CN113954050B - Wall-through connecting device of split manipulator and manipulator comprising same - Google Patents
Wall-through connecting device of split manipulator and manipulator comprising same Download PDFInfo
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- CN113954050B CN113954050B CN202111198574.0A CN202111198574A CN113954050B CN 113954050 B CN113954050 B CN 113954050B CN 202111198574 A CN202111198574 A CN 202111198574A CN 113954050 B CN113954050 B CN 113954050B
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- sealing
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- 230000000149 penetrating effect Effects 0.000 claims abstract description 76
- 238000007789 sealing Methods 0.000 claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 238000005096 rolling process Methods 0.000 claims description 29
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 238000005192 partition Methods 0.000 claims description 15
- 239000004519 grease Substances 0.000 claims description 4
- 230000002285 radioactive effect Effects 0.000 abstract description 15
- 239000002245 particle Substances 0.000 abstract description 12
- 238000012423 maintenance Methods 0.000 abstract description 6
- 239000000941 radioactive substance Substances 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 229910000975 Carbon steel Inorganic materials 0.000 description 4
- 239000010962 carbon steel Substances 0.000 description 4
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- 239000011148 porous material Substances 0.000 description 3
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- 229910000838 Al alloy Inorganic materials 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
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- 241000283216 Phocidae Species 0.000 description 1
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
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- 238000007906 compression Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall penetrating connecting device of a split manipulator, which comprises a wall penetrating pipe, a wall penetrating connecting piece and a transmission connecting frame, wherein the wall penetrating pipe is horizontally arranged in a wall body and communicated with two sides of the wall body; the wall penetrating connecting piece is coaxially arranged in the wall penetrating pipe, and the outer side surface of the wall penetrating connecting piece is in dynamic sealing connection with the inner side surface of the wall penetrating pipe; the two transmission connecting frames are fixedly connected with the first end and the second end of the through-wall connecting piece respectively and are used for being connected with the driven arm and the driving arm; the through-wall connecting device is provided with the transmission connecting frame which can be quickly disassembled, so that the driving arm or the driven arm can be quickly disassembled according to the requirement when the manipulator needs to be maintained; meanwhile, the through-wall connecting piece has a self-sealing protection function, can effectively prevent radioactive substances from dispersing to the environment through the manipulator, blocks paths of radioactive particles in the hot chamber from dispersing to a front region through the manipulator, and solves the problems of non-ideal maintenance, overhaul, blockage and sealing and the like in the prior art.
Description
Technical Field
The invention relates to the field of nuclear processing operation, in particular to a wall penetrating connecting device of a split manipulator and the manipulator comprising the same.
Background
The main purpose of the master-slave manipulator is to perform nondestructive inspection, disassembly cutting, process transportation and other remote operations on radioactive materials such as fuel assemblies, elements and the like in a hot chamber. The driven end of the manipulator is placed in the shell of the hot chamber, the driving end of the manipulator is arranged in the front area of the hot chamber, and the irradiated articles are controlled in an auxiliary mode through personnel operation, so that the manipulator is one of the most ideal tools for operating and treating radioactive harmful substances.
At present, a principal and subordinate manipulator of a nuclear power research institute is a second-generation product (simulated Europe), and has been used for more than twenty years by continuous equipment, and most of the manipulators are of medium-sized integral structures. Although the operation range and the load capacity of the mechanical arm basically meet the general working requirements, the subsequent maintenance, overhaul and blockage sealing are not ideal, nuclear pollution is easy to cause, and the design concept is not suitable for the current requirements.
Disclosure of Invention
The invention aims to provide a wall-through connecting device of a split manipulator and the manipulator comprising the same, and solves the problems of sealing protection and maintenance replacement of the split manipulator.
