CN110726024A - Quick-change connector for teleoperation maintenance mechanical arm in tokamak device - Google Patents
Quick-change connector for teleoperation maintenance mechanical arm in tokamak device Download PDFInfo
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- CN110726024A CN110726024A CN201910985777.0A CN201910985777A CN110726024A CN 110726024 A CN110726024 A CN 110726024A CN 201910985777 A CN201910985777 A CN 201910985777A CN 110726024 A CN110726024 A CN 110726024A
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- ring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L39/00—Joints or fittings for double-walled or multi-channel pipes or pipe assemblies
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21B—FUSION REACTORS
- G21B1/00—Thermonuclear fusion reactors
- G21B1/05—Thermonuclear fusion reactors with magnetic or electric plasma confinement
- G21B1/057—Tokamaks
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/627—Snap or like fastening
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/10—Nuclear fusion reactors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- High Energy & Nuclear Physics (AREA)
- Mechanical Engineering (AREA)
- Quick-Acting Or Multi-Walled Pipe Joints (AREA)
Abstract
The invention provides a quick-change connector for remotely operating and maintaining a mechanical arm in a Tokamak device, which combines steel ball locking and cylindrical limiting connector positions, has a compact structure, and can effectively reduce the weight of a connecting connector under the condition of meeting heavy load requirements; by adopting a double-motor simultaneous driving mode, the redundant motor can ensure that the connecting joint is continuously driven to complete the recovery of the front-end load when a single motor fails in a complex environment in the Tokamak device, so that the applicability of the connecting joint in the Tokamak device is improved; all electric, gas and liquid joints required by the front end load of the mechanical arm are integrated, and the simultaneous butt joint can be completed, so that the complexity of the system during operation butt joint is reduced; the rescue interface which can be driven by external equipment is arranged at the output end of the driving motor, so that when the driving motor of the connecting joint fails simultaneously, the recovery of the connecting interface can be completed by the external driving rescue interface, and the applicability of the invention in the Tokamak device is further improved.
Description
Technical Field
The invention relates to the technical field of mechanical arms for maintenance of Tokamak nuclear fusion experimental devices, in particular to a quick-change connector of a heavy-load mechanical arm.
Background
The tokamak nuclear fusion device is a device for realizing controlled nuclear fusion by utilizing magnetic confinement. It has many advantages, is the best choice to deal with the energy crisis in the future. The CFETR of the Tokamak nuclear fusion device designed in China at present is used as a new generation device for demonstrating the feasibility of continuous large-scale fusion energy safe and stable power generation engineering, and the overall structure and the size of internal components of the CFETR are greatly enlarged compared with the prior device. The large components that require maintenance within the CFETR vacuum chamber can reach tonnage weights. CFETR operation also presents radiation problems that are inaccessible to personnel for internal maintenance.
Therefore, after the tokamak device runs for a period of time, the internal components need to be maintained by adopting a full-automatic teleoperation heavy-load mechanical arm. During maintenance, a series of operations such as cutting, welding, inspection, cleaning, etc. are involved. This requires that the front end of the heavy-duty arm can deploy the different types of maintenance tools, i.e., a set of quick-change joints are required, which can automatically and quickly dock and deploy various tools, provide electrical and pneumatic docking, can bear high loads, and can stably operate in a radiation environment.
At present, electrical connectors, gas connectors, and electrical composite connectors are mature, and many of them provide stable and reliable electrical docking. But there is not a set of quick-change coupler of mechanical arm that can satisfy simultaneously and be used for under the radiation environment, provide the electrical interface, can bear high load.
