CN115106739A - A high-dose γ-irradiation-resistant electro-hydraulic cooperative manipulator - Google Patents

Abstract

The invention discloses an electro-hydraulic cooperative operation arm resistant to high-dose gamma irradiation, and relates to the technical field of mechanical arms; the method comprises the following steps: the sealing base is provided with an installation cavity and is made of metal materials; a hydraulic joint mounted within the mounting cavity; the first rotary arm is positioned outside the base, and one end of the first rotary arm is in transmission connection with the hydraulic joint; one end of the motor joint is in transmission connection with the other end of the first rotating arm, and a shielding cover is arranged outside the motor joint; and one end of the second rotary arm is in transmission connection with the other end of the motor joint, and the other end of the second rotary arm is provided with an electric clamping jaw. The invention simultaneously carries out physical shielding treatment on the hydraulic joint and the motor joint so as to improve the load capacity of the operation arm while ensuring the operation arm to have enough motion precision through the matching of the hydraulic joint and the motor joint.

Description

A high-dose γ-irradiation-resistant electro-hydraulic cooperative manipulator

technical field

The invention relates to the technical field of mechanical arms, belongs to the field of fusion reactor robot micro-manipulation arm system design, and in particular relates to an electro-hydraulic cooperative manipulator arm resistant to high-dose gamma irradiation.

Background technique

During the operation of the fusion reactor, the core components such as the cladding and the divertor are repaired and refurbished by the remote control system for many times during the whole life cycle of the fusion reactor. During the operation of the fusion reactor robot, it will face harsh environments such as strong radiation, high temperature, vacuum, strong magnetic field, and narrow space. It has its particularity in functional requirements and high-dose radiation operating environment.

Fusion reactor robots are required to be able to withstand at least 5×10 ⁶ Gy total gamma radiation dose, and in order to ensure that a large number of remote control tasks can be efficiently and accurately completed in a short shutdown time, they are usually driven by pure motors. It is controlled, and the total radiation resistance dose is only 1×10 ⁶ Gy, but the internal components of the fusion reactor are heavy, which requires more hydraulic drive methods. In the design of the robot system, the micro-manipulation arm is located at the end of the entire robot arm, which will directly affect its control accuracy and the realization of the overall function, and the existing electronic devices have weak radiation resistance, and are affected by the controller, drive motor, insulating material. , the limitation of lubrication and sealing technology, and the conventional motor-driven operating arm is difficult to meet the operation and maintenance requirements of fusion reactors.

SUMMARY OF THE INVENTION

Aiming at the technical problem that the existing motor-driven manipulator is difficult to meet the operation and maintenance requirements of the fusion reactor; the present invention provides an electro-hydraulic cooperative manipulator that is resistant to high-dose γ-irradiation, which can ensure that the manipulator has sufficient motion accuracy, and increase its load capacity.

The present invention is achieved through the following technical solutions:

The invention provides an electro-hydraulic cooperative operation arm resistant to high-dose gamma irradiation, comprising: a sealed base, the sealed base is provided with a mounting cavity, and the sealed base is made of metal; a hydraulic joint, the The hydraulic joint is installed in the installation cavity; the first swing arm, the first swing arm is located outside the base, and one end of the first swing arm is connected with the hydraulic joint in a transmission; the motor joint, the One end of the motor joint is drivingly connected to the other end of the first rotary arm, and the motor joint cover is provided with a shielding cover; the second rotary arm, one end of the second rotary arm is drivingly connected to the other end of the motor joint , the other end of the second rotating arm is provided with an electric gripper.

In the electro-hydraulic cooperative arm with high-dose γ-irradiation resistance provided by the present invention, the hydraulic joint is installed in a closed base made of metal material, and the closed base can provide physical shielding for the hydraulic joint, so as to avoid high-dose γ-irradiation on the hydraulic joint. The sealing elements, lubricating materials and control devices will affect the hydraulic joints, so that the hydraulic joints can work normally. At the same time, a shielding cover is provided on the outer cover of the motor joint to provide physical shielding to the motor joint through the shielding cover, so as to avoid the high dose of γ-irradiation to the motor. normal work is affected.

