CN109048989B - A mechanical arm wrist joint for nuclear environment - Google Patents

Abstract

The invention discloses a mechanical arm wrist joint for a nuclear environment, which rotates relative to a main structure through a revolving body, is driven by a revolving motor through revolving drive, and provides reverse torque through a counter torque motor to eliminate transmission backlash; the telescopic body moves telescopically relative to the main structure, is driven by a telescopic driving motor and realizes guiding and circumferential limiting through the transmission of a gear rack transmission mechanism; under the drive of the revolving body and the telescopic body, the rotation operation of the main structure is realized, so that the whole wrist joint realizes the back clearance-free high-precision motion with two degrees of freedom of revolution and telescopic, the driving force is provided for a tool at the tail end of the wrist joint, and the work under the nuclear environment is completed.

Description

A wrist joint of a robotic arm for nuclear environments

technical field

The invention belongs to the technical field of robots, and more specifically relates to a wrist joint of a mechanical arm used in a nuclear environment.

Background technique

The working environment of nuclear facility decommissioning, radioactive waste treatment, nuclear facility maintenance and other operations has the characteristics of strong radioactivity and unstructured (the size of the facility in the environment is variable and unknown), and the robotic arm working in this environment needs to have strong protection performance, operability, easy maintenance and high precision.

The wrist joint is the end joint of the robotic arm, which directly affects the overall performance of the robotic arm. In the prior art, the degrees of freedom of the wrist joint are all rotational degrees of freedom, which are prone to collisions when operating in a small unstructured space, and have a certain transmission backlash, which affects the transmission accuracy; in addition, the wrist joint is generally the same as other joints of the mechanical arm Forming a whole, it is not easy to disassemble and maintain, and the motor and reducer are generally exposed, resulting in weak protection.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a wrist joint of a manipulator used in a nuclear environment, which is not easy to collide when working in a narrow unstructured space, and has strong protection, and is easy to disassemble and maintain as a whole, eliminating the need for transmission Transmission error caused by backlash.

In order to achieve the above-mentioned purpose of the invention, the present invention is a mechanical arm wrist joint used in a nuclear environment, which is characterized in that it includes: a main structure, a rotating body and a telescopic body;

The main structure is equipped with a rotary body, a rotary motor and a counter-torque motor, as well as a flange at the inlet end and an electric slip ring; The structure makes a rotary motion; the rotary body is connected to the output shaft of the rotary motor through one or more stages of gear transmission, and connected to the output shaft of the counter torque motor through one or multiple stages of gear transmission;

The electric slip ring includes a stator part and a rotor part; the stator part is fixed to the main structure, and the rotor part is fixed to the rotator, and the stator part and the rotor part can rotate relatively and realize the conduction of multiple electrical signals; The electric slip ring access cable is connected to the wire terminal, and the telescopic motor cable and tool cable are connected to the outlet terminal of the rotor part; one end of the electric slip ring access cable is connected to the incoming line terminal, and the other end is connected to the stator part. One end of the telescopic motor cable is connected to the outgoing terminal of the rotor, and the other end is connected to the terminal of the telescopic drive motor; one end of the tool cable is connected to the outgoing terminal of the rotor, and is wound on the cable finishing column on, and pass through the telescopic drive rack to connect with the tool contacts;

The incoming line terminal, the flange guide pin and the incoming line terminal pin bolt are installed on the incoming line end flange, and the incoming line terminal guide pin is installed on the incoming line terminal; the incoming line terminal and the incoming line terminal pin The shaft bolts are connected by the floating spring of the incoming line terminal, the electric slip ring access cable is connected to the incoming line terminal, and the other end of the electric slip ring access cable is connected to the incoming line terminal of the stator part of the electric slip ring;

The rotary body is equipped with a telescopic body, a telescopic drive motor, a rack guide key and a cable arrangement column; a telescopic transmission rack is installed between the telescopic body and the rotary body, and the telescopic transmission rack and the rotary body slide relative to each other through bearings The output shaft of the telescopic drive motor is equipped with a telescopic transmission gear, and the telescopic transmission gear meshes with the telescopic transmission rack to form a rack and pinion transmission mechanism; the guide key of the rack cooperates with the guide groove structure of the telescopic transmission rack to make the telescopic body The circumferential limit function is realized between the rotary body and the rotary body; an L-shaped cavity is formed between the rotary body and the telescopic body, and the L-shaped cavity is well sealed with the outside world, and the cavity is filled with high-pressure gas. Under the action of gas pressure, the telescopic The stepped surface of the body bears the downward axial force, so that the telescopic body always bears a downward pre-tightening force;

