An automatic nuclear emergency robot end effector reloading method is applied to a nuclear emergency multifunctional operation robot. The nuclear emergency multifunctional operation robot comprises abase, a mechanical arm, a tool transition device and a motion supporting device. The automatic end effector reloading method comprises the following steps that 1, a vacant accommodating cavity is rotated to a reloading station; 2, a to-be-unloaded end effector is unloaded into the vacant accommodating cavity; and 3, a target end effector is connected. Based on the method provided by the invention,the nuclear emergency multifunctional operation robot can realize automatic reloading of the end effector at an operation site, multi-tool quick and automatic switching operation of the nuclear emergency multifunctional operation robot is realized, a reloading area does not need to be arranged at the operation site or the end effector does not need to be placed into the operation site in advance,and the application range of the nuclear emergency multifunctional operation robot is greatly expanded.
核应急机器人末端工具自动换装方法,应用于核应急多功能作业机器人。核应急多功能作业机器人,包括包括基座、机械臂、工具换接装置及运动支持装置。自动换装末端工具的方法如下:1,将空置安置腔转动至换装工位;2,将待卸载的末端工具卸载在空置安置腔内;3,连接目标末端工具。基于本发明提供的方法,核应急多功能作业机器人可实现在作业现场自动换装末端工具,实现了核应急多功能作业机器人的多工具快速、自动切换作业,无需在作业现场设置换装区域或提前将末端工具放入作业现场内,极大拓展了核应急多功能作业机器人的适用范围。
Automatic nuclear emergency robot end effector reloading method
核应急机器人末端工具自动换装方法
2020-12-18
Patent
Electronic Resource
Chinese
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