CN222200562U - Hot chamber power manipulator for large-scale hot chamber radioactive waste treatment - Google Patents

Abstract

The utility model discloses a hot chamber power manipulator for large-scale hot chamber radioactive waste treatment, which comprises a mechanical arm, wherein the end part of the mechanical arm is rotationally connected with a rotating shaft, the outer wall of the rotating shaft is fixedly connected with a frame, the outer wall of the frame is U-shaped, the inner wall of the frame is rotationally connected with a double-head threaded rod, the double-head threaded rod is connected with two groups of sliding plates through a connecting mechanism, the outer walls of the two groups of sliding plates are respectively provided with a plurality of groups of sucking discs, and the other end of the connecting pipe is communicated with the inside of the adjacent plurality of groups of sucking discs. According to the utility model, by arranging the devices such as the suction disc, the piston and the like, the suction disc is contacted with the outer wall of the radioactive waste, so that a closed space is formed inside the suction disc, the air inside the plurality of groups of suction discs is pumped away in cooperation with the sliding of the piston, so that the closed space is formed inside the plurality of groups of suction discs, the suction of waste is realized, the waste with different shapes and sizes is dealt with, the device is suitable for various working scenes, the flexibility and the universality of operation are improved, and meanwhile, the uncertainty in the grabbing process is reduced.

Description

Hot chamber power manipulator for large-scale hot chamber radioactive waste treatment

Technical Field

The utility model relates to the technical field of manipulators, in particular to a hot chamber power manipulator for treating radioactive waste in a large hot chamber.

Background

A telescopic hot chamber master-slave manipulator for radioactive waste treatment not only provides the functions of a conventional master-slave manipulator, but also improves the safety and efficiency of radioactive waste treatment to a new level by its telescopic characteristics and high adaptability to extreme environments. Remote operation function an operator can remotely control the telescopic hot cell manipulator in a controlled environment through a vision assistance system, so that no direct contact with the radioactive environment is required.

When the hot chamber power manipulator for large-scale hot chamber radioactive waste treatment is used, the manipulator may have insufficient grabbing precision due to irregular waste shape or rough surface and the like, grabbing errors or falling of waste are easy to occur, the shape, size and surface characteristics of the waste may have great differences, the differences increase difficulty for grabbing tasks of the manipulator, the waste may have sharp edges, protruding parts or irregular shapes, and particularly under high-temperature and high-radiation environments, materials and actuators of the manipulator may be influenced, and uncertainty in grabbing process is increased, so that the hot chamber power manipulator for large-scale hot chamber radioactive waste treatment needs to be redesigned according to the problems.

Disclosure of utility model

The utility model aims to solve the defects in the prior art, and provides a hot chamber power manipulator for treating large-scale hot chamber radioactive wastes.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

The utility model provides a hot laboratory cave power manipulator for large-scale hot laboratory cave radioactive waste treatment, includes the arm, the arm tip rotates and is connected with the pivot, pivot outer wall fixedly connected with frame, the frame outer wall is the U type, the frame inner wall rotates and is connected with the double-end threaded rod, the double-end threaded rod is connected with two sets of slide through coupling mechanism, two sets of multiunit sucking discs are all installed to the slide outer wall, the equal fixedly connected with inflator of arm both sides outer wall, inflator outer wall fixedly connected with connecting pipe, connecting pipe and the inside intercommunication of inflator, the connecting pipe other end communicates rather than adjacent multiunit sucking disc inside.

Preferably, the connecting mechanism comprises two groups of sliding blocks which are in threaded connection with the threaded sections of the double-head threaded rods, and the two groups of sliding blocks are respectively and fixedly connected with the outer walls of the two groups of sliding blocks.

Preferably, the frame inner wall fixedly connected with gag lever post, gag lever post and two sets of sliders all sliding connection.

Preferably, pistons are slidably connected in the two groups of air cylinders, and the outer walls of the pistons are in contact with the inner walls of the air cylinders.

Preferably, the outer walls of two sides of the mechanical arm are fixedly connected with electric telescopic rods, and the telescopic ends of the electric telescopic rods are fixedly connected with pistons adjacent to the electric telescopic rods.

Preferably, the side wall of the frame is fixedly connected with a servo motor, and the end part of an output shaft of the servo motor is coaxially and fixedly connected with the double-head threaded rod.

The utility model has the following beneficial effects:

1. According to the utility model, by arranging the devices such as the suction disc, the piston and the like, the suction disc is contacted with the outer wall of the radioactive waste, so that a closed space is formed inside the suction disc, the air inside the plurality of groups of suction discs is pumped away in cooperation with the sliding of the piston, so that the closed space is formed inside the plurality of groups of suction discs, the suction of waste is realized, the waste with different shapes and sizes is dealt with, the device is suitable for various working scenes, the flexibility and the universality of operation are improved, and meanwhile, the uncertainty in the grabbing process is reduced.

2. According to the utility model, through arranging the devices such as the double-headed threaded rod and the sliding plates, the rotation of the double-headed threaded rod drives the two groups of sliding plates and the plurality of groups of sucking discs on the outer walls of the sliding plates to slide, so that the sliding of the sliding plates can realize clamping of wastes, ensure that the wastes keep stable positions and directions in the transportation process, and reduce the grasping instability caused by irregular shapes of the wastes.

Drawings

FIG. 1 is a schematic view of a thermal chamber power manipulator for large-scale thermal chamber radioactive waste treatment according to the present utility model;

Fig. 2 is a schematic diagram of the structure of fig. 1.

FIG. 3 is a cross-sectional view of the cartridge of FIG. 1.