Among them, the hydraulic joint is installed on the airtight base, the first slewing arm drives the connection between the hydraulic joint and the motor joint, and the motor joint drives the electric gripper to work through the second slewing arm. Since the hydraulic joint can provide sufficient load capacity, the operation The arm has sufficient load capacity, and the motor joint is arranged on the side close to the electric gripper, so that the electric gripper has sufficient displacement accuracy, and the device is clamped by the electric gripper, so that the operating arm has sufficient movement accuracy.

To sum up, the high-dose γ-irradiation-resistant electro-hydraulic cooperative operating arm provided by the present invention simultaneously performs physical shielding treatment on the hydraulic joint and the motor joint, so as to ensure that the operating arm has sufficient motion through the cooperation of the hydraulic joint and the motor joint. At the same time, the load capacity is improved.

In an optional embodiment, the hydraulic joint includes: a hydraulic actuator, one end of the first rotating shaft of the hydraulic actuator is drivingly connected to one end of the first swing arm; a hydraulic rotary transformer, the hydraulic rotary transformer Used to monitor the rotation angle of the hydraulic joint; electro-hydraulic servo valve, the electro-hydraulic servo valve is used to control the rotation speed and steering of the first rotating shaft of the hydraulic actuator, so as to accurately cooperate with the electro-hydraulic servo valve and the hydraulic rotary transformer The control hydraulic actuator action.

In an optional embodiment, the first rotating shaft is a hollow shaft, and the hydraulic resolver is a mid-pass ring, so that the cable of the operating arm can be passed through the hydraulic joint, and on the one hand, the operating arm can be avoided. On the other hand, the cables of the operating arm are arranged inside the hydraulic joints, which can avoid the influence of high-dose γ-irradiation on the cables of the operating arm.

In an optional embodiment, the electro-hydraulic servo valve is treated with radiation-resistant reinforcement to ensure that the electro-hydraulic servo valve has sufficient radiation resistance performance.

In an optional embodiment, the first swing arm is a hollow metal shell structure, so that the cable of the operating arm can be routed from the middle of the hydraulic joint to the motor joint through the first swing arm, and then through the first swing arm. The cable for the arm is physically shielded.

In an optional embodiment, the motor joint includes: a motor resolver, one end of the motor resolver is drivingly connected to one end of the first swing arm; a torque motor, the second output of the torque motor One end of the shaft is drive-connected with the other end of the motor resolver; a reducer, the input end of the reducer is drive-connected with the torque motor, and the other end of the reducer is drive-connected with the second swing arm to pass The reducer reduces the output speed of the torque motor, and cooperates with the hydraulic resolver to precisely control the movement of the second swing arm.

In an optional embodiment, the reducer is a harmonic reducer. Compared with the ordinary planetary reducer, the materials used for the reducer can be reduced, thereby reducing the volume and weight, which is beneficial to the lightweight, miniaturization and stability of the system. Joint integrated design.

In an optional embodiment, the middle part of the motor resolver, the torque motor and the reducer are all provided with a middle passage, so as to meet the use requirements of threading from the middle part of the motor joint, so as to simplify the shape and Dual purpose for radiation resistant protection of cables.

In an optional embodiment, the second swivel arm is a hollow metal shell structure, so that the cable of the operating arm can be routed from the middle of the motor joint to the electric gripper through the second swivel arm, and then through the second swivel arm. The swivel arm physically shields the cables of the electric gripper.

In an optional embodiment, one end of the electric gripper on which the electronic device is mounted is located in the second swivel arm, so as to provide physical shielding for the electronic device of the electric gripper through the second swivel arm, and further provide the electric gripper radiation resistance.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

In the electro-hydraulic cooperative arm with high-dose γ-irradiation resistance provided by the present invention, the hydraulic joint is installed in a closed base made of metal material, and the closed base can provide physical shielding for the hydraulic joint, so as to avoid high-dose γ-irradiation on the hydraulic joint. The sealing elements, lubricating materials and control devices will affect the hydraulic joints, so that the hydraulic joints can work normally. At the same time, a shielding cover is provided on the outer cover of the motor joints to provide physical shielding to the motor joints through the shielding cover, so as to avoid high dose γ-irradiation to the motor. It will affect the normal work of the electric gripper, and because the hydraulic joint can provide sufficient load capacity, so that the operating arm has sufficient load capacity, and the motor joint is arranged on the side close to the electric gripper, so that the electric gripper has sufficient displacement accuracy, And the device is clamped by the electric gripper, therefore, the present invention can improve the load capacity of the operating arm while ensuring sufficient movement accuracy of the operating arm.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

