CN106003134B - Rotary joint used in vacuum high-temperature environment - Google Patents
Rotary joint used in vacuum high-temperature environment Download PDFInfo
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- CN106003134B CN106003134B CN201610374451.0A CN201610374451A CN106003134B CN 106003134 B CN106003134 B CN 106003134B CN 201610374451 A CN201610374451 A CN 201610374451A CN 106003134 B CN106003134 B CN 106003134B
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- harmonic reducer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The invention discloses a rotary joint used in a vacuum high-temperature environment, which comprises a driving box base, a driving box cover, an upper rotary part, a lower rotary part, an internal driving mechanism and a rotary component. The driving box base is connected with the driving box cover into a whole through a bolt, the driving box cover is nested outside the rotating shaft, the needle bearing is installed between the driving box cover and the rotating shaft in a relative rotating mode, the rotating shaft is fixed on the upper rotating part through the bolt, the upper rotating part is connected with the lower rotating part through the bolt, the lower rotating part is sleeved on the protruding portion of the driving box base, and the thrust bearing and the needle shaft are installed between the lower rotating part and the driving box base in a relative rotating mode. The motor, the harmonic reducer fixing plate, the harmonic reducer connecting piece, the harmonic reducer and the joint driving mechanism are fixed on the driving box cover, the input part of the rotating component is connected with the output part of the harmonic reducer of the driving mechanism, and the output part of the rotating component is connected with the upper rotating part.
Description
Technical Field
The invention relates to the field of rotary joints for Tokamak nuclear fusion experimental devices, in particular to a rotary joint used in a vacuum high-temperature environment.
Background
With the coming of energy crisis and the increasing severity of environmental pollution, the search for green and pollution-free new energy becomes an urgent task in front of human beings. Undoubtedly, nuclear fusion energy is the most ideal energy source for human in the future with its advantages in many new energy sources such as solar energy, wind energy, water energy, geothermal energy, and the like. Under the background, the construction of controllable 'artificial sun' is a common pursuit of all countries in the world. In recent decades, the research on Tokamak magnetic confinement nuclear fusion energy at home and abroad has made a great progress. EAST (Experimental advanced superconducting Tokamak) is taken as the first global large-scale non-circular section full superconducting Tokamak nuclear fusion Experimental device, provides important engineering and physical foundation for the early application of fusion energy, and makes china enter the world frontier in the magnetic confinement fusion research field and become one of the important fusion research centers in the world.
High temperature plasma during EAST discharge can cause some damage to the internal components of the vacuum chamber, thereby affecting the operational performance of the device. In order to enter a vacuum chamber to execute detection and maintenance tasks under the condition of not damaging the vacuum environment (10-6 pa) in the vacuum chamber and the environment temperature of about 150 ℃, a rotary joint capable of being used in a vacuum high-temperature environment is developed. According to different maintenance tasks, a plurality of rotary joints can be connected together to form the mechanical arm with a plurality of degrees of freedom.
The maintenance mechanical arm joint internationally applied to the Tokamak device at present has the defects of complex structure, high flexibility, poor precision and the like. In the existing domestic robot research field, it is also difficult to find a design scheme of a mechanical arm rotating joint which can be used in a target environment. It is therefore desirable to design a revolute joint that meets the extreme environment and size requirements and outputs a large torque.
