamping body, which is composed of a pair of active clamping fingers 411 and a pair of driven clamping fingers 412. The fingers 412 are respectively hinged on the ends of the two active clamping fingers 411 as clamping ends, the active clamping fingers 411 of the tool hand grip 41 are crescent-shaped, arranged in pairs to form a semi-circular shape, and the driven clamping fingers 412 are straight strips; The drive housing 43 is formed into a cylindrical structure with an elliptical bottom surface. There is a through hole at the top of the drive housing 43, and a cylindrical inner housing 44 is movably sleeved at the through hole, and the outer wall of the drive housing 43 is connected with a layer of gaps. A protective shell 45 that is consistent with its outer wall outline, while the gap between the drive shell 43 and the protective shell 45 is installed with several flexible sheet-shaped magnetic strips 46 that are close to the inner wall of the protective shell 45, and several magnetic strips 46 are attached in parallel and spaced; the drive structure 42 mainly includes a telescopic drive structure 421, a rotary drive structure 422, and a clamping adjustment structure 423 that can be partially or integrally moved by the hand grip 41 of the driving tool. With the slider driving motor, the screw slider is fixedly connected to the outer side of the inner housing 44, and when the slider driving motor drives the screw slider to linearly expand and contract, the inner housing 44 is driven to telescopically slide along the through hole of the driving housing 43; The driving structure 422 and the clamping adjustment structure 423 are axially nested sequentially through the connecting central axis to the inner housing 44 to engage the tool grip 41, and the rotating driving structure 422 drives the connecting central shaft to rotate through the rotating DC servo motor, thereby driving the tool grip 41 The rotating and clamping adjustment structure 423 is mainly composed of a connecting rod structure and a DC servo motor drive connection. The connecting rod structure is connected to the center slider of the tool hand grip 41 and the active clamping finger 411. When the DC servo motor drives the connecting rod structure to push and pull During the movement, the center slider moves reciprocatingly, and the active clamping finger 411 produces tension and retraction adjustment with the reciprocating movement of the central slider, and the driven clamping finger 412 makes corresponding retraction adjustment with the active clamping finger 411; the tool The connection between the grip 41 and the inner casing 44 is strengthened by a connection assembly 47. The connection assembly 47 is mainly composed of a connection body 471, a snap ring 472, a spring 473 and a ball 474, wherein the connection body 471 is connected outside the inner casing 44. The ring cavity of the connecting body 471 is installed with a number of balls 474 at the top, the balls 474 are arranged around the side, the snap ring 472 is adjacent to the spring 473 and is axially connected to the tool hand grip 41, the outer wall of the snap ring 472 is in contact with the tool hand The bayonet shape of the bayonet socket 521 of the grab loading and unloading mechanism 52 is matched, and the inner wall of the snap ring 472 is provided with circumferentially arranged ball grooves. One;

The loading and unloading mechanism 5 is a tool hand grasping loading and unloading mechanism 52 and a drive housing loading and unloading mechanism 51. The driving housing loading and unloading mechanism 51 mainly includes a loading and unloading structure 511, a hinge lifting platform 512, a loading and unloading support frame 513 and a mobile base 514. The mobile base 514 is Four-wheel drive mobile carrier, the loading and unloading support frame 513 is fixedly connected on the mobile base 514, the hinge lifting platform 512 is installed and positioned through the support of the loading and unloading support frame 513, and the loading and unloading structure 511 is installed on the upper surface of the hinge lifting platform 512 through the loading and unloading base plate 5114 , which is mainly composed of a loading and unloading fixture 5111 assembled from top to bottom, a fastening buckle 5112, a rotatable pole 5113 and a loading and unloading base plate 5114. A magnetic strip absorbing body 5115 is attached to the place, and the magnetic strip absorbing body 5115 and the magnetic strip of the protective shell 45 of the tool hand assembly 4 are magnetically adsorbed to each other. When the strip absorbing body 5115 does not sense the magnetic force, the fastening buckle 5112 and the loading and unloading fixture 5111 form a hinged open structure. The loading and unloading fixture 5111 forms a fastening structure; the bottom of the loading and unloading fixture 5111 is axially installed with the rotatable pole 5113, and the rotation of the loading and unloading fixture 5111 is controlled by the rotatable pole 5113; the hinge lift table 512 mainly includes a driving motor 5121 assembled from bottom to top, a lifting Hinge 5122 and fixed plate 5123, and fixed plate 5123 is connected below loading and unloading base plate 5114 so as to realize the lift control of loading and unloading structure 511; Tool hand grabs loading and unloading mechanism 52 and mainly is made up of deck 521 and deck mobile frame 522, deck mobile frame 522 Installed under the deck 521 to drive the deck 521 to move;