Disclosure of Invention
The invention aims to provide a quick-change connector for remotely operating a maintenance mechanical arm in a tokamak device so as to realize the quick and reliable replacement of various maintenance tools in the large tokamak device in the future.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a quick-change connector for remotely operating and maintaining a mechanical arm in a Tokamak device comprises a male connector and a female connector;
the male joint comprises a male joint connecting flange, a plurality of conical holes positioned on the same annular surface are uniformly distributed on the cylindrical surface of the male joint connecting flange, and a locking steel ball is uniformly distributed in each conical hole;
the opening part of the male joint connecting flange is rotatably provided with a driving ring which is controlled to rotate by a motor, a cylindrical boss is arranged on the inner ring of the driving ring, and the cylindrical axis of the cylindrical boss is vertical to the surface of the inner ring;
a cylindrical piston ring with an upward opening is rotatably sleeved in the driving ring, a section of spiral groove is arranged on the outer ring at the upper part of the piston ring, and the cylindrical boss is embedded into the corresponding spiral groove and can slide along the spiral groove;
the outer ring at the lower part of the piston ring is mutually attached to the inner ring of the flange plate of the male joint connecting flange, the inner ring of the flange plate of the male joint connecting flange is provided with a longitudinal guide groove, and the outer ring at the lower part of the piston ring is provided with a guide block which is embedded in the longitudinal guide groove and can slide back and forth in the longitudinal guide groove;
when the driving ring rotates, the piston ring is driven to axially move through the cylindrical boss and the spiral groove, the conical surface moves upwards or downwards and acts on the locking steel ball to enable the locking steel column to be pushed into or withdrawn from the corresponding conical hole;
a circle of uniformly distributed electric connector male heads and a circle of gas and liquid connector male heads are arranged on a central disc of the piston ring;
the female joint comprises a cylindrical female joint connecting flange with an upward opening, and the female joint connecting flange is sleeved outside the male joint connecting flange; the annular inner wall of the cylindrical part of the female joint connecting flange is provided with one-to-one corresponding annular grooves corresponding to the locking steel balls, and when the male joint connecting flange and the female joint connecting flange are completely sleeved, the locking steel balls are embedded into the corresponding annular grooves; and the central disc of the female joint connecting flange is provided with an electric joint female head which is matched with the electric joint male heads in a one-to-one correspondence manner and a gas-liquid joint female head which is matched with the gas-liquid joint male heads in a one-to-one correspondence manner.
The flange plates of the male joint connecting flange and the female joint connecting flange are provided with a plurality of bolt holes in one-to-one correspondence, and the flange plates of the male joint connecting flange and the female joint connecting flange are connected with the mechanical arm body through bolts after being involutory.
The flange plate of the male joint connecting flange is provided with a butt joint cylinder, the flange plate of the female joint connecting flange is provided with a butt joint hole corresponding to the butt joint cylinder, and after the butt joint cylinder is inserted into the corresponding butt joint hole, the positions of the male joint of the electric joint and the female joint of the electric joint and the male joint of the gas-liquid joint sequentially correspond to each other.
The top surface of the connecting head connecting flange is provided with a driving ring driving mechanism, the driving ring driving mechanism comprises a motor, an output shaft of the motor is fixedly sleeved with a driving gear, an outer ring of the driving ring is provided with an outer gear, and the driving gear and the outer gear are in meshing transmission through a transmission gear set.
The driving ring driving mechanism comprises two groups.
The transmission gear set comprises 2 to 4 gears which are meshed in sequence; and the transmission gear set is provided with an inner hexagonal driving interface.
The number of the conical holes is 15-40.
The number of the male heads and the number of the female heads of the electric connector are 1-30; the number of the male heads of the gas and liquid connectors and the number of the female heads of the gas and liquid connectors are 1-10.
The butt-joint cylinders are fixed on the male joint connecting flange, the number of the butt-joint cylinders is 2, and the two butt-joint cylinders are symmetrically arranged around the center of the male joint connecting flange; the butt joint cylindrical main body part is cylindrical, and the tail end of the butt joint cylindrical main body part is conical.