The telescopic body is equipped with a tool drive motor, a tool motor contact flange and a floating ring for circuit switching; a motor shaft connection sleeve is installed on the output shaft of the tool drive motor, and a tool end connection sleeve and a torque transmission pin are installed on the motor shaft connection sleeve A compression spring is installed between the shaft, the tool end connecting sleeve and the motor shaft connecting sleeve; the tool end connecting sleeve can slide relative to the motor shaft connecting sleeve, and there is a U-shaped guide groove on it, and the torque transmission pin shaft and the U-shaped guide groove Form a guiding and matching relationship between them to realize the guiding and limiting effect of the tool end connecting sleeve; the tool motor contact flange is fixed with the telescopic body, and the tool motor contact is installed, and the tool motor cable is connected to the tool motor contact. The other end of the tool motor cable is connected to the terminal of the tool drive motor; the circuit switching floating ring and the telescopic body can slide relatively, and are connected to the tool motor contact flange through a compression spring, and the tool contact is installed; the tool contact is in the When the circuit switching floating ring slides towards the tool motor contact flange, it can be in contact with the tool motor contact;

The revolving body rotates relative to the main structure, driven by the slewing drive slewing motor, and provides reverse torque through the counter torque motor to eliminate the transmission backlash; The transmission realizes the guidance and the circumferential limit; driven by the rotator and the telescopic body, it realizes the rotation operation of the main structure, so that the whole wrist joint realizes the backlash-free high-precision movement of two degrees of freedom of rotation and telescopic.

The purpose of the invention of the present invention is achieved like this:

The present invention is a wrist joint of a mechanical arm used in a nuclear environment. The rotary body rotates relative to the main structure, and is driven by a rotary motor, and the reverse torque motor is used to provide reverse torque to eliminate the transmission backlash; the telescopic body moves relative to the main structure. , driven by a telescopic drive motor, and then driven by a rack and pinion transmission mechanism, to achieve guidance and circumferential limit; driven by the rotator and the telescopic body, the rotation of the main structure is realized, so that the entire wrist joint can achieve rotation and movement The backlash-free and high-precision movement with two degrees of freedom can provide driving force for the end tool to complete the work in the nuclear environment.

Simultaneously, a kind of mechanical arm wrist joint used in nuclear environment of the present invention also has the following beneficial effects:

(1) The rotary body is driven by the rotary motor, and the reverse torque is provided by the counter torque motor, which eliminates the transmission backlash in the transmission process of the rotary body and ensures the transmission accuracy;

(2) The telescopic body can perform telescopic movement. When moving in a narrow unstructured space, the telescopic movement of the telescopic body can be used to perform linear motion operations, replacing the linear motion operations formed by the linkage of multiple rotation axes of the conventional mechanical arm, avoiding mechanical Collisions that may be caused by the rotation of each joint of the arm;

(3) The telescopic transmission rack has a cylindrical surface and a guide groove structure, so that the telescopic transmission rack can realize axial sliding and circumferential guiding functions during transmission;

(4) The tool end connecting sleeve and the motor shaft connecting sleeve can slide relatively and have spring force under the action of the torque transmission pin and the compression spring. The U-shaped guide groove of the tool end connecting sleeve and the transmission pin of the external tool are not When aligning, the tool end connecting sleeve can automatically slide along the axis, and automatically rebound when aligning after rotation, which facilitates the connection between the wrist joint and the external tool;

(5) The electric slip ring avoids the torsion of the cable when the gyratory rotates. The cable arrangement column avoids the entanglement of the cables during the expansion and contraction of the telescopic body. The hollow structure of the telescopic drive rack runs through the axis so that the tool cables can be Routing from the inside of the drive shaft;

(6), tool motor contact flange, circuit switching floating ring, tool electric shock and tool motor contact can realize the switching between the power supply of the tool cable between the tool and the tool drive motor. The tool drive motor is powered on when the motor contacts are in contact, and the tool drive motor is powered off when the external force disappears;

(7) The L-shaped cavity formed between the rotary body and the telescopic body and the high-pressure gas filled inside make the telescopic body always bear an axial preload, which eliminates the transmission backlash of the telescopic body and ensures the transmission accuracy ;

(8) The multiple petal-shaped shrapnels of the floating spring of the incoming line terminal make the incoming line terminal and the incoming line end flange relatively float. When the wrist joint is connected with other joints, the incoming line terminal can pass through the floating spring and the incoming line. The function of the terminal guide pin realizes the self-adaptive alignment when the interface is docked, and avoids the inaccurate docking caused by the over-positioning of the incoming terminal;

