CN108044599B

CN108044599B - Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode

Info

Publication number: CN108044599B
Application number: CN201810061034.XA
Authority: CN
Inventors: 不公告发明人
Original assignee: Taizhou Technological Innovation Machinery Technology Co ltd
Current assignee: Taizhou Technological Innovation Machinery Technology Co.,Ltd.
Priority date: 2018-01-23
Filing date: 2018-01-23
Publication date: 2020-12-15
Anticipated expiration: 2038-01-23
Also published as: CN108044599A

Abstract

The invention discloses an overhauling mechanical arm device applied to the strong radiation working condition of a strong magnetic field, which comprises a base, universal casters, a steel wire rope, a frame, pulleys, a hydraulic motor, a turntable bearing, seven joint arms, an L-shaped frame, an expanding table, a gripper mechanism and cameras, wherein four universal casters are arranged on the lower side of the base, two guide rails are arranged on the frame, the pulleys are rotatably arranged at the top end of a push rod of an oil cylinder, the first joint arm and the frame form a moving pair, the oil cylinder telescopically controls the first joint arm to move up and down, each joint arm and the joint arm connected with the joint arm form a rotating pair, the sixth joint arm and the L-shaped frame form a rotating pair, the seventh joint arm is fixedly connected with the L-shaped frame, the seventh joint arm and the expanding table form a rotating pair, the hydraulic motor arranged in the seventh joint arm drives the expanding table to rotate, the gripper mechanism is arranged on the expanding table, and the gripper mechanism is provided with two cameras for an operator, other clamping mechanisms and welding mechanisms can be connected to the expansion platform according to the actual operation type.

Description

Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode

Technical Field

The invention relates to a maintenance mechanical arm device applied to environments which are not suitable for manual operation, such as a strong magnetic field and strong radiation, in particular to a maintenance mechanical arm device applied to a strong magnetic field and strong radiation working condition.

Background

The inside and outside surface area and the volume of the Tokamak device are large, and the inner wall is generally manufactured in blocks and then is assembled by a process design method. Taking EAST as an example, the size of a unit block constituting the inner wall thereof is generally 0.25 m²About (50cm × 50cm), weighing several tens of kilograms. In order to prevent radiation and leakage accidents, the minimum welding and assembling precision is required to be +/-2 mm. After the ITER is operated, the temperature of the inner wall is up to 120-200 ℃, and the heat energy density can reach 5MW/m when being started²And can reach 0.5MW/m when the device is turned off²Degree of vacuum of 10^-6Pa, the magnetic field intensity can reach 6.2T, and the gamma radiation can reach up to 10 Gy/h. Such high temperature, high vacuum, high magnetic field and high radiation conditions are extremely dangerous. Even if the maintenance and repair work is in a shutdown state, large high-energy radiation and electromagnetic radiation and a strong magnetic field of about 3.5T still remain at the position of the inner wall of the device, and people cannot directly enter the device to work.

Therefore, in the working conditions of strong magnetic field and strong radiation of the Tokamak cavity and the like, the operations of equipment such as overhaul, assembly, disassembly, welding, transportation and the like must be completed by adopting a mechanical arm device. In the existing mechanical arm, the rotation of the joint is mostly driven by a motor, and under the working conditions of strong magnetic field and strong radiation, the motor is very likely to cause signal loss or interference error, which is very dangerous for expensive equipment to be repaired and mechanical arms with loads, so that the development of a mechanical arm device with strong anti-interference capability and capable of being applied to the working conditions of strong magnetic field and strong radiation is urgently needed.

Disclosure of Invention

The invention aims to provide the maintenance mechanical arm device applied to the working condition of strong radiation of a strong magnetic field, which has high automation degree and high degree of freedom, the rotation of the joint of the maintenance mechanical arm device is driven by a hydraulic motor, the operation is stable, the anti-interference capability is strong, and the maintenance mechanical arm device can be suitable for the working environment of strong magnetic field and strong radiation.