The invention is realized by the following technical scheme:
a wall penetrating connection device of a split manipulator, comprising:
the wall penetrating pipe is horizontally arranged in the wall body and communicated with two sides of the wall body;
the wall penetrating connecting piece is provided with a first end and a second end, is coaxially arranged in the wall penetrating pipe, and the outer side face of the wall penetrating connecting piece is in dynamic sealing connection with the inner side face of the wall penetrating pipe;
the two transmission connecting frames are fixedly connected with the first end and the second end of the wall penetrating connecting piece respectively and are used for being connected with the driven arm and the driving arm;
the transmission link includes:
the first connecting part is provided with a first end and a second end, the first end of the first connecting part is coaxial with the through-wall connecting piece and is fixedly connected with the through-wall connecting piece, and the second end of the first connecting part is provided with an outer bolt hole;
a second connecting portion having a first end and a second end, the first end of the second connecting portion being fixedly connected to the driven arm/the driving arm, the second end of the second connecting portion being provided with an inner bolt hole coaxial with the outer bolt hole;
and a fastening bolt passing through the outer bolt hole and the inner bolt hole and connecting the first connection portion and the second connection portion.
Preferably, the diameter of the second end of the first connecting portion is larger than the diameter of the second end of the second connecting portion, and the second end of the second connecting portion is coaxially arranged in the first connecting portion.
Specifically, the through-wall connector comprises:
the horizontal pipe is coaxially arranged in the wall penetrating pipe, and two ends of the horizontal pipe are respectively and fixedly connected with the first ends of the two first connecting parts in a coaxial way;
the rotating assembly is arranged between the outer side surface of the horizontal pipe and the inner side surface of the wall penetrating pipe;
the transmission assembly is arranged in the horizontal pipe, and two ends of the transmission assembly are respectively in power connection with the gear set in the driven arm and the gear set in the driving arm.
Specifically, the transmission assembly includes:
the two ends of the at least one steel belt are respectively connected with a torque input shaft of the gear set in the driven arm and a torque output shaft of the gear set in the driving arm;
at least one sealing partition plate is vertically arranged in the horizontal pipe, the outer circumferential surface of the sealing partition plate is fixedly connected with the inner side surface of the horizontal pipe in a sealing way, a plurality of horizontal transverse grooves matched with the steel strips are formed in the sealing partition plate, and the steel strips are vertically arranged with the sealing partition plate and penetrate through the horizontal transverse grooves.
Further, a sealing rubber layer is arranged on the inner side surface of the horizontal transverse groove.
Specifically, the rotating assembly includes:
the inner ring of the rolling support seat is coaxially and fixedly connected with the outer side surface of the horizontal pipe, the outer ring of the rolling support seat is coaxially and fixedly connected with the inner side surface of the wall penetrating pipe, and the inner ring of the rolling support seat is axially and fixedly connected with the outer ring and can rotate relatively along the central axis of the rolling support seat;
the inner ring surface of the sealing support is coaxially and hermetically connected with the outer side surface of the horizontal pipe, and the outer ring surface of the sealing support is coaxially and dynamically connected with the inner side surface of the through-wall pipe.
Preferably, the number of the rolling support seats is at least two, wherein the two rolling support seats are respectively arranged at two ends of the horizontal pipe;
the number of the sealing supports is at least two, wherein the two sealing supports are respectively arranged between the two end faces of the horizontal pipe and the two rolling support seats at the two ends of the horizontal pipe.
Further, grease sealing layers are arranged between the two ends of the horizontal pipe and the two ends of the wall penetrating pipe.
As an embodiment, the rolling support seat is a ball bearing.
A split manipulator, comprising:
the wall penetrating connecting device of the split manipulator is arranged in a wall body between the hot chamber and the front region of the hot chamber;
the driven arm is positioned in the hot chamber and is detachably connected with one end of the wall-penetrating connecting device;
the driving arm is positioned in the front region of the hot chamber and is detachably connected with the other end of the through-wall connecting device.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the through-wall connecting device is provided with the transmission connecting frame which can be quickly disassembled, so that the driving arm or the driven arm can be quickly disassembled according to the requirement when the manipulator needs to be maintained; meanwhile, the through-wall connecting piece has a self-sealing protection function, can effectively prevent radioactive substances from dispersing to the environment through the manipulator, blocks paths of radioactive particles in the hot chamber from dispersing to a front region through the manipulator, and solves the problems of non-ideal maintenance, overhaul, blockage and sealing and the like in the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
Fig. 1 is a schematic structural view of a wall-penetrating connecting device of a split manipulator according to the present invention.
Fig. 2 is a schematic view of the structure of a sealing separator according to the present invention.
Fig. 3 is a schematic structural view of a split manipulator according to the present invention.