In the attached image:

1 is a schematic three-dimensional structure diagram of an electro-hydraulic cooperative operating arm resistant to high-dose γ-irradiation according to an embodiment of the present invention;

2 is a schematic cross-sectional structural diagram of an electro-hydraulic cooperative operating arm resistant to high-dose γ-irradiation according to an embodiment of the present invention;

3 is a schematic cross-sectional structure diagram of a hydraulic joint according to an embodiment of the present invention;

4 is a schematic three-dimensional structural diagram of a motor joint connected to an electric gripper according to an embodiment of the present invention;

5 is a schematic cross-sectional structural diagram of a motor joint connected to an electric gripper according to an embodiment of the present invention;

6 is a schematic cross-sectional structural diagram of a torque motor according to an embodiment of the present invention;

7 is a schematic cross-sectional structural diagram of a reducer according to an embodiment of the present invention.

The marks in the attached drawings and the corresponding parts names:

10-Sealed base, 11-Installation cavity, 12-Base cover, 13-Base side plate, 14-Electro-hydraulic interface, 20-Hydraulic joint, 21-Hydraulic actuator, 22-First shaft, 23- Hydraulic resolver, 24-electro-hydraulic servo valve, 30-first swing arm, 40-motor joint, 41-motor resolver, 42-torque motor, 43-reducer, 43a-wave generator, 43b-rigid wheel , 43c-flexible wheel, 43d-cross roller bearing, 50-second swing arm, 60-electric gripper, 70-shield cover.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. The embodiments in this application and the features in the embodiments may be combined with each other without conflict.

In the description of the embodiments of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inner" ", "outside", "front", "rear", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the attached drawings, or the application product is usually placed in use. The orientation or positional relationship, or the orientation or positional relationship commonly understood by those skilled in the art, is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, with a specific orientation. The configuration and operation of the orientation should not be construed as a limitation on this application.

In the description of the present invention, unless otherwise expressly specified and limited, the terms "arranged", "opened", "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, or It can be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Example

Referring to FIG. 1 , this embodiment provides an electro-hydraulic cooperative operating arm resistant to high-dose gamma radiation, including: a sealed base 10 , the sealed base 10 is provided with an installation cavity 11 , and the sealed base 10 It is made of metal; the hydraulic joint 20 is installed in the installation cavity 11 ; the first swing arm 30 is located outside the base, and the first swing arm 30 One end of the motor joint 40 is drivingly connected to the hydraulic joint 20; one end of the motor joint 40 is drivingly connected to the other end of the first rotating arm 30, and the outer cover of the motor joint 40 is provided with a shielding cover 70; the second As for the swivel arm 50 , one end of the second swivel arm 50 is drivingly connected with the other end of the motor joint 40 , and the other end of the second swivel arm 50 is provided with an electric gripper 60 .

It should be understood that the special micro-manipulation arm of the teleoperation robot is a complete set of radiation-resistant micro-manipulation arm joint system, which is composed of two parts: the body of the micro-manipulation arm and the external drive control equipment. The body of the micro-manipulation arm needs to be designed with radiation resistance, which is the main test component of the irradiation test of the whole machine. The test equipment is not subject to irradiation assessment.

For external drive control equipment, it is composed of electric control cabinet (including software), hydraulic system, movable base and external cable laying. The external drive control device is in an external non-nuclear environment as a whole, and is used to provide electro-hydraulic power and control signals for the micromanipulator arm during the power-on function test. The power input of the hydraulic joint 20 of the micro-manipulation arm is provided by the hydraulic oil source and the oil pipeline; the control signal of the valve group of the hydraulic joint 20 of the micro-manipulation arm, the power and control signal of the electric joint, the power and the power of the electric gripper 60 The control signal is respectively completed by the external electric control cabinet through the hydraulic joint 20 drive control cable, the electric joint drive control cable and the electric gripper 60 drive control cable to complete the power transmission and control signal interaction. For the outer surface of the operating arm body (including the surface of the airtight base 10, the first rotating arm 30, the shielding cover, the second rotating arm 50 and the electric gripper 60), the groove-type structure design is avoided as a whole, which can prevent the deposition of contaminants and attached.