(9) All components in the wrist joint of the robotic arm can be quickly installed and disassembled.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a mechanical arm wrist joint used in a nuclear environment according to the present invention;

Figure 2 is a schematic diagram of the structure of the telescopic drive rack

Fig. 3 is a schematic diagram of cable layout of the wrist joint of the robotic arm;

Fig. 4 is a schematic diagram of the structure of the tool end connecting sleeve;

Fig. 5 is a schematic diagram of the structure of an L-shaped cavity;

Figure 6 is a schematic diagram of the structure of the incoming line;

Fig. 7 is a schematic diagram of the structure of the floating spring of the incoming line terminal.

Detailed ways

Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

Example

FIG. 1 is a schematic diagram of the overall structure of a wrist joint of a robotic arm used in a nuclear environment according to the present invention.

In this embodiment, as shown in FIG. 1 , a wrist joint of a manipulator used in a nuclear environment according to the present invention mainly includes: a main structure 1, a revolving body 2 and a telescopic body 12;

The main structure 1 is installed with the rotary body 2, the rotary drive motor 3 and the counter torque motor 7, as well as the inlet flange 39 and the electric slip ring 29; the rotary body 2 is installed coaxially with the main structure 1, and the main The structure 1 is connected so that the rotary body 2 can perform rotary motion relative to the main structure 1; the rotary body 2 is connected with the output shaft of the rotary motor 3 through one or more stages of gear transmission, and is connected with the counter torque motor through one or more stages of gear transmission. The output shaft of 7 is connected;

In this embodiment, a deep groove ball slewing bearing 10 and a needle roller slewing bearing 11 are arranged between the slewing body 2 and the main structure 1; The gear 5 is installed on the main structure 1 through a bearing, and has a gear meshing relationship with the first-stage gear 4 of the rotary drive; the first-stage gear 8 of the rotary counter-torque is installed on the output shaft of the rotary counter-torque motor 7, and the second-stage rotary counter-torque The gear 9 is installed on the main structure 1 through a bearing, and has a gear meshing relationship with the first-stage gear 8 of the rotary counter moment, and the third-stage gear 6 of the rotary drive is fixedly installed on the rotary body 2, and is connected with the secondary gear 5 of the rotary drive and There is a gear meshing relationship between the rotary counter moment secondary gears 9;

The electric slip ring 29 includes a stator part and a rotor part; the stator part is fixed with the main structure 1, and the rotor part is fixed with the rotary body 2, and the stator part and the rotor part can rotate relatively and realize the conduction of multiple electrical signals; The electric slip ring access cable 28 is connected to the wire terminal, and the telescopic motor cable 30 and the tool motor cable 37 are connected to the outlet terminal of the rotor part;

One end of the electric slip ring access cable 28 is connected to the incoming line terminal 27, and the other end is connected to the incoming line terminal of the stator part; one end of the telescopic motor cable 30 is connected to the outgoing line terminal at the rotor, and the other end is connected to the telescopic drive motor 13 One end of the tool cable 32 is connected to the outlet terminal of the rotor part, and is wound on the cable finishing column 31, passes through the hollow structure of the telescopic transmission rack 15, and the other end is connected to the tool contact 34;

The incoming line terminal 27, the flange guide pin 42 and the incoming line terminal pin bolt 43 are installed on the incoming line end flange 39, as shown in Figure 6, the incoming line terminal guide pin 44 is installed on the incoming line terminal 27 The incoming line terminal 27 and the incoming line terminal pin shaft bolt 43 are connected by the incoming line terminal floating spring 45, the incoming line terminal 27 is connected with an electric slip ring access cable 28, and the other end of the electric slip ring access cable 28 is connected to the The incoming terminal of the stator part of the electric slip ring is connected; wherein, as shown in Figure 7, the floating spring 45 of the incoming terminal adopts a hollow spindle-shaped structure, which has several independent petal-shaped shrapnel 46; the petal-shaped shrapnel 46 is composed of Made of elastic metal material, it deforms in the direction of the external force when it receives an external force, and resets after the external force disappears.