Reference numerals: the device comprises a 1-horizontal pipe, a 2-rolling supporting seat, a 3-sealing support, a 4-first connecting part, a 5-sealing partition plate, a 6-horizontal transverse groove, a 7-wall penetrating pipe, an 8-wall penetrating connecting piece, a 10-wall penetrating connecting device, a 20-driven arm and a 30-driven arm.
Detailed Description
The present invention will be described in further detail with reference to the drawings and embodiments, for the purpose of making the objects, technical solutions and advantages of the present invention more apparent. It is to be understood that the specific embodiments described herein are merely illustrative of the substances, and not restrictive of the invention.
It should be further noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
Embodiments of the present invention and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
When the existing manipulator breaks down and needs to be pulled out from the hot chamber for maintenance, the risk that radioactive particles are carried to the front region of the hot chamber along with the driven end (namely the driven arm 20 end) of the manipulator exists, and the problem of sealing and protecting of the manipulator also causes that radioactive dust dispersed in the air in the hot chamber can be possibly transmitted along a part of a manipulator steel wire rope (part of transmission between the manipulator driving arm 30 and the driven arm 20 in the current stage adopts the transmission of the steel wire rope) due to the change of temperature and pressure, so that a person skilled in the art can know that a transmission pore canal is diffused to the front region, the front region is polluted, and the risk that people inhale the radioactive particles is increased.
Example 1
In order to solve the above-mentioned problem, this embodiment designs a wall penetrating device with self-sealing protection function, blocks the path that the hot intra-chamber radioactive particles diffuse to the front region through the manipulator.
A wall penetrating connecting device 10 of a split manipulator comprises a wall penetrating pipe 7, a wall penetrating connecting piece 8 and a transmission connecting frame.
The wall pipe 7 level sets up in the wall body, and the both sides of intercommunication wall body, and lead ring is sealed to the space between wall pipe 7 and the wall body, keeps apart the both sides of wall body, and the both sides of wall body are hot chamber front region and hot chamber respectively in this embodiment, and utilize 8 at least compression screw to seal it on the wall body at wall pipe 7's both ends, avoids appearing nuclear radiation leakage's problem.
The wall penetrating connecting piece 8 is provided with a first end and a second end, the wall penetrating connecting piece 8 is coaxially arranged in the wall penetrating pipe 7, and the outer side surface of the wall penetrating connecting piece 8 is in dynamic sealing connection with the inner side surface of the wall penetrating pipe 7; the wall penetrating connecting piece 8 is arranged in the wall penetrating pipe 7 and can rotate relative to the wall penetrating pipe 7, so that the wall penetrating connecting piece 8 can be rotated at the second end to drive the first end of the wall penetrating connecting piece 8 to rotate.
The two transmission connecting frames are fixedly connected with the first end and the second end of the through-wall connecting piece 8 respectively and are used for being connected with the driven arm 20 and the driving arm 30; the driving arm 30 and the driven arm 20 are connected through the transmission connecting frame and the wall penetrating connecting piece 8, so that the purpose of controlling the driven arm 20 on the driving arm 30 is achieved.
The problems solved in this embodiment are: at present, if the main arm 30 fails and needs to be overhauled, the through-wall connecting piece 8 may need to be pulled out, and the risk of environmental pollution caused by radioactive particles carried to a front region of the hot chamber along with the driven end of the manipulator may exist.
The drive connection bracket in this embodiment comprises a first connection part 4, a second connection part and a fastening bolt.
The first connecting portion 4 has a first end and a second end, and the second connecting portion has a first end and a second end.
The first end of the first connecting part 4 is coaxial with the through-wall connecting piece 8 and is fixedly connected with the through-wall connecting piece, and the second end of the first connecting part 4 is provided with an outer bolt hole;
the first end of the second connecting part positioned in the hot chamber is fixedly connected with the driven arm 20, and the second end of the second connecting part is provided with an inner bolt hole coaxial with the outer bolt hole;
when the driven arm 20 is installed, the fastening bolts pass through the outer bolt holes and the inner bolt holes, and the first connecting part 4 and the second connecting part are fixedly connected, so that the wall penetrating connecting piece 8 and the driven arm 20 are connected.
When the driven arm 20 is required to be detached, the fastening screw is detached from the outer bolt hole and the inner bolt hole, and the first connecting portion 4 and the second connecting portion are separated, so that the driven arm 20 is detached from the through-wall connecting piece 8.
