CN103568003B - The long-range airborne carrier mechanical arm of vacuum chamber is equipped towards MCF - Google Patents
The long-range airborne carrier mechanical arm of vacuum chamber is equipped towards MCF Download PDFInfo
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- CN103568003B CN103568003B CN201310476371.2A CN201310476371A CN103568003B CN 103568003 B CN103568003 B CN 103568003B CN 201310476371 A CN201310476371 A CN 201310476371A CN 103568003 B CN103568003 B CN 103568003B
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Abstract
The present invention provides a kind of long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF, mainly safeguarded that mechanical arm bearing order is connected formed by a torque compensation type joint of mechanical arm, multiple spaces bearing type modularization joint of mechanical arm and an adjustable for height remote operating, between each joint, realized real-Time Signal Transfer and feedback by EtherCAT bus.Present invention is specifically directed to little entrance, long-channel, big rotary space intelligent maintenance Environment Design, have compact conformation, lightweight, joint bearing torque big, connects up the features such as succinct, and especially torque compensation type joint of mechanical arm adopts assembly pulley, outside long-channel closed system, the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF has been carried out torque compensation effect.
Description
Technical field
The present invention relates to the construction of nuclear power station, operation and maintenance technology field, specifically a kind of long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF.
Background technology
" International Thermal-Nuclear Experimental Reactor (ITER) plan " is one of maximum international scientific research cooperative project of current global scale.Wherein, magnetic confinement nuclear fusion (MCF) equips core component Tokamak intracavity vacuum chamber owing to having the features such as shutdown radiant intensity is big, running temperature is high, access road is long and narrow, relatively narrow and small, the big radius of gyration of inner section, causes intelligent maintenance task difficulty in vacuum chamber very big.Existing intelligent maintenance device in nuclear fusion has the LORA robot of CEALIST interactive robot laboratory development, Europe nuclear fusion tissue (EFDA) the MASCOT servo mechanical arm developed at present in the world, upkeep operation distant in vacuum chamber has all been done related experiment Journal of Sex Research by these intelligent maintenance devices, its versatility difficult problem is how under overcoming deadweight situation, meets the restriction of narrow and small entrance simultaneously and circles round greatly the requirement of job area in inside.By existing procucts are analyzed research, it has been found that external existing intelligent maintenance mechanical arm mechanism is more complicated, and power source is both needed to customized, and it is big to control complexity.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, provide a kind of long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF, by maintenance tasks different in vacuum chamber are carried out modularized design, realization passes through catwalk, the function of long range propagation and delivery is carried out in big radius of gyration hermetic container, reliable and stable mobile basis is provided for the distant upkeep operation of modularity, achieve the modular design of the international non-standard upkeep operation of nuclear fusion, effectively save use cost, add the versatility of intelligent maintenance operation.Meanwhile, by EtherCAT bus marco, while to real-Time Signal Transfer, feedback and control, considerably reduce wiring complexity in mechanical arm, effectively raise the agility of control in real time.
The present invention is achieved by the following technical solutions.
A kind of long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF, mainly safeguarded that mechanical arm bearing order is connected formed by a torque compensation type joint of mechanical arm, multiple spaces bearing type modularization joint of mechanical arm and a remote operating, between each joint, realize real-Time Signal Transfer and feedback by EtherCAT bus (open real-time ethernet network communications protocol).
nullDescribed torque compensation type joint of mechanical arm，Including slide unit pedestal、Bearer connection pipe、Assembly pulley、Drag rope、Servo-operated mechanism、Fixing load carrier、Moment loading bearing、Rotate output mechanism、Harmonic speed reducer，Wherein，Described bearer connection pipe is arranged on described slide unit pedestal，Described servo-operated mechanism and moment loading bearing are arranged on described fixing load carrier，Described servo-operated mechanism is the main transmission section of described torque compensation joint of mechanical arm，Described moment loading bearing is coaxial with described rotation output mechanism，Undertake heavy duty bending moment M value，Described bearer connection pipe far-end is drawn by described fixing load carrier by described drag rope and assembly pulley，Decrease the bending moment M value that described slide unit pedestal bears，Effectively to described torque compensation type joint of mechanical arm, owing to described bearer connection pipe is oversize, that produce moment compensates，Described harmonic speed reducer is positioned at described servo-operated mechanism end，For undertaking heavy duty torque T value.
Described slide unit pedestal is described torque compensation type joint of mechanical arm bearing base, is again the described long-range airborne carrier mechanical arm rectilinear motion importation equipping vacuum chamber towards MCF.
Preferably, described servo-operated mechanism includes servomotor, encoder, planetary reduction gear, pinion steering mechanism, servo-operated mechanism between all joints is controlled and feedback link by EtherCAT bus, it is ensured that information between different joint modules and the real-time Transmission of signal feedback.
