CN114714340A - Underwater high-irradiation-resistance mechanical arm joint structure - Google Patents
Underwater high-irradiation-resistance mechanical arm joint structure Download PDFInfo
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- CN114714340A CN114714340A CN202011526468.6A CN202011526468A CN114714340A CN 114714340 A CN114714340 A CN 114714340A CN 202011526468 A CN202011526468 A CN 202011526468A CN 114714340 A CN114714340 A CN 114714340A
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- joint
- assembly
- mechanical arm
- box body
- output shaft
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- 238000007789 sealing Methods 0.000 claims abstract description 34
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000005855 radiation Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater high-irradiation-resistance mechanical arm joint structure which comprises a plurality of joint components, a mechanical arm and a base component, wherein the joint components are connected with each other, the joint components are connected with the base component, and the joint components are connected with the mechanical arm. The invention has the beneficial effects that: each joint has 3 sealing rings, and good sealing effect can be achieved. Whole arm can the UNICOM, and the rethread leads to sealed gas to the arm, and the arm has better leakproofness like this. Electronic components sensitive to radiation are not arranged, and the electronic components are uniformly placed in the base assembly and physically shielded, so that the whole mechanical arm can resist larger radiation.
Description
Technical Field
The invention belongs to an underwater operation device of each container of a loop of a nuclear power plant, and particularly relates to an underwater high-irradiation-resistance mechanical arm joint structure.
Background
Along with the vigorous popularization and application of nuclear power generation, military nuclear power devices and irradiation industries in China. There are more and more nuclear facilities that require regular inspection or maintenance.
Currently, inspection or repair of nuclear facilities is mostly performed by dedicated equipment and tools. In this way, different equipment is often required, which can be very costly to maintain and operate a nuclear power plant.
The multi-joint mechanical arm has the characteristics of multiple degrees of freedom and high flexibility, is widely applied in the field of industrial automation, and can replace manual work to complete various complex works. However, in the field of nuclear industry, particularly in the high-radiation underwater environment, the application is fresh, mainly because the universal multi-joint mechanical arm does not take high-radiation resistance and underwater sealing performance into consideration.
Disclosure of Invention
The invention aims to provide an underwater high-irradiation-resistance mechanical arm joint structure which can effectively solve the problems of high irradiation resistance and underwater sealing performance of a multi-joint mechanical arm.
The technical scheme of the invention is as follows: the utility model provides an underwater high-irradiation-resistance mechanical arm structure, it includes a plurality of joint subassemblies and arm, still includes the base subassembly, the joint subassembly between interconnect, the joint subassembly be connected with the base subassembly, the joint subassembly be connected with the arm.
The joint assembly comprises a first joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly, a fifth joint assembly and a sixth joint assembly.
The first joint assembly, the second joint assembly, the third joint assembly, the fourth joint assembly, the fifth joint assembly and the sixth joint assembly all comprise: joint box, joint box lid, joint output shaft, speed reducer, motor, encoder and sealing washer.
The joint box body cover is fixedly installed on the lower portion of the joint box body and is sealed with the joint box body through a sealing ring, the speed reducer is fixedly installed on the joint box body, a stator of the motor is fixedly installed on the joint box body, a rotor of the motor is connected with the input end of the speed reducer, the lower end of a joint output shaft is connected with the output end of the speed reducer, a stator of the encoder is fixedly installed on the joint box body, and the rotor of the encoder is connected with the rotor of the motor.
The joint output shaft, the speed reducer, the motor and the encoder are of hollow structures.
The joint output shaft of the first joint assembly is fixedly connected with the upper portion of the base assembly and sealed through a sealing ring, the joint output shaft of the second joint assembly is fixedly connected with the joint box body of the first joint assembly and sealed through a sealing ring, two ends of the lower arm assembly are respectively connected with the joint box bodies of the second joint assembly and the third joint assembly, the lower end of the upper arm assembly is fixedly connected with the joint output shaft of the third joint assembly, the upper end of the upper arm assembly is fixedly connected with the joint box body of the fourth joint assembly, the joint box body of the fifth joint assembly is connected with the joint output shaft of the fourth joint assembly, and the joint output shaft of the fifth joint assembly is connected with the joint box body of the sixth joint assembly.