In the figure, 1, a mechanical arm; 2, a rotating shaft, 3, a frame, 4, a servo motor, 5, a double-head threaded rod, 6, a sliding block, 7, a sliding plate, 8, a limiting rod, 9, a sucker, 10, a connecting pipe, 11, an air cylinder, 12, an electric telescopic rod, 13 and a piston.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.

Referring to fig. 1-3, a hot chamber power manipulator for large-scale hot chamber radioactive waste treatment, including arm 1, arm 1 tip rotates and is connected with pivot 2, pivot 2 outer wall fixedly connected with frame 3, the frame 3 outer wall is the U type, frame 3 inner wall rotates and is connected with double-end threaded rod 5, double-end threaded rod 5 is connected with two sets of slide 7 through coupling mechanism, multiunit sucking disc 9 is all installed to two sets of slide 7 outer walls, the equal fixedly connected with inflator 11 of arm 1 both sides outer wall, inflator 11 outer wall fixedly connected with connecting pipe 10, connecting pipe 10 communicates with inflator 11 inside, connecting pipe 10 other end communicates with the multiunit sucking disc 9 inside that is adjacent thereto, coupling mechanism includes two sets of sliders 6 of threaded connection on the screw thread section of double-end threaded rod 5, two sets of slide 7 are fixed in the outer wall of two sets of sliders 6, carry out the centre gripping to radioactive waste by means of slide 7, the multiunit sucking disc 9 of cooperation setting can adsorb it, the centre gripping of slide 7 is fixed can ensure that the waste keeps stable position and direction in the transportation, reduce the unstable of snatching that causes because of waste shape is irregular, thereby reduce the risk that drops, combine and adsorb shape, the different modes, the workable and various flexibility are increased.

Referring to fig. 2 and 3, the inner wall of the frame 3 is fixedly connected with a limit rod 8, the limit rod 8 is in sliding connection with two groups of sliding blocks 6, pistons 13 are respectively and slidably connected in two groups of air cylinders 11, the outer walls of the pistons 13 are in contact with the inner walls of the air cylinders 11, electric telescopic rods 12 are respectively and fixedly connected with the outer walls of two sides of the mechanical arm 1, the telescopic ends of the electric telescopic rods 12 are fixedly connected with the adjacent pistons 13, the side walls of the frame 3 are fixedly connected with servo motors 4, the end parts of output shafts of the servo motors 4 are fixedly connected with double-headed threaded rods 5 coaxially, and negative pressure states can be formed inside the suckers 9 by means of sliding of the pistons 13, so that the radioactive wastes are adsorbed.

When the device is used, the frame 3 is moved to a designated position by the aid of the mechanical arm 1, the double-head threaded rod 5 is driven to rotate by the aid of the servo motor 4, two groups of sliding blocks 6 on the threaded section of the double-head threaded rod 5 drive the sliding plates 7 to slide in opposite directions until the sliding plates are contacted with the outer wall of radioactive wastes, clamping of the wastes is achieved, at the moment, the outer wall of the sucker 9 is contacted with the outer wall of the wastes, a closed space is formed inside the sucker 9, air in a plurality of groups of suckers 9 is pumped into the air cylinder 11 by means of shrinkage of the telescopic ends of the electric telescopic rods 12, negative pressure is formed inside the suckers 9, waste is adsorbed, stable positions and directions of the waste are ensured in the transportation process, grasping instability caused by irregular shapes of the waste is reduced, the falling risk of the waste is reduced, the waste with different shapes and sizes can be dealt with by combining clamping and adsorbing modes, and the device is suitable for various working scenes, and the flexibility and the universality of operation are increased.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims (6)

1. The utility model provides a hot laboratory cave power manipulator for large-scale hot laboratory cave radioactive waste treatment, includes arm (1), its characterized in that, arm (1) tip rotates and is connected with pivot (2), pivot (2) outer wall fixedly connected with frame (3), frame (3) outer wall is the U type, frame (3) inner wall rotates and is connected with double-end threaded rod (5), double-end threaded rod (5) are connected with two sets of slide (7) through coupling mechanism, two sets of multiunit sucking disc (9) are all installed to slide (7) outer wall, the equal fixedly connected with inflator (11) of arm (1) both sides outer wall, inflator (11) outer wall fixedly connected with connecting pipe (10), connecting pipe (10) and inflator (11) inside intercommunication, the connecting pipe (10) other end and its adjacent multiunit sucking disc (9) inside intercommunication.

2. A hot chamber power manipulator for large hot chamber radioactive waste treatment according to claim 1, characterized in that the connecting mechanism comprises two sets of slide blocks (6) screwed on the threaded section of the double-headed threaded rod (5), and the two sets of slide blocks (7) are fixedly connected to the outer walls of the two sets of slide blocks (6) respectively.

3. A hot chamber power manipulator for large hot chamber radioactive waste treatment according to claim 2, characterized in that the inner wall of the frame (3) is fixedly connected with a limit rod (8), and the limit rod (8) is slidably connected with two groups of sliding blocks (6).

4. A hot chamber power manipulator for large hot chamber radioactive waste treatment according to claim 3, characterized in that pistons (13) are slidably connected in both sets of gas cylinders (11), the outer walls of said pistons (13) being in contact with the inner walls of the gas cylinders (11).

5. The hot chamber power manipulator for large-scale hot chamber radioactive waste treatment according to claim 4, wherein the outer walls of the two sides of the manipulator (1) are fixedly connected with electric telescopic rods (12), and the telescopic ends of the electric telescopic rods (12) are fixedly connected with pistons (13) adjacent to the electric telescopic rods.

6. The hot chamber power manipulator for large-scale hot chamber radioactive waste treatment according to claim 5, wherein the side wall of the frame (3) is fixedly connected with a servo motor (4), and the end part of an output shaft of the servo motor (4) is coaxially and fixedly connected with a double-head threaded rod (5).