Preferably, described moment loading bearing mainly undertakes and comes from described rotation output mechanism and follow-up joint due to the bending moment M value that described fixing load carrier is produced of conducting oneself with dignity.Heavy duty bending moment M value and torque T value are carried out functional segmentation, heavy duty bending moment M value is mainly undertaken by described moment loading bearing, torque T value is mainly provided by described harmonic speed reducer, when reducing gravity and drive system being affected, substantially increase the transmission effect of drive mechanism, finally ensure that the stable of each joint rotates smoothly.
Preferably, described remote operating safeguards that mechanical arm bearing is with height adjustment mechanism, upkeep operation space distant in vacuum chamber has been carried out effective amplification by its altitude mixture control, and what expand the described long-range airborne carrier mechanical arm towards MCF equipment vacuum chamber reuses effect.
Compared with prior art, the beneficial effects of the present invention is:
1, moment loading bearing undertakes the performance of heavy duty bending moment M value and is far superior to harmonic speed reducer, substantially increase modularization joint of mechanical arm bearing capacity, simultaneously also remote delivery for mechanical arm provides solid foundation;
2, servo-operated mechanism in the present invention, efficiently utilizes the advantage of mechanical arm length direction, considerably reduces mechanical arm cross sectional dimensions, is beneficial to and passes through narrow and small access road;
3, to have overall dimensions little for harmonic speed reducer, high speed reducing ratio, and the feature such as high pulling torque, by harmonic speed reducer is positioned over described servo-operated mechanism end, improves described rotation output mechanism machine driving precision;
4, the high pulling torque that described slide unit pedestal is produced by the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF is carried out torque compensation by assembly pulley by described torque compensation counterweight, it is achieved that carry out effect of intracavity mechanical arm torque compensation outside the entrance of Tokamak chamber;
5, by EtherCAT bus transmission model, effectively described servo-operated mechanism, various kinds of sensors feedback signal are merged, make to only exist between modularization joint of mechanical arm EtherCAT bus and power line, both add the real-time control performance between modularization joint of mechanical arm, farthest simplify again the complexity of wiring between joint.
The long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF provided by the invention, by EtherCAT bus, one torque compensation type joint of mechanical arm, multiple spaces bearing type modularization joint of mechanical arm, a remote operating are safeguarded that mechanical arm bearing carries out real-time feedback control, improve master-slave mode remote control system carrying smooth operation in Nuclear Power Station, operation and upkeep operation and real-time operation.The present invention both provided fabulous transport and carrying effect for the intelligent maintenance of nuclear fusion facility and monitoring, added again the safety of its intelligent maintenance operation.
Modularity remote operating mechanical arm is played transport and carrying effect ITER engineering MCF equipment remote distant maintenance by the present invention in manipulation system, the active force produced in remote and intelligent maintenance task-cycle process and external interference undertake by the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF.The present invention especially suitable in ITER (International Thermal-Nuclear Experimental Reactor) engineering MCF (magnetic confinement nuclear fusion) equip and distant in remote maintenance system safeguard that mechanical arm delivers and Primary Location at a distance, by installing different types of modularity remote operating mechanical arm, make the nonstandardization upkeep operation generalization in the vacuum chamber of Tokamak chamber.
Accompanying drawing explanation
By reading detailed description non-limiting example made with reference to the following drawings, the other features, objects and advantages of the present invention will become more apparent upon:
The structure that Fig. 1 is the present invention arranges total figure;
In figure: 1 is torque compensation type joint of mechanical arm, 2 is space bearing type modularization joint of mechanical arm, and 3 safeguard mechanical arm bearing for remote operating;
Fig. 2 is that torque compensation type joint of mechanical arm arranges schematic diagram;
In figure: 10 is slide unit pedestal, 11 is bearer connection pipe, and 12 is assembly pulley, and 13 is drag rope, and 14 is servo-operated mechanism, and 15 is fixing load carrier, and 16 is moment loading bearing, and 17 for rotating output mechanism, and 18 is harmonic speed reducer, and 19 is torque compensation counterweight;
Fig. 3 is that space bearing type modularization joint of mechanical arm arranges schematic diagram.
In figure: 201 is bearer connection;202 is incremental encoder;203 is servomotor;204 is planetary reduction gear;205 is bevel gear;206 is absolute encoder;207 is cross roller bearing;208 is output shaft;209 is harmonic reduction;210 for rotating carrying;211 is fixing carrying;212 is EtherCAT bus driver.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is carried out under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that, to those skilled in the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.