The control system is electrically connected with the tool hand linkage system, the loading and unloading mechanism 5, and the tool hand assembly 4 respectively to form an electric drive control circuit. The control system is a remote control drive control system, and the remote control is realized by real-time monitoring and feedback of the working environment. control, thereby controlling the tool hand linkage system, the loading and unloading mechanism 5, and the tool hand assembly 4 to start the journey under the driving action.

A dismounting method of an articulated manipulator quick disassembly system in a nuclear radiation environment, the dismounting method comprising the following:

1) Removal tool hand grip 41:

First, adjust the tool hand linkage system to control the specific position of the tool hand assembly 4 in the working environment, and then adjust the position of the tool hand grip loading and unloading mechanism 52, so that the distance between the tool hand assembly 4 and the tool hand grab loading and unloading mechanism 52 is close, and then The clamping seat 521 of the tool hand grip loading and unloading mechanism 52 is matched with the snap ring 472 of the connecting component 47 in the tool hand assembly 4. After the clamping is stable, the tool hand grip 41 is controlled to pull forward under the set stress. The snap ring 472 compresses the spring 473 under the pulling force, and the ball 474 falls off from the ball groove at the same time, so that the tool hand grip 41 is separated from the inner housing 44, and then continues to pull forward, so that the tool hand grasps 41 and the drive in the inner housing 44 The structure is gradually separated until the tool grip 41 is completely disassembled from the inner shell 44;

2) Disassemble the drive housing:

First adjust the tool hand linkage system to control the specific position of the tool hand assembly 4 in the working environment, and then adjust the position of the drive housing loading and unloading mechanism 51 so that the distance between the tool hand assembly 4 and the driving housing loading and unloading mechanism 51 is close, and then pass The loading and unloading jig 5111 of the drive shell loading and unloading mechanism 51 is adsorbed and clamped outside the protective shell 45, and is quickly positioned under the action of the magnetic force to complete the adsorption process, and the fastening buckle 5112 is used to fasten the protective shell 45, and then the fastening bolt is loosened. Control the driving housing to pull forward under the set stress, so that the copper column plug connecting the end of the tool hand support arm and the drive housing and the guide post are separated from each other, thereby disassembling the tool hand assembly 4 from the tool hand support arm as a whole.

The same principle applies when installing the tool grip 41 with the drive housing.

The above are only preferred embodiments of the present invention, and are not intended to limit the technical scope of the present invention. Those skilled in the art can make some deformations and modifications under the inspiration of this technical solution. Any modifications, equivalent changes and modifications made to the above embodiments by technical essence still belong to the scope of the technical solution of the present invention.

Claims (8)