The invention aims to provide a rotary joint used in a vacuum high-temperature environment so as to solve the problem that a mechanical arm joint in the prior art cannot meet the requirements of a Tokamak device.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a rotary joint used in a vacuum high-temperature environment is characterized in that: the corrugated pipe type driving box comprises a driving box base and a driving box cover, wherein a cavity is formed in the driving box base, the driving box cover is covered and mounted on the driving box base, the driving box base and the driving box cover are connected into a whole, a corrugated pipe is arranged in the driving box cover, the top of the driving box cover is rotatably mounted with a rotating shaft through a needle bearing, the upper end of the rotating shaft extends out of the driving box cover, an upper rotating part is fixedly connected with the upper end of the rotating shaft, a protruding part is formed at the bottom of the driving box base, a lower rotating part is rotatably mounted on the protruding part at the bottom of the driving box base through the needle bearing, a thrust bearing is assembled between the lower rotating part and the bottom of the driving box base;
a horizontal harmonic reducer fixing plate is arranged in a cavity of the driving box base, a first harmonic reducer is arranged at the top of the harmonic reducer fixing plate, a disc type direct current motor is arranged at the bottom of the harmonic reducer fixing plate, a motor shaft of the disc type direct current motor is in transmission connection with an input end of the first harmonic reducer through an adapter, an output end of the first harmonic reducer is fixedly connected with a switching mother plate, a second harmonic reducer is fixed in the driving box cover, an input end of the second harmonic reducer is fixedly connected with a switching male plate, the switching male plate is fixedly connected with the switching mother plate in the driving box base into a whole, an output end of the second harmonic reducer is fixedly connected with a second harmonic reducer output flange, a bent shaft with a matched shape is embedded in a corrugated pipe in the driving box cover, one end of the bent shaft is fixedly connected with the second harmonic reducer output, a rotating component is formed by a bent shaft and an output flange of the second-stage harmonic reducer;
the magnetic rotary encoder component comprises an incremental encoder and an absolute encoder, each encoder comprises a magnet and a Hall chip which are separated from each other, the Hall chip in each encoder is welded on the embedded circuit board, the magnet in each encoder is installed on an output flange of a secondary harmonic reducer, the surface of the disc type direct current motor is attached to the surface of the disc type direct current motor, a vacuum sealing plug is fixed on a base of the driving box, the signal output end of the patch type temperature sensor is connected to the embedded circuit board, and cables of the embedded circuit board and power supply cables of the disc type direct current motor are connected with the vacuum sealing joint respectively.
The rotary joint used in the vacuum high-temperature environment is characterized in that: and a first fluororubber sealing ring is arranged between the driving box base and the driving box cover.
The rotary joint used in the vacuum high-temperature environment is characterized in that: and a second fluororubber sealing ring is arranged between the left end flange of the corrugated pipe and the driving box cover.
The rotary joint used in the vacuum high-temperature environment is characterized in that: and a third fluororubber sealing ring is arranged between the right end flange of the corrugated pipe and the end face of the bent shaft.
The rotary joint used in the vacuum high-temperature environment is characterized in that: the bent shaft is composed of a bent shaft front section and a bent shaft rear section, and the two sections are connected through bolts.
The rotary joint used in the vacuum high-temperature environment is characterized in that: the driving box base, the driving box cover, the upper rotating part and the lower rotating part are respectively provided with a hole, and the holes can be connected with other rotating joints to realize a multi-degree-of-freedom mechanism.
The rotary joint used in the vacuum high-temperature environment is characterized in that: the magnet of the absolute magnetic encoder is a button magnet with only one pair of magnetic poles, the magnet of the incremental magnetic encoder is a magnetic ring with 64 pairs of magnetic poles correspondingly, the absolute magnetic encoder provides the absolute position of the joint, and the incremental magnetic encoder provides higher joint rotation resolution.
The rotary joint used in the vacuum high-temperature environment is characterized in that: the embedded circuit board is responsible for collecting joint rotation position information and temperature information of the surface of the motor in the operation process, and transmits data to the outside of the joint through the bus.
The invention provides a rotary joint used in a vacuum high-temperature environment, which adopts a sealing mode of combining a bent shaft and a corrugated pipe to replace a complex dynamic sealing mode, has compact integral structure and high modularization degree, and can be freely combined into a multi-degree-of-freedom mechanical arm. The invention can also be applied in the industrial field, in particular to the high vacuum, underwater or complex environment with multiple dust environments.
The invention has the beneficial effects that:
1. the invention adopts the sealing mode of combining the corrugated pipe with the bent shaft on the rotating joint, and has simple structure. And the compact design is adopted at multiple positions, the whole size is small, and the weight is light.
2. The device can be used for the inspection and maintenance of devices in an environment which is not comfortable to work, and is particularly suitable for an extreme environment such as high temperature, vacuum and the like, for example, the interior of an EAST vacuum chamber. The motion mechanisms with different degrees of freedom can be combined in a modularized mode.