As it is shown in figure 1, present embodiments provide a kind of long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF, safeguard mechanical arm bearing 3 including a torque compensation type joint of mechanical arm 1, multiple spaces 2, remote operating of bearing type modularization joint of mechanical arm.Being connected by EtherCAT bus between all of which joint, each space bearing type modularization joint of mechanical arm drive mechanism is similar to torque compensation joint of mechanical arm.
As shown in Figure 2, the described torque compensation type joint of mechanical arm that the present embodiment provides, including slide unit pedestal 10, bearer connection pipe 11, assembly pulley 12, drag rope 13, servo-operated mechanism 14, fixing load carrier 15, moment loading bearing 16, rotates output mechanism 17, harmonic speed reducer 18, torque compensation counterweight 19.
Slide unit pedestal 10 is torque compensation type joint of mechanical arm 1 bearing base, is again the long-range airborne carrier mechanical arm rectilinear motion importation equipping vacuum chamber towards MCF.Bearer connection pipe 11 is installed on slide unit pedestal 10, bearer connection pipe 11 is drawn from far-end by assembly pulley 12 by fixing load carrier 15 by drag rope 13, compensate with the moment that gravity is produced, decrease the bending moment M value that slide unit base 10 bears, effectively to torque compensation type joint of mechanical arm 1 owing to described bearer connection pipe 11 moment that is oversize and that produce compensates, its compensation effect depends on the connected mode of assembly pulley 12, link position and is arranged on the factor such as torque compensation counterweight 19 impact of drag rope 13 one end.
Servo-operated mechanism 14 includes servomotor, encoder, planetary reduction gear, pinion steering mechanism, drive mechanism between all joints is controlled and feedback link by EtherCAT bus, it is ensured that information between different joint modules and the real-time Transmission of signal feedback.
Moment loading bearing 16 is two, mainly undertakes and comes from the bending moment M value rotating output mechanism 17 and follow-up joint owing to conducting oneself with dignity to the generation of fixing load carrier 15.In the present invention, heavy duty bending moment M value and torque T value are effectively carried out functional segmentation by transmission layout, heavy duty bending moment M value is mainly undertaken by moment loading bearing 16, torque T value is mainly provided by harmonic speed reducer 18, when reducing gravity and drive system being affected, substantially increase the transmission effect of servo-operated mechanism 14, finally ensure that the stable of each joint rotates smoothly.
As it is shown on figure 3, the described space bearing type modularization joint of mechanical arm that the present embodiment provides, including bearer connection 201;Incremental encoder 202;Servomotor 203;Planetary reduction gear 204;Bevel gear 205;Absolute encoder 206;Cross roller bearing 207;Output shaft 208;Harmonic reduction 209;Rotate carrying 210;Fixing carrying 211;EtherCAT bus driver 212.
Bearer connection 201 is to close internode connector, is used for bearing joint from heavy load.Incremental encoder 202, servomotor 203, planetary reduction gear 204, bevel gear 205, harmonic reduction 209 order are connected, composition space bearing type modularization joint of mechanical arm drive mechanism.Harmonic reduction 209 is positioned at drive mechanism least significant end, both ensure that joint running accuracy, adds again and rotates the moment of flexure that fixing carrying 211 is applied by carrying 210.Rotate carrying 210 applying bending loads by fix carrying 211 and cross roller bearing 207 jointly carry.
Absolute encoder 206 and output shaft 208 link together, EtherCAT bus driver 212, incremental encoder 202 is powered and signal transmits, servomotor 203 is powered and signal transmits, absolute encoder 206 is powered and signal transmission combines, it is aggregated in EtherCAT bus, while strengthening real-time control performance, enormously simplify wiring complexity.
Remote operating safeguards that mechanical arm bearing 3 is with height adjustment mechanism, and upkeep operation space distant in vacuum chamber has been carried out effective amplification by its altitude mixture control, expands the modularity utilization rate of the described long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF.
While servomotor and all types of sensor are carried out real-Time Signal Transfer, feedback and control, considerably reduce wiring complexity in mechanical arm, effectively raise the agility of control in real time.
Above-described embodiment operationally, by TwinCAT software, controls servomechanism 14 through EtherCAT bus driver, it is achieved rotates output mechanism 17 and realizes ± 90 degree of rotations around fixing load carrier 15.Rotate output mechanism 17 actual rotational angle by the absolute encoder measurement in sensor, gathered by EtherCAT bus driver, by measured value by EtherCAT bus transfer to TwinCAT software, the movement instruction that itself and the incremental encoder in sensor send is compared, the gap occurred in actual transmission process is differed from benefit, it is achieved rotate load carrier and do precision rotation and location.