The first end of the second connecting part positioned in the front region of the hot chamber is fixedly connected with the driving arm 30, and the second end of the second connecting part is provided with an inner bolt hole coaxial with the outer bolt hole;
when the driving arm 30 is installed, the fastening bolts penetrate through the outer bolt holes and the inner bolt holes, and the first connecting part 4 and the second connecting part are fixedly connected, so that the through-wall connecting piece 8 is connected with the driving arm 30.
When the driving arm 30 is required to be detached, the fastening screw is detached from the outer bolt hole and the inner bolt hole, and the first connecting part 4 and the second connecting part are separated, so that the driving arm 30 is detached from the through-wall connecting piece 8.
All the three components can be used as single bodies for separation and combination, when one component has faults, the transmission connecting frames can be loosened, the components can be quickly separated, spare components are assembled, particularly, a driven arm 20 which has faults and needs to be maintained can be separated in an operation area of a hot chamber, and the driven arm 20 is lifted out from a manhole at the top of the hot chamber by using a hot chamber crane, so that the operation area cannot be polluted.
There are at least two connection methods for the first connection part 4 and the second connection part, which are as follows:
method (1)
The diameter of the second end of the first connecting portion 4 is larger than that of the second end of the second connecting portion, and the second end of the second connecting portion is coaxially arranged in the first connecting portion 4.
Method (2)
The diameter of the second end of the first connecting portion 4 is smaller than that of the second end of the second connecting portion, and the second end of the second connecting portion is coaxially arranged outside the first connecting portion 4.
Example two
The above-mentioned embodiment has solved the problem that the radioactive particle that probably appears when dismantling revealed, and the technical problem that this embodiment solved is: the sealing protection problem of the wall-penetrating connecting piece 8 also causes that radioactive dust dispersed in the air in the hot chamber can be diffused to the front area along the wall-penetrating sealing piece due to the change of temperature and pressure, thereby causing the pollution of the front area and increasing the risk of people inhaling radioactive particles
The wall penetrating connector 8 in this embodiment comprises a level pipe 1, a transmission assembly and a transmission assembly.
The horizontal pipe 1 is coaxially arranged in the wall penetrating pipe 7, and two ends of the horizontal pipe 1 are respectively and fixedly connected with the first ends of the two first connecting parts 4 in a coaxial manner; the rotating component is arranged between the outer side surface of the horizontal pipe 1 and the inner side surface of the wall penetrating pipe 7;
the horizontal pipe 1 and the wall penetrating pipe 7 are connected through the transmission assembly, so that the horizontal pipe 1 and the wall penetrating pipe 7 can rotate relatively, and the operation of the manipulator is not affected.
The transmission subassembly sets up in horizontal pipe 1, and the both ends of transmission subassembly are connected with the gear train in the driven arm 20 respectively and the gear train power in the initiative arm 30, the transmission subassembly of present stage adopts wire rope transmission mostly, because wire rope is thinner, wire rope even there is sealing rubber around setting up in horizontal pipe 1, also cause the damage to sealing rubber in driven in-process easily, and lead to the hot laboratory radio dust of dispersing in the air to probably follow manipulator wire rope transmission pore and spread to the front region because of temperature, pressure's change, cause the front region to pollute, increase personnel's risk of inhaling the radioactive particle.
The transmission assembly in this embodiment therefore comprises a steel belt and a sealing diaphragm 5.
Two ends of at least one steel belt are respectively connected with a torque input shaft of a gear set in the driven arm 20 and a torque output shaft of a gear set in the driving arm 30;
at least one sealing partition plate 5 is vertically arranged in the horizontal pipe 1, the outer circumferential surface of the sealing partition plate 5 is fixedly connected with the inner side surface of the horizontal pipe 1 in a sealing way, a plurality of horizontal transverse grooves 6 matched with steel belts are arranged on the sealing partition plate 5, the steel belts are vertically arranged with the sealing partition plate 5 and penetrate through the horizontal transverse grooves 6, and a sealing rubber layer is arranged on the inner side surface of the horizontal transverse grooves 6.
Grease sealing layers are arranged between the two ends of the horizontal pipe 1 and the two ends of the wall penetrating pipe 7.