Drawings
Fig. 1 is a schematic structural diagram of the external form of the invention.
Fig. 2 is a schematic view of the internal structure of the present invention.
Fig. 3 is a schematic view of a two-stage speed reducer connection structure of the present invention.
Fig. 4 is a schematic view of the structure of the rotating member of the present invention, in which: fig. 4a is an overall view of the rotating member, and fig. 4b is a view illustrating a bent shaft structure.
Fig. 5 is a cross-sectional view of the seal assembly of the present invention.
FIG. 6 is a schematic view of a magnetic encoder assembly of the present invention.
Fig. 7 is a diagram of an embodiment of the present invention.
Detailed Description
As shown in fig. 1-6. A rotary joint used in a vacuum high-temperature environment comprises a drive box base 4, a cavity is arranged in the drive box base 4, the drive box base 4 is fixedly connected with a drive box cover 3 into a whole through a bolt, a corrugated pipe 5 is connected with the drive box cover 3 through a thread, the drive box cover 3 is nested outside a rotary shaft 11, a needle bearing 6 is arranged between the drive box cover 3 and the rotary shaft 11 in a relatively rotating mode, the rotary shaft 11 is fixed with an upper rotating part 1 through a bolt, the upper rotating part 1 is connected with a lower rotating part 2 through a bolt, the lower rotating part 2 is nested on a protruding portion of the drive box base 4, and a thrust bearing 7 and the needle bearing 6 are arranged between the lower rotating part 2 and the drive box base 4 in a relatively rotating mode; a harmonic reducer fixing plate 14 is arranged in a cavity of the driving box base 4, a first-stage harmonic reducer 10 is arranged on one side, facing the upper portion of the driving box base 4, of the harmonic reducer fixing plate 14, a disc-type direct-current motor 8 is arranged on the other side of the harmonic reducer fixing plate 14, the disc-type direct-current motor 8 is connected with the input end of the first-stage harmonic reducer 10 through a motor shaft adapter 17, a switching mother plate 15 is fixed to the output end of the first-stage harmonic reducer 10 through bolts, a switching male plate 16 is fixed to the input end of the second-stage harmonic reducer 9 through bolts, the switching mother plate 15 is connected with the switching male plate 16 through bolts; the driving box cover 3 is sleeved with a rotating component 12, the rotating component 12 comprises a second-order harmonic reducer output flange 18 and a bent shaft 19, the second-order harmonic reducer output flange 18 is connected with the output end of a second-order harmonic reducer 9 through a bolt, the bent shaft 19 is embedded in the corrugated pipe 5, and the bent shaft 19 is fixed with the upper rotating part 1 through a bolt;
the magnetic rotary encoder comprises a drive box cover 3, and is characterized by further comprising an embedded circuit board 24, a patch type temperature sensor 25 and a vacuum sealing joint 26, wherein the embedded circuit board 24 is installed in the drive box cover 3, the magnetic rotary encoder component comprises an incremental encoder 27 and an absolute encoder 28, the incremental encoder 27 comprises a Hall chip 27a and a magnet 27b only having one pair of magnetic poles, and the absolute encoder 28 comprises a Hall chip 28a and a magnetic ring 28b having 64 pairs of magnetic poles. Hall chips 27a and 28a are welded on the embedded circuit board 24, magnets 27b and 28b are installed on the output flange 18 of the second-level harmonic reducer, a surface-mounted temperature sensor 25 is attached to the surface of the disc motor 8, a vacuum sealing plug 26 is fixed on the driving box base 4, the surface-mounted temperature sensor 25 is connected into the embedded circuit board 24 through signals, and cables of the embedded circuit board 24 and power supply cables of the motor are respectively connected with the vacuum sealing connector 26.
A first fluororubber sealing ring 13 is arranged between the drive box base 4 and the drive box cover 3.
A second fluororubber sealing ring 23 is arranged between the left end flange of the corrugated pipe and the driving box cover 3.
And a third fluororubber sealing ring 22 is arranged between the right end flange of the corrugated pipe and the end face of the bent shaft.