Above-described embodiment independent in the internal narrow confined space of nuclear fusion core facility Tokamak and adverse circumstances can realize remote control carrying duty flexibly, for transporting and carry the modularity remote operating detection with difference in functionality and safeguarding mechanical hand.Above-described embodiment both provided strong system security for nuclear plant safety stable operation, added again the degree of modularity to ITER engineering MCF equipment monitoring and upkeep operation;Decrease radioprotective hazardous area remotely to monitor and the complexity of operation and triviality, add robustness and the reliability of detection attended operation.
Above specific embodiments of the invention are described.It is to be appreciated that the invention is not limited in above-mentioned particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, and this has no effect on the flesh and blood of the present invention.
Claims (5)
1. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF, it is characterized in that, mainly safeguarded that mechanical arm bearing is linked in sequence formed by a torque compensation type joint of mechanical arm, multiple spaces bearing type modularization joint of mechanical arm, a remote operating, between each joint, realized real-Time Signal Transfer and feedback by EtherCAT bus.
null2. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 1，It is characterized in that，Described torque compensation type joint of mechanical arm，Including slide unit pedestal、Bearer connection pipe、Assembly pulley、Drag rope、Servo-operated mechanism、Fixing load carrier、Moment loading bearing、Rotate output mechanism、Harmonic speed reducer，Wherein，Described bearer connection pipe is arranged on described slide unit pedestal，Described servo-operated mechanism and moment loading bearing are arranged on described fixing load carrier，Described servo-operated mechanism is the main transmission section of described torque compensation joint of mechanical arm，Described moment loading bearing is coaxial with described rotation output mechanism，Undertake heavy duty bending moment M value，Described bearer connection pipe far-end is drawn by described fixing load carrier by described drag rope and assembly pulley，Decrease the bending moment M value that described slide unit pedestal bears，To described torque compensation type joint of mechanical arm due to described bearer connection pipe is oversize and that produce moment compensates，Described harmonic speed reducer is positioned at described servo-operated mechanism end，For undertaking heavy duty torque T value.
3. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 2, it is characterized in that, described moment loading bearing is two, is installed on described fixing load carrier, coaxial with described rotation output mechanism, shared heavy duty bending moment M value.
4. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 2, it is characterised in that described torque compensation type joint of mechanical arm also includes the torque compensation counterweight for improving compensation effect, is arranged on one end of described drag rope.
5. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 1, it is characterised in that described remote operating safeguards the height adjustable of mechanical arm bearing.
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| CN201310476371.2A CN103568003B (en) | 2013-10-12 | 2013-10-12 | The long-range airborne carrier mechanical arm of vacuum chamber is equipped towards MCF |
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| CN201310476371.2A CN103568003B (en) | 2013-10-12 | 2013-10-12 | The long-range airborne carrier mechanical arm of vacuum chamber is equipped towards MCF |
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| CN103568003B true CN103568003B (en) | 2016-07-06 |
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| CN105773656B (en) * | 2016-03-30 | 2018-06-22 | 广东工业大学 | A kind of interior cabling rotating and swinging joint module of robot |
| CN109326362B (en) * | 2018-08-14 | 2020-04-24 | 中国科学院合肥物质科学研究院 | Nuclear fusion device inner part teleoperation transfer device based on annular separable track |
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| CN1433874A (en) * | 2003-02-27 | 2003-08-06 | 上海交通大学 | Robot for eliminating danger |
| CN1836852A (en) * | 2005-03-21 | 2006-09-27 | 山东科技大学 | Multiple joint operating bar |
| CN102166755A (en) * | 2011-01-26 | 2011-08-31 | 东南大学 | Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot |
| WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
| CN102873674A (en) * | 2012-09-04 | 2013-01-16 | 上海交通大学 | Remote control system capable of performing force/moment feedback control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7594912B2 (en) * | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| CN101870102B (en) * | 2009-04-25 | 2013-12-11 | 鸿富锦精密工业（深圳）有限公司 | Palletizing robot |
| CN102568626B (en) * | 2011-12-19 | 2015-01-21 | 上海交通大学 | Remote monitoring and maintaining system based on mechanical arms |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1433874A (en) * | 2003-02-27 | 2003-08-06 | 上海交通大学 | Robot for eliminating danger |
| CN1836852A (en) * | 2005-03-21 | 2006-09-27 | 山东科技大学 | Multiple joint operating bar |
| CN102166755A (en) * | 2011-01-26 | 2011-08-31 | 东南大学 | Method for measuring three-dimensional contact force of tail end of mechanical hand of teleoperation robot |
| WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
| CN102873674A (en) * | 2012-09-04 | 2013-01-16 | 上海交通大学 | Remote control system capable of performing force/moment feedback control |
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