The technical scheme adopted by the invention is as follows: the utility model provides a be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode, which comprises a base, universal caster, wire rope, a machine support, a guide rail, the hydro-cylinder, the pulley, hydraulic motor, the revolving stage bearing, big bevel gear, little bevel gear, sealed lid, the slider, first festival arm, second festival arm, third festival arm, fourth festival arm, fifth festival arm, sixth festival arm, L shape frame, seventh festival arm, the ring gear, the pinion, the motor support, the extension platform, tongs mechanism, left camera, right camera, its characterized in that: the universal caster has self-locking function, and four universal casters are installed in the base downside, make the base can realize omnidirectional movement, and operation handrail and balancing weight are installed in base upside rear end, and frame fixed mounting is in base upside front end, and frame rear side lower extreme is equipped with the wire rope connecting seat, and the vertical direction of frame front side is equipped with two guide rails, and the hydro-cylinder is installed in frame central point and puts, and the pulley rotation is installed on the top of hydro-cylinder push rod, and first festival arm rear end is equipped with four sliders, two liang of installation of four sliders are on two guide rails, make first festival arm and frame constitute the sliding pair, and wire rope one end is connected in the wire rope connecting seat, and the other end passes.

Further, as shown in fig. 2, a cavity is formed in the front end of the first arm, a turntable bearing is installed between the first arm and the second arm, so that the first arm and the second arm form a revolute pair, a large bevel gear is fastened and connected with the second arm through a screw, a hydraulic motor is fastened and installed inside the first arm through a screw, an output shaft of the hydraulic motor is fastened and connected with a small bevel gear, the small bevel gear and the large bevel gear are in meshing transmission to form a gear tooth meshing relationship, and a sealing cover is installed on the lower side of the front end of the first arm to isolate the cavity in the front end of the first arm from outside air, so that dust pollution is prevented.

Further, as shown in fig. 2, a cylindrical cavity is vertically arranged at the front end of the second knuckle arm, a turntable bearing is arranged between the second knuckle arm and the third knuckle arm to enable the second knuckle arm and the third knuckle arm to form a revolute pair, a large bevel gear is fixedly connected with the third knuckle arm through a screw, a hydraulic motor is fixedly arranged in the second knuckle arm through a screw, the output shaft of the gear is fixedly connected with a small bevel gear, the small bevel gear is in meshing transmission with a large bevel gear to form a gear tooth meshing relation, a sealing cover is installed on the lower side of the front end of a second knuckle arm, the structures of the second knuckle arm, a third knuckle arm, a fourth knuckle arm and a fifth knuckle arm are completely the same, and the structure for connecting the third knuckle arm and the fourth knuckle arm, the structure for connecting the fourth knuckle arm and the fifth knuckle arm and the structure for connecting the sixth knuckle arm and the fifth knuckle arm are the same as the structure for connecting the second knuckle arm and the third knuckle arm, so that repeated description is omitted.

Further, as shown in fig. 3, a cylindrical cavity is horizontally arranged at the front end of the sixth arm, a turntable bearing is installed between the sixth arm and the L-shaped frame, so that the sixth arm and the L-shaped frame form a revolute pair, a large bevel gear is fastened and connected with the L-shaped frame through a screw, a hydraulic motor is fastened and installed inside the sixth arm through a screw, an output shaft of the hydraulic motor is fastened and connected with a small bevel gear, the small bevel gear is in meshing transmission with the large bevel gear to form a gear tooth meshing relationship, and a sealing cover is installed at an opening of the cavity at the front end of the sixth arm.

Furthermore, as shown in fig. 3, the seventh arm is fastened to the L-shaped frame by screws, a cylindrical cavity is formed inside the seventh arm, a skylight for passing a hydraulic oil pipe is formed in the side surface of the seventh arm, a turntable bearing is installed between the front end of the seventh arm and the expansion platform, so that the seventh arm and the expansion platform form a revolute pair, the gear ring is fastened to the expansion platform by screws, the motor support is fastened to the side wall of the inner cavity of the seventh arm by screws, a hydraulic motor is fastened to the motor support by screws, the output shaft of the hydraulic motor is fastened to the pinion, and the pinion and the gear ring form a gear tooth meshing relationship.

Furthermore, the gripper mechanism is fixedly connected with the expansion table through a screw, and two cameras are mounted on the gripper mechanism and used for an operator to observe the operation environment around the mechanical arm.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of a partial cross-sectional structure in the vertical center plane of the present invention.

Fig. 3 is a schematic view of a partial cross-sectional structure in the horizontal plane of the present invention.

FIG. 4 is a schematic view of any of the postures of the present invention.