The bent axle is composed of a bent axle front section 21 and a bent axle rear section 20 which are connected through bolts.
As shown in fig. 1, 2 and 4, the present invention includes a driving box base 4, a driving box cover 3, an upper rotating member 1, a lower rotating member 2, a rotating shaft 11, and an internal driving mechanism, a sealing member and an electric component. The driving box comprises a driving box base 4, a driving box cover 3, a corrugated pipe 5, a rotating shaft 11, a lower rotating part 2, a thrust bearing 7 and a needle bearing 6, wherein the driving box base 4 is connected with the driving box cover 3 into a whole through bolts, the corrugated pipe 5 is connected with the driving box cover 3 through threads, the driving box cover 3 is nested outside the rotating shaft 11, the needle bearing 6 is installed between the driving box cover 3 and the rotating shaft 11 in a relatively rotating mode, the rotating shaft 11 is fixed with the upper rotating part 1 through bolts, the upper rotating part 1 is connected with the lower rotating part 2 through bolts, the lower rotating part 2 is sleeved on a protruding part of the driving; a harmonic reducer fixing plate 14 is arranged in a cavity of the driving box base 4, a first-stage harmonic reducer 10 is arranged on one side, facing the upper portion of the driving box base 4, of the harmonic reducer fixing plate 14, a disc-type direct-current motor 8 is arranged on the other side of the harmonic reducer fixing plate 14, the disc-type direct-current motor 8 is connected with the input end of the first-stage harmonic reducer 10 through a motor shaft adapter 17, the output end of the first-stage harmonic reducer 10 is fixedly provided with a switching mother plate 15 through bolts, the input end of a second-stage harmonic reducer 9 is fixedly provided with a switching male plate 16 through bolts, the switching mother plate 15 is connected with the switching male plate 16; the cover 3 of drive box is equipped with rotating member 12, and wherein rotating member 12 includes second harmonic reduction gear output flange 18 and bent axle 19, and second harmonic reduction gear output flange 18 passes through bolted connection with second harmonic reduction gear 9's output, and the nested inside bellows 5 of bent axle 19, and the bent axle 19 passes through the bolt and rotates part 1 fixedly on with, thereby realizes rotating the rotation that drives upper and lower rotating part through the motor.
As shown in fig. 1, 2 and 5, a first fluororubber sealing ring 13 is installed between two contact surfaces of the drive box base 4 and the drive box cover 3, a second fluororubber sealing ring 23 is installed between the left end flange of the corrugated pipe and the drive box cover 3, a third fluororubber sealing ring 22 is installed between the right end flange of the corrugated pipe and the end surface of the bent shaft, and the installation of the fluororubber sealing rings 13, 22 and 23 ensures the sealing of the inner cavities of the drive box base 4 and the drive box cover 3.
As shown in fig. 2 and 3, the connection between the primary speed reducer and the secondary speed reducer is completed through a switching motherboard 15 and a switching male plate, the switching motherboard 15 is connected with the output end of the primary speed reducer through a bolt, the switching male plate 16 is connected with the input end of the secondary speed reducer 9 through a bolt, and the switching motherboard 15 and the switching male plate 16 are fixed through a clamping groove and a bolt, so that power transmission is realized.
As shown in fig. 2, 4, and 5, the dynamic seal function of the rotary joint is mainly achieved by the rotary member 12, the bellows 5, and the seal rings 22 and 23. The rotating component consists of a reducer output flange 18 and a bent shaft 19, the bent shaft 19 consists of a bent shaft front section 21 and a bent shaft rear section 20 for convenient installation, the corrugated pipe 5 is sleeved on the outer surface of the bent shaft 19, one end of the corrugated pipe 5 is fixed with the driving box cover 3 through threads and seals a contact surface through a sealing ring 22, the other end of the corrugated pipe 5 is fixed with the bent shaft front section 21 and the upper rotating part 1 through bolts and seals a contact surface of the corrugated pipe 5 and the bent shaft front section 21 through the sealing ring 23, the corrugated pipe continuously stretches in the joint rotating process, and the sealing in the whole joint cavity is realized.