The steel belt and the gear set are matched for installation and use, and serve as a medium for force transmission, the linear transmission mode of the original steel wire rope is changed, the space occupation rate in the horizontal pipe 1 is increased, the gap in the horizontal pipe 1 is reduced, and the rate of the radioactive particles diffusing to a front area along a transmission pore canal of the steel wire rope of the manipulator is reduced.
A sealing partition board 5 is arranged in the middle of the horizontal pipe 1, and the sealing partition board 5 further blocks radioactive particles; the steel band passes from the horizontal cross groove 6 on the sealing baffle 5, connects the drive gear group of sealing baffle 5 both sides, and area of contact between horizontal cross groove 6 and the steel band increases to set up sealing rubber layer in horizontal cross groove 6, can slow down the destruction of steel band to sealing rubber layer, thereby can increase the self sealss of wearing wall connecting piece 8.
Finally, grease sealing is adopted at the two ends of the horizontal pipe 1, so that the tightness is further improved. The sealing grade of the structural form can reach grade 2 or even grade 1 sealing, the self-sealing device is provided and is easy to replace, and the self-sealing material is radiation-resistant and corrosion-resistant and is easy to post-treat.
Meanwhile, the load capacity is improved through steel belt transmission, and finally the maximum nondestructive load lifting operation capacity at any position can reach 12kg or more.
Example III
The self-sealing performance of the transmission assembly is improved, and because there is a gap between the horizontal pipe 1 and the wall penetrating pipe 7, the problem of radioactive particle leakage can also occur, so the embodiment provides a rotation assembly comprising the rolling support seat 2 and the sealing support seat 3.
The rolling support seat 2 in the embodiment adopts a ball bearing, other similar devices can be adopted, the inner ring of the rolling support seat 2 is coaxial with and fixedly connected with the outer side surface of the horizontal pipe 1, the outer ring of the rolling support seat 2 is coaxial with and connected with the inner side surface of the wall penetrating pipe 7, and the inner ring of the rolling support seat 2 is axially and fixedly connected with the outer ring and can rotate relatively along the central axis;
the rotatable connection of the horizontal pipe 1 and the wall penetrating pipe 7 is realized through the ball bearings, and the horizontal pipe and the wall penetrating pipe are not easy to move relatively in an axial mode.
The inner ring surface of the sealing support 3 is coaxially and hermetically connected with the outer side surface of the horizontal pipe 1, and the outer ring surface of the sealing support 3 is coaxially and dynamically and hermetically connected with the inner side surface of the wall penetrating pipe 7.
The sealing support 3 plays a supporting role and also plays a sealing role, so that the number of the rolling support seats 2 is at least two, the number of the sealing support seats 3 is at least two, in the embodiment, two are taken as an example, and as shown in the figure, the two rolling support seats 2 are respectively arranged at two ends of the horizontal pipe 1; the two sealing supports 3 are respectively arranged between the two end faces of the horizontal pipe 1 and the two rolling support seats 2.
The sealing supports 32 are respectively inserted and installed at two ends of the horizontal pipe 1, are used as the support of the horizontal pipe 1 on the sleeve of the wall penetrating pipe 7, and provide sealing function; the number of the rolling support seats is 22, the rolling support seats are installed in the middle of the horizontal pipe 1 in a penetrating manner and serve as support of the horizontal pipe 1 on the sleeve of the wall pipe 7, and convenience is brought to rotation and swing of the master manipulator and the slave manipulator.
Example IV
In combination with the first, second and third embodiments, the present embodiment provides a split manipulator, which includes a through-wall connection device 10, a driven arm 20 and a driving arm 30.
The wall penetrating connecting device 10 is arranged in a wall body between the hot chamber and the front region of the hot chamber, the hot end part of the wall penetrating pipe 7 is made of stainless steel, and the cold end is made of carbon steel.