1. A terminal tool hand in a nuclear radiation environment and its quick disassembly system, the tool hand is a power component arranged at the end of the manipulator, and the disassembly system works in a nuclear radiation environment. It is characterized in that the disassembly The loading system mainly includes tool hand linkage system, tool hand assembly, loading and unloading mechanism and control system. The tool hand linkage system is linked with the tool hand assembly. The mechanism is a disassembly and assembly tool for the tool hand assembly, and the activities are set in the working environment; The tool hand linkage system is mainly composed of a cantilever-type linkage mobile frame, a hanging linkage telescopic cylinder and a tool hand support arm assembled in sequence, wherein the tool hand support arm is the first level of linkage, and the tool hand support arm is composed of a multi-joint mechanical arm Its end is connected to the tool hand assembly to directly control the torsional swing of the tool hand assembly joints; the linkage telescopic tube is a secondary linkage that is suspended on a vertical line for telescopic activities, and its bottom is connected to the tool hand support arm to control the tool hand. The support arm and the linkage control the vertical lifting of the tool hand assembly; the linkage moving frame is a three-stage linkage, by building a moving guide rail in mid-air and installing a sliding frame to realize plane sliding, and the linkage telescopic tube is hoisted on the sliding frame to form a sliding frame along the moving guide rail When sliding, it drives the connected linkage telescopic cylinder, tool hand support arm and tool hand assembly to slide on the same horizontal plane; The tool hand assembly mainly includes a tool grip, a drive structure and a drive housing, the tool grip is axially connected outside the drive housing, and the drive structure is installed inside the drive housing; the tool grip is clamped by a retractable connecting rod The body is composed of a pair of active clamping fingers and a pair of driven clamping fingers. The head ends of the two active clamping fingers are symmetrically hinged and connected to the same center slider, and the two driven clamping fingers are respectively hinged at the ends of the two active clamping fingers as clamps. The holding end; the drive shell is formed into a cylindrical structure with an elliptical bottom surface. There is a through hole on the top of the drive shell, and a cylindrical inner shell is movably installed at the through hole. A protective shell with a consistent outer wall profile, and a number of flexible sheet-shaped magnetic strips that are closely attached to the inner wall of the protective shell are installed at the gap between the drive shell and the protective shell, and several magnetic strips are attached in parallel and spaced apart; the driving structure mainly includes the hand grip of the driving tool. Or an integrally movable telescopic drive structure, rotary drive structure and clamping adjustment structure, wherein the telescopic drive structure mainly includes a screw slider installed axially through the transmission shaft, a reducer and a slider drive motor, and the screw slider is fixedly connected to the On the outside of the inner casing, when the slider drive motor drives the linear telescopic movement of the screw slider, the inner casing is driven to telescopically slide along the through hole of the drive casing; the rotary drive structure and the clamping adjustment structure are axially nested sequentially through the connecting axis The tool grip is connected behind the inner shell, and the rotation driving structure drives the rotation of the central axis through the rotating DC servo motor to drive the tool grip to rotate. The clamping adjustment structure is mainly composed of a connecting rod structure and a DC servo motor driving connection. The connecting rod structure Linkage is connected to the center slider of the active gripping finger of the tool hand. When the DC servo motor drives the connecting rod structure for push-pull movement, the center slider moves reciprocatingly, and the active gripping finger generates tension and tension with the reciprocating movement of the center slider. Retraction adjustment, the passive clamping finger makes a corresponding retraction adjustment with the active clamping finger; The loading and unloading mechanism is a tool hand grasping loading and unloading mechanism and a drive housing loading and unloading mechanism. The driving housing loading and unloading mechanism mainly includes a loading and unloading structure, a hinge lifting platform, a loading and unloading support frame and a mobile base. The mobile base is a four-wheel drive mobile carrier, and the loading and unloading support The frame is fixedly connected to the mobile base, and the hinge lifting table is installed and positioned through the supporting function of the loading and unloading support frame. , a rotatable support rod and a loading and unloading substrate. The opening of the loading and unloading fixture matches the shape of the outer wall of the protective shell of the tool hand assembly. A magnetic strip adsorption body is attached to the opening of the fixture, and the magnetic strip adsorption body and the magnetic strip of the protective shell of the tool hand assembly Mutual magnetic adsorption, the loading and unloading fixture is hingedly connected with the fastening buckle at one end of the fixture opening. When the magnetic strip adsorption body does not sense the magnetic force, the fastening buckle and the loading and unloading fixture form a hinged open structure. When the magnetic force is adsorbed to the magnetic strip, the fastening buckle rotates and forms a fastening structure with the loading and unloading fixture; the bottom of the loading and unloading fixture is installed axially with the rotatable pole, and the rotation of the loading and unloading fixture is controlled by the rotatable pole; the hinge lifting platform mainly includes The drive motor, lifting hinge and fixed plate are assembled from bottom