As shown in fig. 2, 4, and 6, the electrical part includes an embedded circuit board 24, a patch type temperature sensor 25, and a vacuum sealing joint 26. The magnetic rotary encoder assembly comprises an incremental encoder 27 and an absolute encoder 28, the incremental encoder 27 comprising a hall chip 27a and a magnet 27b having only one pair of magnetic poles, and the absolute encoder 28 comprising a hall chip 28a and a magnetic ring 28b having 64 pairs of magnetic poles. Hall chips 27a and 28a are welded on an embedded circuit board 24, magnets 27b and 28b are installed on an output flange 18 of a second-level harmonic reducer, a surface-mounted temperature sensor 25 is attached to the surface of a disc motor 8, a vacuum sealing plug 26 is fixed on a driving box base 4, the surface-mounted temperature sensor 25 is connected into the embedded circuit board 24 in a signal mode, the embedded circuit board 24 is fixed inside a driving box cover 3, all components on the embedded circuit board resist high temperature of 150 ℃, the embedded circuit board is responsible for collecting position information of joints and temperature information of the surface of the motor in the operation process, and the processed information is transmitted to a remote control card through a bus. The cables of the embedded circuit board 24 and the motor power supply cables are respectively connected with the vacuum sealing joint 26.
Fig. 7 shows a multi-degree-of-freedom robot arm for modular assembly according to the present invention, which can achieve a wide range of flexible movements, and the modules are interconnected by cylinders with connection holes and internal connection rods, and in addition, suitable motors and reducers can be selected according to the magnitude of load moment.
Claims (8)
1. A rotary joint used in a vacuum high-temperature environment is characterized in that: the corrugated pipe joint device comprises a driving box base, wherein a cavity is formed in the driving box base, the driving box base is fixedly connected with a driving box cover into a whole through a bolt, the corrugated pipe is connected with the driving box cover through a thread, the driving box cover is nested outside a rotating shaft, a needle bearing is arranged between the driving box cover and the rotating shaft in a relatively rotating mode, the rotating shaft is fixed with an upper rotating part through a bolt, the upper rotating part is connected with a lower rotating part through a bolt, the lower rotating part is sleeved on a protruding portion of the driving box base, and a thrust bearing and a needle bearing are arranged between the lower rotating; a harmonic reducer fixing plate is arranged in a cavity of the driving box base, a first-stage harmonic reducer is arranged on one side, facing the upper portion of the driving box base, of the harmonic reducer fixing plate, a disc type direct current motor is arranged on the other side of the harmonic reducer fixing plate, the disc type direct current motor is connected with the input end of the first-stage harmonic reducer through a motor shaft adapter, the output end of the first-stage harmonic reducer is fixedly provided with a switching mother plate through a bolt, the input end of the second-stage harmonic reducer is fixedly provided with a switching male plate through a bolt, the switching mother plate is connected with the switching male plate through a; the driving box cover is sleeved with a rotating component, the rotating component comprises a second-stage harmonic reducer output flange and a bent shaft, the second-stage harmonic reducer output flange is connected with the output end of the second-stage harmonic reducer through a bolt, the bent shaft is embedded in the corrugated pipe, and the bent shaft is fixed with the upper rotating part through a bolt;
the joint further comprises an embedded circuit board, a magnetic rotary encoder component, a surface mount type temperature sensor and a vacuum sealing joint, wherein the embedded circuit board is installed in the drive box cover, the magnetic rotary encoder component comprises an incremental encoder and an absolute encoder, each encoder comprises a magnet and a Hall chip which are separated from each other, the Hall chips are welded on the embedded circuit board, the magnets are installed on an output flange of a second-stage harmonic reducer, the surface mount type temperature sensor is attached to the surface of a disc motor, the vacuum sealing joint is fixed on a base of the drive box, the surface mount type temperature sensor is connected into the embedded circuit board in a signal mode, and cables of the embedded circuit board and power supply cables of the motor are connected with the vacuum sealing joint respectively.
2. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: and a first fluororubber sealing ring is arranged between the driving box base and the driving box cover.
3. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: and a second fluororubber sealing ring is arranged between the left end flange of the corrugated pipe and the driving box cover.
4. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: and a third fluororubber sealing ring is arranged between the right end flange of the corrugated pipe and the end face of the bent shaft.
5. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: the bent shaft is composed of a bent shaft front section and a bent shaft rear section, and the two sections are connected through bolts.
6. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: the holes on the driving box base, the driving box cover, the upper rotating part and the lower rotating part can be connected with other rotating joints, so that a multi-degree-of-freedom mechanism is realized.
7. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: the magnet of the absolute encoder is a button magnet with only one pair of magnetic poles, the magnet of the incremental encoder is a magnetic ring with 64 pairs of magnetic poles correspondingly, the absolute encoder provides the absolute position of the joint, and the incremental encoder provides high joint rotation resolution.
8. The rotary joint for use in a vacuum high temperature environment according to claim 1, wherein: the embedded circuit board is responsible for collecting joint rotation position information and temperature information of the surface of the motor in the operation process, and transmits data to the outside of the joint through the bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610374451.0A CN106003134B (en) | 2016-05-26 | 2016-05-26 | Rotary joint used in vacuum high-temperature environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610374451.0A CN106003134B (en) | 2016-05-26 | 2016-05-26 | Rotary joint used in vacuum high-temperature environment |
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| CN106003134A CN106003134A (en) | 2016-10-12 |
| CN106003134B true CN106003134B (en) | 2020-09-29 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107830123A (en) * | 2017-10-26 | 2018-03-23 | 万鑫精工（湖南）有限公司 | A kind of high transmission ratio two-stage harmonic speed reducer |
| CN111633640A (en) * | 2020-06-10 | 2020-09-08 | 苏州汇川技术有限公司 | Robot body joint structure |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2324938A1 (en) * | 1974-01-15 | 1977-04-15 | Gachot Sa | Shaft transmission through radioactively contaminated wall - operates on glove box principle with closed bellows tube |
| JP2007007815A (en) * | 2005-07-01 | 2007-01-18 | Sony Corp | Robot device and actuator |
| CN100560307C (en) * | 2007-09-27 | 2009-11-18 | 上海交通大学 | The active Wrist mechanism that is used for mechanical arm or snake-shaped robot |
| FR2952988B1 (en) * | 2009-11-23 | 2012-02-03 | Sartorius Stedim Aseptics | IMPROVEMENTS TO THE SEALED JUNCTION AND THE SEALED TRANSFER BETWEEN TWO ENCLOSURES FOR ASEPTIC TRANSFER BETWEEN THEM. |
| JP2011255493A (en) * | 2010-06-04 | 2011-12-22 | Robotis Co Ltd | Actuator module usable for various forms of joints |
| CN103182712B (en) * | 2011-12-29 | 2015-02-11 | 沈阳新松机器人自动化股份有限公司 | Manipulator with gas guide ring |
| US9742250B2 (en) * | 2012-11-30 | 2017-08-22 | Applied Materials, Inc. | Motor modules, multi-axis motor drive assemblies, multi-axis robot apparatus, and electronic device manufacturing systems and methods |
| DE102015001504A1 (en) * | 2014-02-11 | 2015-08-13 | Gimatic S.P.A. | Protective housing for robot gripper |
| CN203697030U (en) * | 2014-02-25 | 2014-07-09 | 北京邮电大学世纪学院 | Robot wrist mechanism |
| CN205086000U (en) * | 2015-09-24 | 2016-03-16 | 深圳松健机器人有限公司 | Robot manipulator's big arm and connection structure of wrist joint |
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Address after: 230001 no.181, Gucheng Road, sanzigang Township, Luyang District, Hefei City, Anhui Province Patentee after: INSTITUTE OF PLASMA PHYSICS CHINESE ACADEMY OF SCIENCES Address before: 230031 Shushan Lake Road, Shushan District, Hefei, Anhui 350 Patentee before: INSTITUTE OF PLASMA PHYSICS CHINESE ACADEMY OF SCIENCES |