The driven arm 20 is positioned in the hot room and is detachably connected with one end of the through-wall connecting device 10; the driven arm 20 consists of a driven connecting frame, an inner concentric telescopic pipe, an outer concentric telescopic pipe and a driven arm 20, wherein structural parts of the driven arm 20 are made of stainless steel and aluminum alloy, and a driven arm 20 rolling bearing is made of stainless steel;
the actuator arm 30 is located in the front region of the chamber and is removably connected to the other end of the through-wall connection 10. The driving arm 30 is provided with a connecting device and an inner concentric telescopic pipe and an outer concentric telescopic pipe, the structural parts of the driving arm 30 are made of carbon steel and aluminum alloy, the rolling bearing of the driving arm 30 is made of carbon steel, the surfaces of the carbon steel parts are subjected to galvanization passivation treatment or blackening treatment, and the surfaces of all the aluminum parts are subjected to anodic oxidation treatment;
the driving arm 30, the driven arm 20 and the wall penetrating connecting device 10 are three independent modules, the driving arm 30 is detachably connected with the wall penetrating connecting device 10, the wall penetrating connecting device 10 is detachably connected with the driven arm 20, the driving arm 30, the driven arm 20 and the wall penetrating connecting device can be separated and combined as a single body, and the driving arm 30, the driven arm 20 and the wall penetrating connecting device can be quickly installed and detached, so that maintenance and replacement are facilitated.
In addition, the manipulator also comprises an electrical system.
The electrical system comprises a power supply box, a motor, a connecting cable, a control box and the like, and has the structure that: the power supply box provides energy for the whole electrical system and is arranged as a single body; the motor is arranged at the upper end of the driving arm 30 to provide execution power for the directional movement and lifting of the manipulator; the control box is arranged on the control handle and controls the motor to start and stop; the connecting cable is connected with each actuating mechanism through a quick plug-in interface and is used as a medium for signal transmission of each actuating mechanism.
The main functions of the electrical system are as follows: the desired adjustment action is selected by operating the buttons on the handle control box, and the motor is controlled to drive the control box to perform specified movement in all directions and the speed is adjustable, so that the operable area of the manipulator is expanded, and the action requirement of the manipulator is met.
Wherein, driving motor has X, Y, Z direction: the manipulator has seven independent actions like a general traditional master-slave manipulator, a control box is arranged on an operation handle, the desired adjustment actions (left-right, front-back and up-down) are selected by manipulating buttons in all directions (X, Y, Z) on the handle control box, and the motor is controlled to drive the manipulator to perform specified movements in all directions and the speed is adjustable; when the master manipulator and the slave manipulator reach mechanical limit, the operation range of the manipulator can be increased through electric control, so that the operable area of the manipulator is expanded, and the action requirement of the manipulator is met.
In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
It will be appreciated by persons skilled in the art that the above embodiments are provided for clarity of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above-described invention will be apparent to those of skill in the art, and are still within the scope of the invention.
Claims (7)
1. The utility model provides a wall connecting device is worn to split type manipulator which characterized in that includes:
the wall penetrating pipe is horizontally arranged in the wall body and communicated with two sides of the wall body;
the wall penetrating connecting piece is provided with a first end and a second end, is coaxially arranged in the wall penetrating pipe, and the outer side face of the wall penetrating connecting piece is in dynamic sealing connection with the inner side face of the wall penetrating pipe;
the two transmission connecting frames are fixedly connected with the first end and the second end of the wall penetrating connecting piece respectively and are used for being connected with the driven arm and the driving arm;
the transmission link includes:
the first connecting part is provided with a first end and a second end, the first end of the first connecting part is coaxial with the through-wall connecting piece and is fixedly connected with the through-wall connecting piece, and the second end of the first connecting part is provided with an outer bolt hole;
a second connecting portion having a first end and a second end, the first end of the second connecting portion being fixedly connected to the driven arm/the driving arm, the second end of the second connecting portion being provided with an inner bolt hole coaxial with the outer bolt hole;
a fastening bolt passing through the outer bolt hole and the inner bolt hole and connecting the first connection portion and the second connection portion;
the wall penetrating connecting piece includes:
the horizontal pipe is coaxially arranged in the wall penetrating pipe, and two ends of the horizontal pipe are respectively and fixedly connected with the first ends of the two first connecting parts in a coaxial way;
the rotating assembly is arranged between the outer side surface of the horizontal pipe and the inner side surface of the wall penetrating pipe;
the transmission assembly is arranged in the horizontal pipe, and two ends of the transmission assembly are respectively in power connection with the gear set in the driven arm and the gear set in the driving arm;
the transmission assembly includes:
the two ends of the at least one steel belt are respectively connected with a torque input shaft of the gear set in the driven arm and a torque output shaft of the gear set in the driving arm;
the sealing partition plate is vertically arranged in the horizontal pipe, the outer circumferential surface of the sealing partition plate is fixedly connected with the inner side surface of the horizontal pipe in a sealing way, a plurality of horizontal transverse grooves matched with the steel strips are formed in the sealing partition plate, and the steel strips are vertically arranged with the sealing partition plate and penetrate through the horizontal transverse grooves;
the rotating assembly includes:
the inner ring of the rolling support seat is coaxially and fixedly connected with the outer side surface of the horizontal pipe, the outer ring of the rolling support seat is coaxially and fixedly connected with the inner side surface of the wall penetrating pipe, and the inner ring of the rolling support seat is axially and fixedly connected with the outer ring and can rotate relatively along the central axis of the rolling support seat;
the inner ring surface of the sealing support is coaxially and hermetically connected with the outer side surface of the horizontal pipe, and the outer ring surface of the sealing support is coaxially and dynamically connected with the inner side surface of the through-wall pipe.