Reference numerals: 1 base, 1.1 universal caster, 1.2 balancing weight, 1.3 operating armrest, 2 steel wire rope, 3 frame, 3.1 steel wire rope connecting seat, 3.2 guide rail, 4 oil cylinder, 4.1 pulley, 5 first pitch arm, 5.1 hydraulic motor, 5.2 turntable bearing, 5.3 big bevel gear, 5.4 small bevel gear, 5.5 sealing cover, 5.6 slide block, 6 second pitch arm, 6.1 hydraulic motor, 6.2 turntable bearing, 6.3 big bevel gear, 6.4 small bevel gear, 6.5 sealing cover, 7 third pitch arm, 7.1 hydraulic motor, 7.2 turntable bearing, 7.3 big bevel gear, 7.4 small bevel gear, 7.5 sealing cover, 8 fourth pitch arm, 9 fifth pitch arm, 10 sixth pitch arm, 10.1 hydraulic motor, 10.2 turntable bearing, 10.3 big bevel gear, 10.4 small bevel gear, 10.5 sealing cover, 11L-shaped frame, 12 th pitch arm, 12.3 operating armrest, 12.3 operating handle, 2 steel wire rope, 3 rack, 3 steel wire rope connecting seat, 3 sliding block, 5.6 second pitch arm, 6.4 big bevel gear, 6.4 small bevel gear, 7.1 hydraulic motor, 7.2 small bevel gear, 7 third pitch, 14 grab handle mechanism, 15.1 left camera, 15.2 right camera.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1, an overhaul mechanical arm device applied to a strong magnetic field strong radiation working condition comprises a base 1, a universal caster 1.1, a steel wire rope 2, a frame 3, a guide rail 3.2, an oil cylinder 4, a pulley 4.1, a hydraulic motor (5.1, 6.1, 7.1, 10.1, 12.1), a turntable bearing (5.2, 6.2, 7.2, 10.2, 12.2), a large bevel gear (5.3, 6.3, 7.3, 10.3), a small bevel gear (5.4, 6.4, 7.4, 10.4), a sealing cover (5.5, 6.5, 7.5, 10.5), a sliding block 5.6, a first joint arm 5, a second joint arm 6, a third joint arm 7, a fourth joint arm 8, a fifth joint arm 9, a sixth joint arm 10, an L-shaped frame 11, a seventh joint arm 12, a gear ring 12.3, a pinion 12.4, a bracket 12.6, a bracket 13, a left camera head extension mechanism and a right camera head extension mechanism, and is characterized in that: universal caster 1.1 has self-locking function, and four universal casters 1.1 are installed in 1 downside of base, make base 1 can realize omnidirectional movement, and operation handrail 1.3 and balancing weight 1.2 are installed in 1 upside rear end of base, and 3 fixed mounting in the 1 upside front end of base in frame, and 3 rear side lower extremes of frame are equipped with wire rope connecting seat 3.1, and the vertical direction in 3 front sides of frame is equipped with two guide rails 3.2, and hydro-cylinder 4 is installed in frame central point and puts, and pulley 4.1 rotates the top of installing in hydro-cylinder 4 push rod, and 5 rear ends of first section arm are equipped with four sliders 5.6, four sliders 5.6 are two liang installed on two guide rails 3.2, make first section arm 5 and frame 3 constitute the sliding pair, and 2 one end of wire rope are connected in wire rope connecting seat 3.1, and the other end passes through pulley 4.1, is.

As shown in fig. 2, a cavity is arranged at the front end of the first arm 5, a turntable bearing 5.2 is arranged between the first arm 5 and the second arm 6, so that the first arm and the second arm form a revolute pair, a large bevel gear 5.3 is fixedly connected with the second arm 6 through a screw, a hydraulic motor 5.1 is fixedly installed inside the first arm 5 through a screw, an output shaft of the hydraulic motor is fixedly connected with a small bevel gear 5.4, the small bevel gear 5.4 is in meshing transmission with the large bevel gear 5.3 to form a gear tooth meshing relationship, and a sealing cover 5.5 is installed at the lower side of the front end of the first arm 5 to isolate the cavity at the front end of the first arm 5 from outside air and prevent dust pollution.