The driving motors are arranged on the male connector connecting flange and connected with the transmission gear set through keys, the number of the driving motors is 2, one driving motor is designed in a redundant mode, and when one driving motor fails in the Tokamak device, the other driving motor can independently drive the whole system to operate; the number of the transmission gear sets is matched with that of the driving motors, each set is composed of 2 to 4 gears which are meshed in sequence, and 2 gears are preferred; the driving ring is provided with a section of external gear on the outer ring, and a cylindrical boss is arranged on the inner ring, wherein the external gear is meshed with the last stage gear of the transmission gear set, and the rotation of the driving motor can enable the driving ring to rotate through the transmission gear set and the external gear on the driving ring; the piston ring is provided with a section of spiral groove on the outer ring, the position of the spiral groove is matched with the position of a cylindrical boss arranged on the inner ring of the driving ring, and the rotation of the driving ring changes the contact position of the cylindrical boss and the spiral groove, so that the piston ring is driven to move in the axial direction; the outer ring of the piston ring is also provided with a section of conical surface, the position of the conical surface is matched with the positions of the locking steel ball and a conical hole arranged on the male joint connecting flange, and the piston ring moves along the axial direction to change the contact position of the conical surface on the piston ring and the locking steel ball so as to drive the locking steel ball to push into or withdraw from the conical hole on the male joint connecting flange; a standard electric connector male head and a gas and liquid connector male head are arranged on the central disc of the piston ring, and when the piston ring moves along the axial direction, the electric connector male head and the gas and liquid connector male head are also driven to move; the number of the electric connectors is 1-30, and the required number is determined according to the front-end load requirement; the male heads of the gas and liquid connectors adopt standard gas and liquid connectors which can be used in a Tokamak device, the number of the connectors is 1-10, and the required number is determined according to the front-end load requirement;
the female joint connecting flange is provided with bolt holes in a flange plate and can be connected with the front end load of the mechanical arm through bolts; the female joint connecting flange is also provided with a butt joint hole corresponding to the position of a butt joint cylinder on the male joint, one section of the butt joint hole is a conical hole which is beneficial to aligning the butt joint cylinder, the other section of the butt joint hole is a cylindrical hole which has the same diameter as the cylindrical part of the butt joint cylinder, and when the male joint and the female joint are completely butted, the male joint and the female joint bear and transfer torsional moment; the inner surface of the cylindrical part of the female joint connecting flange is provided with an annular groove at a position corresponding to the locking steel ball, and when the male joint is completely butted with the female joint, the locking steel ball is embedded into the annular groove so as to bear and transfer bending moment force and axial force; the central disc of the female joint connecting flange is provided with an electric joint female head and a gas and liquid joint female head, and the number and the positions of the electric joint female heads are respectively consistent with the number and the positions of the electric joint male heads and the gas and liquid joint male heads.
The driving motor drives the driving ring to rotate, so that the piston ring is driven to move along the axial direction, the locking steel ball is further driven to enter the annular groove on the female joint, the male joint and the female joint are locked with each other, meanwhile, the male head of the electric joint and the male head of the gas-liquid joint are driven to be respectively butted with the female head of the corresponding electric joint and the female head of the gas-liquid joint, and when the locking steel ball is completely contacted with the annular groove, the electric, gas-liquid joints are also just completely butted; when the male joint is separated from the female joint, the driving motor drives the driving ring to rotate reversely, and the electric, gas and liquid joints are separated from each other while the locking steel ball is separated from the annular groove.
The transmission gear set is provided with the inner hexagonal drive interface, and the transmission gear set can be butted with the inner hexagonal drive interface through the external drive arrangement under the condition that two groups of drive motors fail simultaneously, so that the drive ring is driven to rotate, and the butt joint and the separation of the male joint and the female joint are realized.
The invention has the beneficial effects that:
1. the invention combines the steel ball locking and the cylinder to limit the joint position, has compact structure and can effectively reduce the weight of the connecting joint under the condition of meeting the heavy load requirement.
2. The dual-motor simultaneous driving mode is adopted, the redundant motor can ensure that the connecting joint is continuously driven to complete the recovery of the front-end load when the single motor fails in the complex environment in the Tokamak device, and the applicability of the connecting joint in the Tokamak device is improved.
3. The invention integrates all the electric, gas and liquid joints needed by the front end load of the mechanical arm, can complete the simultaneous butt joint and reduces the complexity of the system during the operation butt joint.
4. According to the invention, the rescue interface which can be driven by external equipment is arranged at the output end of the driving motor, so that when the driving motor of the connecting joint fails simultaneously, the recovery of the connecting interface can be completed by the external driving rescue interface, and the applicability of the invention in the Tokamak device is further improved.
Drawings
FIG. 1 is a schematic perspective view of a quick-change coupler for a robotic arm of the present invention;
FIG. 2 is a schematic perspective view of a male joint of a quick-change coupler for a mechanical arm according to the present invention;
FIG. 3 is a schematic perspective view of a mechanical arm quick-change coupler female coupling of the present invention;
FIG. 4 is a top view of FIG. 1;
fig. 5 is a sectional view a-a of fig. 4.