specific:

2 and 3, the airtight base 10 adopts a cavity design. On the basis of the base body, a base cover 12 and a base side plate 13 are provided. In the installation cavity 11 of the base, an integrated hydraulic The high and low pressure oil circuit of the system does not require the connection of additional hydraulic pipelines. At the same time, an electro-hydraulic interface is designed on the airtight base 10. When the operating arm needs to be powered on, a quick connection between the external control system and the internal electro-hydraulic components can be realized through the electro-hydraulic interface.

In this embodiment, the electro-hydraulic interface is arranged on the base side plate 13 and adopts an integrated configuration design with the base side plate 13 . Two electrical interfaces are arranged on the upper part of the side surface of the base, which are the electric joint drive interface and the hydraulic joint 20 drive interface respectively. The electrical connectors of the two interfaces are selected from nuclear industry-grade aviation connectors, such as: the electric joint drive interface adopts HDC/YK33T4K310AG type socket, and the hydraulic joint 20 drive interface adopts HDC/YK33T1K308AG type aviation plug, and its irradiation level is 5×10 ⁶ Gy.

The sealed base 10 is installed on one side of the base side plate 13, and the lower part is arranged with hydraulic oil inlet and outlet pipe joints. The pipe joints are made of radiation-resistant hydraulic pipe joints, which can easily complete the plug-in connection of hydraulic oil pipes. The sealing O-ring of the pipe joint is made of radiation ^- resistant rubber (usually EPDM).

For the material of the airtight base 10, a metal material that can withstand high-dose gamma irradiation is used, such as tungsten-nickel alloy, aluminum alloy, etc. In this embodiment, the airtight base 10 is made of a forged aluminum alloy material, and the designed wall thickness is 9 to 15 mm, preferably a wall thickness of 11 mm. The calculation shows that the radiation dose of 5×10 ⁶ Gy is attenuated to 4.24×10 ⁶ Gy after passing through the cavity wall of the base. It can be seen that the metal shell of the base can play a certain role in radiation attenuation.

It should be noted that for γ-rays, the metal structure has good radiation resistance, and only long-term high-dose rate irradiation will macroscopically show changes in mechanical properties such as yield strength and ductility. The radiation damage dose of metals such as aluminum, stainless steel, iron, copper and copper alloys (the cumulative dose that the material or device can withstand when its performance is significantly reduced or fails) is between 6×10 ⁹ to 5×10 ¹¹ Gy. Tungsten-nickel alloy, as a material with better γ-ray radiation shielding effect, is not only resistant to radiation, but also has a good shielding and weakening effect on radiation dose.

With reference to FIG. 3 , the hydraulic joint 20 includes: a hydraulic actuator 21 , one end of the first shaft 22 of the hydraulic actuator 21 is drivingly connected with one end of the first swing arm 30 ; a hydraulic rotary transformer 23 , the hydraulic rotary The transformer 23 is used to monitor the rotation angle of the hydraulic joint 20; the electro-hydraulic servo valve 24 is used to control the rotational speed and steering of the first shaft 22 of the hydraulic actuator 21, so as to pass the electro-hydraulic servo valve The cooperation of 24 and the hydraulic rotary transformer 23 precisely controls the action of the hydraulic actuator 21 .

That is, the hydraulic drive joint consists of a controller, a servo valve drive plate, an electro-hydraulic servo valve 24, a hydraulic actuator 21 and a hydraulic rotary transformer 23 to form a negative feedback control loop. The hydraulic joint 20 is connected to the airtight base 10 and the first swing arm 30. The first rotating arm 30 is driven by the first rotating shaft 22 of the hydraulic actuator 21 to complete the relative rotating motion between the components.