As shown in fig. 2, a cylindrical cavity is vertically arranged at the front end of the second knuckle arm 6, a turntable bearing 6.2 is arranged between the second knuckle arm 6 and the third knuckle arm 7, so that the two arms form a revolute pair, a large bevel gear 6.3 is fixedly connected with the third knuckle arm 7 through a screw, a hydraulic motor 6.1 is fixedly installed inside the second knuckle arm 6 through a screw, an output shaft of the hydraulic motor is fixedly connected with a small bevel gear 6.4, the small bevel gear 6.4 is in meshing transmission with the large bevel gear 6.3 to form a gear tooth meshing relationship, a sealing cover 6.5 is installed at the lower side of the front end of the second knuckle arm 6, the third knuckle arm 7, the fourth knuckle arm 8 and the fifth knuckle arm 9 are completely identical in structure, a connecting structure between the third knuckle arm 7 and the fourth knuckle arm 8, a connecting structure between the fourth knuckle arm 8 and the fifth knuckle arm 9, and a connecting structure between the sixth arm 10 and the fifth knuckle arm 9 are identical in structure between the second knuckle arm 6 and the third knuckle arm 7, and thus will not be described in detail.

As shown in fig. 3, a cylindrical cavity is arranged at the front end of the sixth arm 10 in the horizontal direction, a turntable bearing 10.2 is arranged between the sixth arm 10 and the L-shaped frame 11, so that the sixth arm 10 and the L-shaped frame 11 form a revolute pair, a large bevel gear 10.3 is fixedly connected with the L-shaped frame 11 through a screw, a hydraulic motor 10.1 is fixedly installed inside the sixth arm 10 through a screw, an output shaft of the hydraulic motor is fixedly connected with a small bevel gear 10.4, the small bevel gear 10.4 is in meshing transmission with the large bevel gear 10.3 to form a gear tooth meshing relationship, and a sealing cover 10.5 is installed at an opening of the cavity at the front end of the sixth arm 10.

As shown in fig. 3, the seventh arm 12 is fastened to the L-shaped frame 11 by screws, a cylindrical cavity is provided inside the seventh arm 12, a skylight 12.5 for a hydraulic oil pipe to pass through is provided on a side surface of the seventh arm, a turntable bearing 12.2 is installed between a front end of the seventh arm 12 and the expansion platform 13, so that the seventh arm and the expansion platform form a revolute pair, a gear ring 12.3 is fastened to the expansion platform 13 by screws, a motor support 12.6 is fastened to a side wall of an inner cavity of the seventh arm 12 by screws, a hydraulic motor 12.1 is fastened to the motor support 12.6 by screws, an output shaft of the hydraulic motor 12.1 is fastened to a pinion 12.4, and the pinion 12.4 and the gear ring 12.3 form a gear tooth engagement relationship.

The gripper mechanism 14 is fixedly connected with the expansion table 13 through screws, and two cameras (15.1 and 15.2) are mounted on the gripper mechanism 14 and used for an operator to observe the operation environment around the mechanical arm.

The embodiment of the invention comprises the following steps:

as shown in fig. 4, the operation armrest 1.3 can control the maintenance mechanical arm device (the invention) to move and rotate freely on the ground, the oil cylinder 4 stretches and retracts to realize the ascending and descending of each section of arm, the two cameras (15.1 and 15.2) arranged on the gripping mechanism 14 can feed back the shot picture to the operator in time, and the extension table 13 can realize six degrees of freedom under the driving of the oil cylinder 4 and each hydraulic motor, so that the gripping mechanism 14 arranged on the extension table 13 can flexibly complete the maintenance task in a severe working condition environment.

According to the actual working condition, the number of the knuckle arms can be increased or decreased by the maintenance mechanical arm device (the invention), so that the working space of the maintenance mechanical arm device (the invention) is increased or decreased.