Description of reference numerals:
1 Male joint
2 female joint
1-1 drive motor
1-2 transmission gear set
1-3 male joint connecting flange
1-4 butt joint cylinder
1-5 drive ring
1-6 piston ring
1-7 gas-liquid joint male head
1-8 locking steel ball
1-9 electric connector male head
1-10 cylindrical boss
1-11 guide block
2-1 female joint connecting flange
2-2 gas and liquid joint female head
2-3 electric connector female head
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings of the specification.
As shown in fig. 1-5, a robotic arm quick-change coupler for use in a tokamak apparatus includes a male coupler 1 and a female coupler 2.
The male joint 1 comprises a male joint connecting flange 1-3, a driving motor 1-1, a transmission gear set 1-2, a butt joint cylinder 1-4, a driving ring 1-5, a piston ring 1-6, a locking steel ball 1-8, an electric joint male head 1-9, a cylindrical boss 1-10, a guide block 1-11 and a gas-liquid joint male head 1-7.
The male joint connecting flange 1-3 is provided with a plurality of bolt holes on a flange plate thereof, 30 conical holes are uniformly arranged on the cylindrical surface of the male joint connecting flange 1-3 of the butt joint cylinder 1-4, wherein the male joint connecting flange can be connected with the mechanical arm body through bolts, and 30 locking steel balls 1-8 are arranged in the conical holes.
The driving motor 1-1 is installed on a male joint connecting flange 1-3, an output shaft of the driving motor 1-1 is connected with a transmission gear set 1-2 through a key, the number of the driving motors is 2, one driving motor is designed in a redundant mode, and when one driving motor fails in the Tokamak device, the other driving motor can independently drive the whole system to operate; the number of the transmission gear sets 1-2 is matched with that of the driving motors 1-1, and each set is composed of 2 gears which are meshed in sequence; the driving ring 1-5 is provided with a section of external gear on the external ring, the internal ring of the driving ring 1-5 is provided with 2 cylindrical bosses 1-10 which are annularly and uniformly distributed on the internal surface of the driving ring 1-5, and the cylindrical axis of the cylindrical bosses 1-10 is vertical to the internal surface of the driving ring 1-5; the external gear is meshed with the last stage gear of the transmission gear set 1-2, and the rotation of the driving motor 1-1 can be meshed with the external gear on the driving ring 1-5 through the transmission gear set 1-2 to enable the driving ring 1-5 to rotate; the piston ring 1-6 is provided with a section of spiral groove on the outer ring, the position of the spiral groove is matched with the position of a cylindrical boss arranged on the inner ring of the driving ring 1-5, the rotation of the driving ring 1-5 changes the contact position of the cylindrical boss and the spiral groove, so that the piston ring 1-6 is driven to move in the axial direction; the outer ring at the lower part of the piston ring 1-6 is mutually attached to the inner ring of the flange plate of the male joint connecting flange 1-3, the inner ring of the flange plate of the male joint connecting flange 1-3 is provided with a longitudinal guide groove, and the outer ring at the lower part of the piston ring 1-6 is provided with a guide block 1-11 which is embedded in the longitudinal guide groove and can slide back and forth in the longitudinal guide groove; the outer ring of the piston ring 1-6 is also provided with a section of conical surface, the position of the conical surface is matched with the positions of conical holes arranged on the locking steel balls 1-8 and the male joint connecting flange 1-3, the piston ring 1-6 moves along the axial direction, the contact position of the conical surface on the piston ring 1-6 and the locking steel balls 1-8 is changed, and therefore the locking steel balls 1-8 are driven to push into or withdraw from the conical holes on the male joint connecting flange 1-3; a standard electric connector male head 1-9 and a gas and liquid connector male head 1-7 are arranged on a central disc of the piston ring 1-6, and when the piston ring 1-6 moves along the axial direction, the electric connector male head 1-9 and the gas and liquid connector male head are also driven to move 1-7; the male electrical connector heads 1-9 are standard electrical connectors available in tokamak devices, the number of which is 18; the gas and liquid connector heads 1-7 are standard gas and liquid connectors available in the tokamak device, and the number of the connectors is 6.
The butt-joint cylinders 1-4 are fixed on the male joint connecting flange 1-3, the number of the butt-joint cylinders is 2, and the two butt-joint cylinders are arranged in a central symmetry mode relative to the male joint connecting flange 1-3; the docking cylinders 1-4 have a cylindrical body portion and a tapered end portion.