to top. The fixed plate is connected under the loading and unloading substrate to realize the lifting control of the loading and unloading structure; Installed under the deck to drive the deck to move. 2. The terminal tool hand and its grip quick disassembly system under a nuclear radiation environment according to claim 1, characterized in that, the linkage mobile frame of the tool hand linkage system mainly includes a mobile guide rail, a whole frame type The mobile frame and the sliding frame, the mobile guide rails are a pair of guide rails fixed on the opposite side walls and built in mid-air; the whole frame mobile frame is in the shape of a square frame, and its relatively short sides are slidably connected to the two guide rails to form a whole frame type The installation structure of the mobile frame as a whole translates and slides along the mobile guide rails. Its relatively long side is a transmission path connecting the two guide rails, and the long side is set as a track structure to form a small slide rail. The sliding frame is movably connected to the long side of the whole frame type mobile frame. up to slide along the long edge. 3. The terminal tool hand and its grip quick disassembly system in a nuclear radiation environment according to claim 1, characterized in that the top of the linkage telescopic cylinder of the tool hand linkage system is fixedly connected with the sliding frame The supporting body of the telescopic tube is a five-stage telescopic tube below the top, and the telescopic tube is connected with the tool hand support arm at the bottom. 4. The terminal tool hand and its grip quick disassembly system in a nuclear radiation environment according to claim 1, wherein the tool hand support arm is composed of 2-5 articulated mechanical arms to form a multi-joint The support arm can be twisted and swung. The end of the support arm of the tool hand is connected to the circular groove opened on the outer wall of the drive housing of the tool hand assembly. The two are connected to each other through the copper post plug and the guide post. After the connection, fastening bolts are installed. . 5. The articulated manipulator quick disassembly system in a nuclear radiation environment according to claim 1, wherein the control system is electrically connected to the tool hand linkage system, the loading and unloading mechanism, and the tool hand assembly respectively. The connection forms an electric drive control loop. The control system is a remote control drive control system. Remote control is realized through real-time monitoring and feedback of the working environment, thereby controlling the tool hand linkage system, loading and unloading mechanism, and tool hand assembly to start the journey under the driving action. 6. The articulated manipulator quick disassembly system in a nuclear radiation environment according to claim 1, wherein the active gripping fingers grasped by the tool are crescent-shaped, arranged in pairs to form a semi-circular shape, The follower finger is straight. 7. The articulated manipulator quick disassembly system under nuclear radiation environment according to claim 1, characterized in that, the tool grip and the inner housing are connected through a connecting assembly, and the connecting assembly is mainly It is composed of connecting body, snap ring, spring and balls. The connecting body is a ring cavity connected outside the inner shell. A number of balls are installed on the top of the connecting body. The balls are arranged around the side, and the snap ring is adjacent to the spring. And axially connected to the tool grip, the outer wall of the snap ring matches the shape of the bayonet socket of the tool grip loading and unloading mechanism, and at the same time, the inner wall of the snap ring is provided with ball grooves arranged in a circle. The hand grip is nested and connected with the inner casing as a whole. 8. Use the dismounting method of the articulated mechanical arm quick disassembly system under a kind of nuclear radiation environment according to claim 1, characterized in that, the dismounting method comprises the following: 1) Removal tool hand grip: First, adjust the tool hand linkage system to control the specific position of the tool hand assembly in the working environment, and then adjust the position of the tool hand grip loading and unloading mechanism so that the distance between the tool hand assembly and the tool grip loading and unloading mechanism is close, and then the tool hand grip The card seat of the loading and unloading mechanism and the snap ring of the connecting component in the tool hand assembly are matched and clamped. After the clamping is stable, the tool hand is controlled to pull forward under the set stress, and the snap ring compresses the spring under the tension, and at the same time The ball falls off from the ball groove, so that the tool grip is separated from the inner casing, and then continues to be pulled forward, so that the tool grip is gradually separated from the driving structure in the inner casing, until the tool grip is completely disassembled from the inner casing; 2) Disassemble the drive housing: First adjust the tool hand linkage system to control the specific position of the tool hand assembly in the working environment, and then adjust the position of the drive housing loading and unloading mechanism so that the distance between the tool hand assembly and the drive housing loading and unloading mechanism is close, and then through the drive housing loading and unloading The loading and unloading fixture of the mechanism is adsorbed and clamped outside the protective shell, and is quickly positioned under the action of the magnetic force to complete the adsorption process, and the protective shell is fastened with the fastening buckle, and then the fastening bolt is loosened to control the drive shell under the set stress. Pull it forward so that the copper column plug connecting the end of the tool hand support arm and the drive housing and the guide post are separated from each other, thereby disassembling the tool hand assembly as a whole from the tool hand support arm.