The rotary body 2 is equipped with a telescopic body 12, a telescopic drive motor 13, a rack guide key 20 and a cable arrangement column; in this embodiment, the telescopic body 12 is provided with an outer cylindrical surface, and the rotary body 2 is provided with an inner cylindrical surface, The outer cylindrical surface of the telescopic body 12 and the inner cylindrical surface of the revolving body 2 cooperate with each other to realize relative sliding;

A telescopic transmission rack 15 is installed between the telescopic body 12 and the revolving body 2, and the telescopic transmission rack 15 and the revolving body 2 relatively slide through bearings; The transmission gear 14 is meshed with the telescopic transmission rack 15 to form a rack and pinion transmission mechanism; the rack guide key 20 cooperates with the guide groove structure of the telescopic transmission rack 15, so that the circumferential limit is realized between the telescopic body 12 and the rotary body 2. position function; an L-shaped cavity 40 is formed between the telescopic body 12 and the rotary body 2, as shown in Figure 5, the L-shaped cavity is well sealed with the outside world, and the cavity is filled with high-pressure gas, and under the action of the gas pressure, the telescopic The step surface 41 of the body 12 bears the downward axial force, so that the telescopic body 12 always bears a downward pre-tightening force;

Wherein, as shown in FIG. 2 , the telescopic transmission rack 15 adopts a hollow structure penetrating along the axis, and has a cylindrical surface 16. One side of the cylindrical surface 16 is set as a toothed structure 17, and the other side is set as a guide groove structure. 18. There is a linear bearing 19 between the telescopic transmission rack 15 and the rotary body 2. The inner surface of the linear bearing 19 has a matching relationship with the cylindrical surface 16. The cylindrical surface 16 is connected to the rotary body 2 through a linear bearing, so that A sliding pair is formed between the telescopic transmission rack 15 and the revolving body 2, so as to realize relative sliding; the toothed structure 17 cooperates with the gear on the telescopic drive motor 13 to realize telescopic drive; the guide groove structure 18 and the rack guide on the revolving body 2 Key 20 cooperates and realizes circumferential limit.

The telescopic body 12 is equipped with a tool drive motor 21, a tool motor contact flange 38 and a circuit switching floating ring 33; a motor shaft connection sleeve 22 is installed on the output shaft of the tool drive motor 21, and a tool is installed on the motor shaft connection sleeve 22. End connecting sleeve 23 and torque transmission pin 24, first compression spring 25 is installed between tool end connecting sleeve 23 and motor shaft connecting sleeve 22, under normal circumstances, between tool end connecting sleeve 23 and motor shaft connecting sleeve 22 The first compression spring 25 maintains a certain distance under the elastic force. When the external tool is not aligned with the tool end connection sleeve 23, the self-adaptive alignment of the interface can be realized by the first compression spring 25 to adapt to the external tool;

As shown in 4, the tool end connecting sleeve 23 can slide relative to the motor shaft connecting sleeve 22, and has a U-shaped guide groove 26 on it. As shown in FIG. 3, the torque transmission pin 24 and the U-shaped guide groove 26 are formed The guide fit relationship realizes the guide and limit function of the tool end connecting sleeve 23; the tool motor contact flange 38 is fixed to the telescopic body 12, and the tool motor contact 36 is installed, and the tool motor contact 36 is connected to the tool motor Cable 37, the other end of the tool motor cable 37 is connected to the terminal of the tool drive motor 21; the circuit switching floating ring 33 and the telescopic body 12 can slide relative to each other, and is connected to the tool motor contact flange 38 through the second compression spring 35 , and a tool contact 34 is installed; the tool contact 34 can be in contact with the tool motor contact 36 when the circuit switching floating ring 33 slides toward the tool motor contact flange 38;

The rotary body 2 rotates relative to the main structure 1, and is driven by the rotary drive motor 3, and the reverse torque is provided by the rotary anti-torque motor 7 to eliminate the transmission backlash; Through the transmission of the rack and pinion transmission mechanism, the guidance and the circumferential limit are realized; driven by the rotator 2 and the telescopic body 12, the rotation of the main structure 1 is realized, so that the entire wrist joint realizes two degrees of freedom of rotation and telescopic Backlash-free high-precision movement.