The lower arm component is of a hollow structure.
The upper arm assembly is of a hollow structure.
The invention has the beneficial effects that: each joint has 3 sealing rings, and can play a good sealing role. Whole arm can the UNICOM, and the rethread leads to sealed gas to the arm, and the arm has better leakproofness like this. Electronic components sensitive to radiation are not arranged, and the electronic components are uniformly placed in the base assembly and are physically shielded, so that the whole mechanical arm can resist larger radiation.
Drawings
FIG. 1 is a front view of an underwater high-radiation-resistant mechanical arm structure provided by the invention;
FIG. 2 is a perspective view of an underwater high-radiation-resistant mechanical arm structure provided by the invention;
fig. 3 is a general diagram of a multi-joint underwater foreign matter clamping tool for a nuclear power plant provided by the invention.
In the figure, 1 base component, 2 first joint component, 3 second joint component, 4 lower arm component, 5 third joint component, 6 upper arm component, 7 fourth joint component, 8 fifth joint component, 9 sixth joint component, 10 joint box body, 11 joint box body cover, 12 joint output shaft, 13 speed reducer, 14 motor, 15 encoder and 16 sealing ring.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Compared with a universal multi-joint mechanical arm, the underwater high-radiation-resistance mechanical arm structure provided by the invention has the advantages that the joints of the mechanical arm adopt a radiation-resistance design, unnecessary sensors are removed, the sensors which need to be reserved are replaced by radiation-resistance type sensors, and the positions of electronic components are reasonably regulated, so that the radiation-resistance requirement of the mechanical arm body can be met. Meanwhile, joints of the mechanical arm are designed in a waterproof mode, a single joint can be sealed only by using 3 sealing rings, and the whole mechanical arm is sealed by adopting a series-connection type air sealing method.
Compared with a universal multi-joint mechanical arm, the joint of the mechanical arm adopts an irradiation-resistant design, unnecessary sensors are removed, the sensors which are necessary to be reserved are replaced by irradiation-resistant sensors, the positions of electronic components are reasonably normalized, and the irradiation-resistant requirement of the mechanical arm body is met. Meanwhile, joints of the mechanical arm are designed in a waterproof mode, a single joint can be sealed only by using 3 sealing rings, and the whole mechanical arm is sealed by adopting a series-connection type air sealing method.
As shown in fig. 1 and 2, the underwater high-radiation-resistance mechanical arm structure has 6 joints and two mechanical arms, wherein the 6 joints include a first joint component 2, a second joint component 3, a third joint component 5, a fourth joint component 7, a fifth joint component 8 and a sixth joint component 9, the internal structures of the 6 joints are similar, and various complex actions can be completed. As shown in fig. 3, each joint mainly includes: the joint box body 10, the joint box body cover 11, the joint output shaft 12, the speed reducer 13, the motor 14, the encoder 15 and the sealing ring 16.
Wherein the joint housing 10 is a per-joint installation base. The joint box cover 11 is fixedly installed at the lower part of the joint box 10 and sealed with the joint box 10 by a seal ring 16. The speed reducer 13 is fixedly mounted on the joint box 10. The stator of the motor 14 is fixedly arranged on the joint box body 10, and the rotor of the motor 14 is connected with the input end of the speed reducer 13. The lower end of the joint output shaft 12 is connected with the output end of the speed reducer 13, so that the motor 14 can amplify and transmit power to the joint output shaft 12 through the speed reducer 13 and is sealed with the joint box body 10 through the sealing ring 16. The upper end of the joint output shaft 12 is fixedly connected with the next joint or connecting piece and is sealed by a sealing ring 16. The stator of the encoder 15 is fixedly arranged on the joint box body 10, and the rotor of the encoder 15 is connected with the rotor of the motor 14, so that the rotating speed of the motor 14 can be detected. The joint output shaft 12, the speed reducer 13, the motor 14 and the encoder 15 are of hollow structures, wiring is convenient, and cables penetrate out of the right side of the joint box body 10.