Claims

1. The utility model provides an overhaul robotic arm device for strong radiation working condition of strong magnetic field, including base (1), universal caster (1.1), wire rope (2), frame (3), guide rail (3.2), hydro-cylinder (4), pulley (4.1), hydraulic motor (5.1, 6.1, 7.1, 10.1, 12.1), revolving stage bearing (5.2, 6.2, 7.2, 10.2, 12.2), big bevel gear (5.3, 6.3, 7.3, 10.3), little bevel gear (5.4, 6.4, 7.4, 10.4), sealed lid (5.5, 6.5, 7.5, 10.5), slider (5.6), first festival arm (5), second festival arm (6), third festival arm (7), fourth festival arm (8), fifth festival arm (9), sixth festival arm (10), L shape frame (11), seventh festival arm (12), ring gear (12.3), pinion stand (12.12), left side extension mechanism (13.13), tongs mechanism (13.4), camera head (13.4), handle mechanism (13.9), Right camera (15.2), its characterized in that: four universal casters (1.1) are arranged at the lower side of the base (1) to enable the base (1) to realize omnidirectional movement, an operating handrail (1.3) and a balancing weight (1.2) are arranged at the rear end of the upper side of the base (1), a frame (3) is fixedly arranged at the front end of the upper side of the base (1), a steel wire rope connecting seat (3.1) is arranged at the lower end of the rear side of the frame (3), two guide rails (3.2) are arranged in the vertical direction of the front side of the frame (3), an oil cylinder (4) is arranged at the central position of the frame, a pulley (4.1) is rotatably arranged at the top end of a push rod of the oil cylinder (4), four sliding blocks (5.6), the four sliding blocks (5.6) are arranged on the two guide rails (3.2) in pairs, so that the first section arm (5) and the rack (3) form a moving pair, one end of the steel wire rope (2) is connected to the steel wire rope connecting seat (3.1), and the other end of the steel wire rope (2) is connected with the upper end of the first section arm (5) through a pulley (4.1);

a turntable bearing (5.2) is arranged between the first knuckle arm (5) and the second knuckle arm (6), a large bevel gear (5.3) is fixedly connected with the second knuckle arm (6), a hydraulic motor (5.1) is fixedly arranged in the first knuckle arm (5), an output shaft of the hydraulic motor is fixedly connected with a small bevel gear (5.4), the small bevel gear (5.4) is in meshing transmission with the large bevel gear (5.3), and a sealing cover (5.5) isolates a cavity at the front end of the first knuckle arm (5) from outside air to prevent dust pollution;

a turntable bearing (6.2) is arranged between the second knuckle arm (6) and the third knuckle arm (7) to enable the first knuckle arm and the third knuckle arm to form a revolute pair, a large bevel gear (6.3) is fixedly connected with the third knuckle arm (7), a hydraulic motor (6.1) is fixedly arranged in the second knuckle arm (6), an output shaft of the hydraulic motor is fixedly connected with a small bevel gear (6.4), the small bevel gear (6.4) is in meshing transmission with the large bevel gear (6.3), and a sealing cover (6.5) is arranged on the lower side of the front end of the second knuckle arm (6);

the structure of the second arm (6), the structure of the third arm (7), the structure of the fourth arm (8) and the structure of the fifth arm (9) are completely the same, and the connecting structure between the third arm (7) and the fourth arm (8), the connecting structure between the fourth arm (8) and the fifth arm (9), and the connecting structure between the sixth arm (10) and the fifth arm (9) are all the same as the connecting structure between the second arm (6) and the third arm (7);

a cylindrical cavity is arranged at the front end of the sixth arm (10) in the horizontal direction, a turntable bearing (10.2) is arranged between the sixth arm (10) and the L-shaped frame (11), a large bevel gear (10.3) is fixedly connected with the L-shaped frame (11) through a screw, a hydraulic motor (10.1) is fixedly installed inside the sixth arm (10) through a screw, an output shaft of the hydraulic motor is fixedly connected with a small bevel gear (10.4), the small bevel gear (10.4) is in meshing transmission with the large bevel gear (10.3), and a sealing cover (10.5) is installed at an opening of the cavity at the front end of the sixth arm (10);

the seventh arm (12) is fixedly connected with the L-shaped frame (11) through a screw, a cylindrical cavity is arranged inside the seventh arm (12), a skylight (12.5) for a hydraulic oil pipe to pass through is arranged on the side wall of the cavity, a turntable bearing (12.2) is arranged between the front end of the seventh arm (12) and the expansion table (13), a gear ring (12.3) is fixedly connected with the expansion table (13), a motor support (12.6) is fixedly connected with the side wall of the inner cavity of the seventh arm (12) through a screw, a hydraulic motor (12.1) is fixedly connected with the motor support (12.6) through a screw, an output shaft of the hydraulic motor (12.1) is fixedly connected with a pinion (12.4), and the pinion (12.4) and the gear ring (12.3) form a gear tooth meshing relationship;

the gripper mechanism (14) is fixedly connected with the expansion table (13) through screws, and two cameras (15.1 and 15.2) are mounted on the gripper mechanism (14) and used for an operator to observe the operation environment around the mechanical arm.