2. The wall penetrating connecting device of claim 1, wherein the second end of the first connecting portion has a diameter greater than the second end of the second connecting portion, and the second end of the second connecting portion is coaxially disposed within the first connecting portion.
3. The wall penetrating connecting device of a split manipulator of claim 1, wherein the inner side of the horizontal transverse groove is provided with a sealing rubber layer.
4. The wall penetrating connecting device of a split manipulator according to claim 1, wherein the number of the rolling support seats is at least two, and two rolling support seats are respectively arranged at two ends of the horizontal pipe;
the number of the sealing supports is at least two, wherein the two sealing supports are respectively arranged between the two end faces of the horizontal pipe and the two rolling support seats at the two ends of the horizontal pipe.
5. The wall penetrating connecting device of the split manipulator according to claim 1, wherein grease sealing layers are arranged between two ends of the horizontal pipe and two ends of the wall penetrating pipe.
6. The wall penetrating connecting device of a split manipulator of claim 1, wherein the rolling support is a ball bearing.
7. A split manipulator, comprising:
a wall-penetrating connecting device of a split manipulator according to any one of claims 1-6, which is disposed in a wall between a hot cell and a hot cell front;
the driven arm is positioned in the hot chamber and is detachably connected with one end of the wall-penetrating connecting device;
the driving arm is positioned in the front region of the hot chamber and is detachably connected with the other end of the through-wall connecting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198574.0A CN113954050B (en) | 2021-10-14 | 2021-10-14 | Wall-through connecting device of split manipulator and manipulator comprising same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111198574.0A CN113954050B (en) | 2021-10-14 | 2021-10-14 | Wall-through connecting device of split manipulator and manipulator comprising same |
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| CN113954050B true CN113954050B (en) | 2023-07-25 |
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| CN202111198574.0A Active CN113954050B (en) | 2021-10-14 | 2021-10-14 | Wall-through connecting device of split manipulator and manipulator comprising same |
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| CN118090408A (en) * | 2024-04-22 | 2024-05-28 | 中国原子能科学研究院 | Radioactive sample stress corrosion test system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| NL273399A (en) * | 1961-01-10 | |||
| FR2797412B1 (en) * | 1999-08-13 | 2001-10-19 | Sit Soc Innovations Tech | TELEMANIPULATOR |
| CN105500379A (en) * | 2016-01-28 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Telescopic manipulator |
| CN105904446A (en) * | 2016-07-07 | 2016-08-31 | 成都航天烽火精密机电有限公司 | Automatic balancing type manipulator |
| KR102067123B1 (en) * | 2018-02-13 | 2020-02-11 | 경북대학교 산학협력단 | Suit-typemaster device having multi-degreeof freedom for controlling industrial robotic arms |
| CN108518464B (en) * | 2018-05-22 | 2020-11-17 | 中国核电工程有限公司 | Separable master-slave manipulator telescopic motion transmission system |
| CN212208927U (en) * | 2020-06-08 | 2020-12-22 | 青岛东卡环保工程技术有限公司 | Master-slave manipulator protective sleeve locking clamp and protective sleeve replacing device |
| CN111834027A (en) * | 2020-06-08 | 2020-10-27 | 青岛东卡环保工程技术有限公司 | A master-slave manipulator protective sleeve lock clip and protective sleeve replacement device and replacement method |
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