Wherein, base subassembly 1 is the installation basis of whole arm, and 6 articular cables are also gone out through base subassembly 1 transmission. The joint output shaft 12 of the first joint assembly 2 is fixedly connected to the upper part of the base assembly 1 and sealed by a seal ring 16. The joint output shaft 12 of the second joint component 3 is fixedly connected to the joint housing 10 of the first joint component 2 and sealed by a seal ring 16. The joint box 10 of second joint subassembly 3 and third joint subassembly 5 is connected respectively to the both ends of underarm subassembly 4, and underarm subassembly 4 is hollow structure, conveniently walks the line. The lower end of the upper arm assembly 6 is fixedly connected with a joint output shaft 12 of the third joint assembly 5, the upper end of the upper arm assembly 6 is fixedly connected with a joint box 10 of the fourth joint assembly 7, and the upper arm assembly 6 is of a hollow structure and convenient to walk. The joint box body 10 of the fifth joint component 8 is connected with the joint output shaft 12 of the fourth joint component 7, and the joint output shaft 12 of the fifth joint component 8 is connected with the joint box body 10 of the sixth joint component 9. The joint output shaft 12 of the sixth joint assembly 9 is used for connecting the end tool of the mechanical arm.
Through the mechanical arm structure, the cable of the whole mechanical arm can be worn out of the inner hollow structures of the joint and the arm, flying wires are not needed, and the whole mechanical arm structure is attractive. Meanwhile, the whole mechanical arm can be sealed through 3 sealing rings of each joint. The joints of the whole mechanical arm body are not provided with electronic components sensitive to irradiation, and the electronic components are uniformly placed in the base assembly 1 and are physically shielded, so that the whole mechanical arm can resist larger irradiation.
The invention/invention patent mainly comprises the following technologies:
underwater sealing structure
Each joint is provided with 3 sealing rings, wherein the first sealing ring is arranged between the joint box body 10 and the joint box body cover 11 and is static sealing. The second sealing ring is arranged at the lower part of the joint output shaft 12 and the joint box body 10 and is in dynamic sealing. The third sealing ring is arranged at the upper part of the joint output shaft 12, is static sealing and is used for sealing parts connected with the third sealing ring. Through 3 sealing rings of every joint, whole arm can the UNICOM, and the rethread leads to sealed gas to the arm, and the arm has better leakproofness like this. Meanwhile, the whole mechanical arm is not provided with a cable, so that the appearance is attractive.
Radiation-resistant method
The joints of the whole mechanical arm body are not provided with electronic components sensitive to irradiation, and the electronic components are uniformly placed in the base assembly 1 and are physically shielded, so that the whole mechanical arm can resist larger irradiation.
Claims (8)
1. The utility model provides an it is resistant high irradiation arm structure under water which characterized in that: the robot comprises a plurality of joint components, a mechanical arm and a base component, wherein the joint components are connected with each other, the joint components are connected with the base component, and the joint components are connected with the mechanical arm.
2. The underwater high-radiation-resistance mechanical arm structure of claim 1, wherein: the joint components comprise a first joint component, a second joint component, a third joint component, a fourth joint component, a fifth joint component and a sixth joint component.
3. The underwater high-radiation-resistance mechanical arm structure of claim 1, wherein: the first joint assembly, the second joint assembly, the third joint assembly, the fourth joint assembly, the fifth joint assembly and the sixth joint assembly all comprise: joint box, joint box lid, joint output shaft, speed reducer, motor, encoder and sealing washer.
4. The underwater high-radiation-resistance mechanical arm structure of claim 1, wherein: the joint box body cover is fixedly installed on the lower portion of the joint box body and is sealed with the joint box body through a sealing ring, the speed reducer is fixedly installed on the joint box body, a stator of the motor is fixedly installed on the joint box body, a rotor of the motor is connected with the input end of the speed reducer, the lower end of a joint output shaft is connected with the output end of the speed reducer, a stator of the encoder is fixedly installed on the joint box body, and the rotor of the encoder is connected with the rotor of the motor.
5. The underwater high-radiation-resistance mechanical arm structure of claim 4, wherein: the joint output shaft, the speed reducer, the motor and the encoder are of hollow structures.