The female joint 2 consists of a female joint connecting flange 2-1, an electric joint female head 2-3 and a gas and liquid joint female head 2-2.
The female joint connecting flange 2-1 is provided with bolt holes on a flange plate thereof and can be connected with the front end load of the mechanical arm through bolts; a butt joint hole corresponding to the position of a butt joint cylinder 1-4 on the male joint 1 is also arranged on the female joint connecting flange 2-1, one section of the butt joint hole is a conical hole which is beneficial to the alignment of the butt joint cylinder 1-4, the other section of the butt joint hole is a cylindrical hole which has the same diameter as the cylindrical part of the butt joint cylinder, and when the male joint 1 is completely butted with the female joint 2, the butt joint hole bears and transmits torsional moment; the inner surface of the cylindrical part of the female joint connecting flange 2-1 is provided with an annular groove at a position corresponding to the locking steel ball 1-8, and when the male joint 1 is completely butted with the female joint 2, the locking steel ball 1-8 is embedded into the annular groove, so that the bending moment force and the axial force are borne and transmitted; the central disc of the female joint connecting flange 2-1 is provided with an electric joint female head 2-3 and an air and liquid joint female head 2-2, and the number and the position of the electric joint female heads are respectively consistent with the number and the position of the electric joint male heads and the air and liquid joint male heads.
The driving motor 1-1 drives the driving ring 1-5 to rotate, so as to drive the piston ring 1-6 to move along the axial direction (the moving range can be limited by the size of the spiral groove of the cylindrical boss 1-10 and the piston ring 1-6), further drive the locking steel ball 1-8 to enter the annular groove on the female joint 2, so that the male joint 1 and the female joint 2 are locked with each other, simultaneously drive the male heads 1-9 and the male heads 1-7 of the gas and liquid joints to be respectively butted with the female heads 2-3 and the female heads 2-2 of the gas and liquid joints, and when the locking steel ball 1-8 is completely contacted with the annular groove, the electricity, gas and liquid joints are also just completely butted; when the male joint 1 is separated from the female joint 2, the driving motor 1-1 drives the driving ring 1-5 to rotate reversely, the locking steel balls 1-8 are separated from the annular groove, and simultaneously, the electric, gas and liquid joints are separated from each other.
The transmission gear set 1-2 is provided with an inner hexagonal driving interface (holes at positions marked by 1-2 in fig. 4 are of an inner hexagonal structure), and under the condition that two groups of driving motors 1-1 fail simultaneously, the driving gear set can be butted with the inner hexagonal driving interface through external driving arrangement, so that the driving ring is driven to rotate, and the butt joint and the separation of the male joint 1 and the female joint 2 are realized.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (10)
1. The utility model provides a quick change coupler that is used for teleoperation to maintain arm in tokamak device which characterized in that:
comprises a male connector and a female connector;
the male joint comprises a male joint connecting flange, a plurality of conical holes positioned on the same annular surface are uniformly distributed on the cylindrical surface of the male joint connecting flange, and a locking steel ball is uniformly distributed in each conical hole;
the opening part of the male joint connecting flange is rotatably provided with a driving ring which is controlled to rotate by a motor, a cylindrical boss is arranged on the inner ring of the driving ring, and the cylindrical axis of the cylindrical boss is vertical to the surface of the inner ring;
a cylindrical piston ring with an upward opening is rotatably sleeved in the driving ring, a section of spiral groove is arranged on the outer ring at the upper part of the piston ring, and the cylindrical boss is embedded into the corresponding spiral groove and can slide along the spiral groove;
the outer ring at the lower part of the piston ring is mutually attached to the inner ring of the flange plate of the male joint connecting flange, the inner ring of the flange plate of the male joint connecting flange is provided with a longitudinal guide groove, and the outer ring at the lower part of the piston ring is provided with a guide block which is embedded in the longitudinal guide groove and can slide back and forth in the longitudinal guide groove;
when the driving ring rotates, the piston ring is driven to axially move through the cylindrical boss and the spiral groove, the conical surface moves upwards or downwards and acts on the locking steel ball to enable the locking steel column to be pushed into or withdrawn from the corresponding conical hole;
a circle of uniformly distributed electric connector male heads and a circle of gas and liquid connector male heads are arranged on a central disc of the piston ring;
the female joint comprises a cylindrical female joint connecting flange with an upward opening, and the female joint connecting flange is sleeved outside the male joint connecting flange; the annular inner wall of the cylindrical part of the female joint connecting flange is provided with one-to-one corresponding annular grooves corresponding to the locking steel balls, and when the male joint connecting flange and the female joint connecting flange are completely sleeved, the locking steel balls are embedded into the corresponding annular grooves; and the central disc of the female joint connecting flange is provided with an electric joint female head which is matched with the electric joint male heads in a one-to-one correspondence manner and a gas-liquid joint female head which is matched with the gas-liquid joint male heads in a one-to-one correspondence manner.
2. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 1, wherein:
the flange plates of the male joint connecting flange and the female joint connecting flange are provided with a plurality of bolt holes in one-to-one correspondence, and the flange plates of the male joint connecting flange and the female joint connecting flange are connected with the mechanical arm body through bolts after being involutory.
3. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 1, wherein:
the flange plate of the male joint connecting flange is provided with a butt joint cylinder, the flange plate of the female joint connecting flange is provided with a butt joint hole corresponding to the butt joint cylinder, and after the butt joint cylinder is inserted into the corresponding butt joint hole, the positions of the male joint of the electric joint and the female joint of the electric joint and the male joint of the gas-liquid joint sequentially correspond to each other.
4. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 1, wherein:
the top surface of the connecting head connecting flange is provided with a driving ring driving mechanism, the driving ring driving mechanism comprises a motor, an output shaft of the motor is fixedly sleeved with a driving gear, an outer ring of the driving ring is provided with an outer gear, and the driving gear and the outer gear are in meshing transmission through a transmission gear set.
5. A quick-change coupler for a teleoperated maintenance robot in a Tokamak device according to claim 4, wherein:
the driving ring driving mechanism comprises two groups.
6. A quick-change coupler for a teleoperated maintenance robot in a Tokamak device according to claim 4, wherein:
the transmission gear set comprises 2 to 4 gears which are meshed in sequence; and the transmission gear set is provided with an inner hexagonal driving interface.
7. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 1, wherein:
the number of the conical holes is 15-40.
8. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 1, wherein:
the number of the male heads and the number of the female heads of the electric connector are 1-30; the number of the male heads of the gas and liquid connectors and the number of the female heads of the gas and liquid connectors are 1-10.
9. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 3, wherein:
the butt-joint cylinders are fixed on the male joint connecting flange, the number of the butt-joint cylinders is 2, and the two butt-joint cylinders are symmetrically arranged around the center of the male joint connecting flange; the butt joint cylindrical main body part is cylindrical, and the tail end of the butt joint cylindrical main body part is conical.
10. A quick-change coupler for a teleoperated maintenance robotic arm in a tokamak device according to claim 1, wherein:
the driving motor drives the driving ring to rotate, so that the piston ring is driven to move along the axial direction, the locking steel ball is further driven to enter the annular groove on the female joint, the male joint and the female joint are locked with each other, meanwhile, the electric joint male head and the gas-liquid joint male head are driven to be respectively butted with the corresponding electric joint female head and the gas-liquid joint female head, and when the locking steel ball is completely contacted with the annular groove, the electric, gas-liquid joints are also just completely butted; when the male joint is separated from the female joint, the driving motor drives the driving ring to rotate reversely, and the electric, gas and liquid joints are separated from each other while the locking steel ball is separated from the annular groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910985777.0A CN110726024B (en) | 2019-10-16 | 2019-10-16 | Quick-change connector for teleoperation maintenance mechanical arm in tokamak device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910985777.0A CN110726024B (en) | 2019-10-16 | 2019-10-16 | Quick-change connector for teleoperation maintenance mechanical arm in tokamak device |
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| Publication Number | Publication Date |
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| CN110726024A true CN110726024A (en) | 2020-01-24 |
| CN110726024B CN110726024B (en) | 2021-02-02 |
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| CN201910985777.0A Active CN110726024B (en) | 2019-10-16 | 2019-10-16 | Quick-change connector for teleoperation maintenance mechanical arm in tokamak device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478521A (en) * | 2021-07-14 | 2021-10-08 | 东莞科卓机器人有限公司 | Horizontal joint robot shared by gas circuit and circuit |
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| CN110726024B (en) | 2021-02-02 |
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