Although the illustrative specific embodiments of the present invention have been described above, so that those skilled in the art can understand the present invention, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, As long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

Claims (3)

1. A wrist joint of a mechanical arm used in a nuclear environment, comprising: a main structure, a rotating body and a telescopic body; The main structure is equipped with a rotary body, a rotary motor and a counter-torque motor, as well as a flange at the inlet end and an electric slip ring; The structure makes a rotary motion; the rotary body is connected to the output shaft of the rotary motor through one or more stages of gear transmission, and connected to the output shaft of the counter torque motor through one or multiple stages of gear transmission; The electric slip ring includes a stator part and a rotor part; the stator part is fixed to the main structure, and the rotor part is fixed to the rotator, and the stator part and the rotor part can rotate relatively and realize the conduction of multiple electrical signals; The electric slip ring access cable is connected to the wire terminal, and the telescopic motor cable and tool cable are connected to the outlet terminal of the rotor part; one end of the electric slip ring access cable is connected to the incoming line terminal, and the other end is connected to the stator part. One end of the telescopic motor cable is connected to the outgoing terminal of the rotor, and the other end is connected to the terminal of the telescopic drive motor; one end of the tool cable is connected to the outgoing terminal of the rotor, and is wound on the cable finishing column on, and pass through the telescopic drive rack to connect with the tool contacts; The incoming line terminal, the flange guide pin and the incoming line terminal pin bolt are installed on the incoming line end flange, and the incoming line terminal guide pin is installed on the incoming line terminal; the incoming line terminal and the incoming line terminal pin The shaft bolts are connected by the floating spring of the incoming line terminal, the electric slip ring access cable is connected to the incoming line terminal, and the other end of the electric slip ring access cable is connected to the incoming line terminal of the stator part of the electric slip ring; The rotary body is equipped with a telescopic body, a telescopic drive motor, a rack guide key and a cable arrangement column; a telescopic transmission rack is installed between the telescopic body and the rotary body, and the telescopic transmission rack and the rotary body slide relative to each other through bearings The output shaft of the telescopic drive motor is equipped with a telescopic transmission gear, and the telescopic transmission gear meshes with the telescopic transmission rack to form a rack and pinion transmission mechanism; the guide key of the rack cooperates with the guide groove structure of the telescopic transmission rack to make the telescopic body The circumferential limit function is realized between the rotary body and the rotary body; an L-shaped cavity is formed between the rotary body and the telescopic body, and the L-shaped cavity is well sealed with the outside world, and the cavity is filled with high-pressure gas. Under the action of gas pressure, the telescopic The stepped surface of the body bears the downward axial force, so that the telescopic body always bears a downward pre-tightening force; The telescopic body is equipped with a tool drive motor, a tool motor contact flange and a floating ring for circuit switching; a motor shaft connection sleeve is installed on the output shaft of the tool drive motor, and a tool end connection sleeve and a torque transmission pin are installed on the motor shaft connection sleeve A compression spring is installed between the shaft, the tool end connecting sleeve and the motor shaft connecting sleeve; the tool end connecting sleeve can slide relative to the motor shaft connecting sleeve, and there is a U-shaped guide groove on it, and the torque transmission pin shaft and the U-shaped guide groove Form a guiding and matching relationship between them to realize the guiding and limiting effect of the tool end connecting sleeve; the tool motor contact flange is fixed with the telescopic body, and the tool motor contact is installed, and the tool motor cable is connected to the tool motor contact. The other end of the tool motor cable is connected to the terminal of the tool drive motor; the circuit switching floating ring and the telescopic body can slide relatively, and are connected to the tool motor contact flange through a compression spring, and the tool contact is installed; the tool contact is in the When the circuit switching floating ring slides towards the tool motor contact flange, it can be in contact with the tool motor contact; The revolving body rotates relative to the main structure, driven by the slewing drive slewing motor, and provides reverse torque through the counter torque motor to eliminate the transmission backlash; The transmission realizes the guidance and the circumferential limit; driven by the rotator and the telescopic body, it realizes the rotation operation of the main structure, so that the whole wrist joint realizes the backlash-free high-precision movement of two degrees of freedom of rotation and telescopic. 2. A wrist joint of a manipulator used in a nuclear environment according to claim 1, wherein the floating spring of the incoming line terminal adopts a hollow spindle-shaped structure, which has several independent petal-shaped shrapnel ; The petal-shaped shrapnel is made of elastic metal material, deforms in the direction of the external force when receiving the external force, and resets after the external force disappears. 3. A wrist joint of a manipulator used in a nuclear environment according to claim 1, wherein the telescopic transmission rack adopts a hollow structure penetrating along the axis and has a cylindrical surface. One side is set as a toothed structure, and the other side is set as a guide groove structure. The cylindrical surface is connected with the rotary body through a linear bearing, so that a sliding pair is formed between the telescopic transmission rack and the rotary body; the toothed structure is connected with the telescopic drive motor. The gears cooperate to realize the telescopic drive; the guide groove structure cooperates with the rack guide key on the rotary body to realize the circumferential limit.