6. The underwater high-radiation-resistance mechanical arm structure of claim 2, wherein: the joint output shaft of the first joint assembly is fixedly connected with the upper portion of the base assembly and sealed through a sealing ring, the joint output shaft of the second joint assembly is fixedly connected with the joint box body of the first joint assembly and sealed through a sealing ring, two ends of the lower arm assembly are respectively connected with the joint box bodies of the second joint assembly and the third joint assembly, the lower end of the upper arm assembly is fixedly connected with the joint output shaft of the third joint assembly, the upper end of the upper arm assembly is fixedly connected with the joint box body of the fourth joint assembly, the joint box body of the fifth joint assembly is connected with the joint output shaft of the fourth joint assembly, and the joint output shaft of the fifth joint assembly is connected with the joint box body of the sixth joint assembly.
7. The underwater high-radiation-resistance mechanical arm structure of claim 6, wherein: the lower arm component is of a hollow structure.
8. The underwater high-radiation-resistance mechanical arm structure of claim 6, wherein: the upper arm assembly is of a hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526468.6A CN114714340A (en) | 2020-12-22 | 2020-12-22 | Underwater high-irradiation-resistance mechanical arm joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526468.6A CN114714340A (en) | 2020-12-22 | 2020-12-22 | Underwater high-irradiation-resistance mechanical arm joint structure |
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| Publication Number | Publication Date |
|---|---|
| CN114714340A true CN114714340A (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011526468.6A Pending CN114714340A (en) | 2020-12-22 | 2020-12-22 | Underwater high-irradiation-resistance mechanical arm joint structure |
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| Country | Link |
|---|---|
| CN (1) | CN114714340A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106739A (en) * | 2022-07-12 | 2022-09-27 | 核工业西南物理研究院 | Electro-hydraulic cooperative operation arm resistant to high-dose gamma irradiation |
| FR3139406A1 (en) * | 2022-09-05 | 2024-03-08 | Elwedys | Robotic system |
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| CN101162617A (en) * | 2006-10-13 | 2008-04-16 | 核动力运行研究所 | Nuclear boiler water indoor surface television set automatic checking device |
| CN101456341A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Multimode bionic amphibious robot |
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| CN207402804U (en) * | 2017-09-27 | 2018-05-25 | 华南理工大学 | A kind of six shaft mechanical arm of modularization |
| FR3081118A1 (en) * | 2018-05-16 | 2019-11-22 | Ergosante Technologie | SUPPORT DEVICE FOR MECHANICAL ARM OF EXOSQUELET |
| CN211682151U (en) * | 2020-03-18 | 2020-10-16 | 杭州崑鼎信息技术有限公司 | Underwater mechanical arm |
| CN214446398U (en) * | 2020-12-22 | 2021-10-22 | 核动力运行研究所 | Underwater high-irradiation-resistance mechanical arm joint structure |
-
2020
- 2020-12-22 CN CN202011526468.6A patent/CN114714340A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101162617A (en) * | 2006-10-13 | 2008-04-16 | 核动力运行研究所 | Nuclear boiler water indoor surface television set automatic checking device |
| CN101456341A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Multimode bionic amphibious robot |
| CN207402804U (en) * | 2017-09-27 | 2018-05-25 | 华南理工大学 | A kind of six shaft mechanical arm of modularization |
| CN107803830A (en) * | 2017-11-08 | 2018-03-16 | 山东优宝特智能机器人有限公司 | A kind of seven freedom force feedback fro hydraulic driving machinery arm |
| FR3081118A1 (en) * | 2018-05-16 | 2019-11-22 | Ergosante Technologie | SUPPORT DEVICE FOR MECHANICAL ARM OF EXOSQUELET |
| CN211682151U (en) * | 2020-03-18 | 2020-10-16 | 杭州崑鼎信息技术有限公司 | Underwater mechanical arm |
| CN214446398U (en) * | 2020-12-22 | 2021-10-22 | 核动力运行研究所 | Underwater high-irradiation-resistance mechanical arm joint structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106739A (en) * | 2022-07-12 | 2022-09-27 | 核工业西南物理研究院 | Electro-hydraulic cooperative operation arm resistant to high-dose gamma irradiation |
| CN115106739B (en) * | 2022-07-12 | 2024-01-23 | 核工业西南物理研究院 | High-dose gamma irradiation resistant electrohydraulic cooperative arm |
| FR3139406A1 (en) * | 2022-09-05 | 2024-03-08 | Elwedys | Robotic system |
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