It can be known that the casing of the hydraulic actuator 21 is fixed on the casing of the airtight base 10 , the stator of the hydraulic rotary transformer 23 is fixedly connected to the casing of the hydraulic actuator 21 , and the rotor of the hydraulic rotary transformer 23 is fixed to the casing by a certain pressing force. The first rotating shaft 22 of the hydraulic actuator 21 is connected, so that the hydraulic rotary transformer 23 can measure the rotation angle of the hydraulic joint 20 in real time. The hydraulic resolver 23 collects the rotation angle signal of the hydraulic joint 20, converts it into angle value data through the angle solution card, and feeds back to the controller (usually PLC) through the corresponding serial port. The controller compares the current angle value with the expected angle value to form an electrical signal. The control signal of the hydraulic servo valve 24 is sent to the driving board of the electro-hydraulic servo valve 24, and the control command frame is sent to the driving board of the electro-hydraulic servo valve 24. After the driving board of the electro-hydraulic servo valve 24 parses the command, it outputs a current signal to the electro-hydraulic servo valve 24 to control the direction and size of its opening. Control of hydraulic actuator 21 speed and steering.

Continuing with FIG. 3 , the hydraulic actuator 21 includes: the hydraulic actuator 21 cylinder body, the cylinder body front cover, the cylinder body rear cover, and the first rotating shaft 22. The structural parts are made of metal materials, which are not sensitive to radiation and can withstand strong irradiated. The weak link lies in all kinds of seals under high irradiation conditions, which are most prone to aging failure. In order to meet the radiation resistance requirements of the system, the seal (O-ring) of the hydraulic actuator 21 in this embodiment is made of 5080HG6-408-79 nitrile rubber material with high radiation resistance, so that the hydraulic actuator 21 as a whole can withstand the radiation. Irradiated with 5×10 ⁶ Gy.

In addition, for the components and actuators at the back end of the electric joint, such as the brushless torque motor 42, the motor speed-measuring resolver and other devices, the electrical wiring harness needs to be laid to the rear end through the hydraulic joint 20. The hydraulic joint 20 is used as a mechanism connecting the airtight base 10 and the first swing arm 30, and relative rotation occurs between the components. Therefore, when the rear end wire harness passes through the hydraulic joint 20, it must be ensured that it will not be involved with the relative rotation of the joint. Torsion, interference phenomenon.

In view of this, in this embodiment, the first rotating shaft 22 is a hollow shaft, and the hydraulic rotary transformer 23 is a middle-through ring, so that the cable of the operating arm can be passed through the hydraulic joint 20, on the one hand, to avoid The cable of the operating arm interferes with the rotation of the hydraulic joint 20 . On the other hand, the cable of the operating arm is arranged inside the hydraulic joint 20 , which can avoid the influence of the high-dose γ-irradiation on the cable of the operating arm.

Specifically, according to the operating environment of the operating arm, it can be known that the overall rotation range of the hydraulic joint 20 is ±90°, and it is not a multi-turn rotary joint, so there is no need to use an expensive electric slip ring, and the wire harness can be avoided by threading from the joint axis. Interference with moving parts. At the same time, the upper and lower ends of the wire harness are fixed, and after the wire harness is bundled, a wire protection sleeve is placed to prevent the sliding of the traction wire harness during the action of the hydraulic joint 20. And in the process of cable laying, the wire harness is fixed and constrained by setting metal clips, so that the wiring of the wire harness is reasonable and beautiful, and no interference phenomenon occurs.

It should be noted that the electro-hydraulic servo valve 24 is the control element of the hydraulic actuator 21 , and its working principle is as follows: the controller sends a control command to the valve drive board, the drive board parses the command and outputs a current drive signal to drive the electro-hydraulic servo valve 24 The torque coil is used to adjust the opening degree and direction of the valve, and then control the hydraulic actuator 21 to move at a certain rotation speed and rotation direction.

On this basis, the electro-hydraulic servo valve 24 is treated with radiation-resistant reinforcement to ensure that the electro-hydraulic servo valve 24 has sufficient radiation-resistant performance. In this embodiment, the electro-hydraulic servo valve 24 is installed at the bottom of the inner cavity of the airtight base 10 , and the entire hydraulic system is communicated through the design of the integrated oil circuit on the airtight base 10 .

Among them, the electro-hydraulic servo valve 24 adopts the FF-101 type double-nozzle baffle type force feedback two-stage electro-hydraulic servo valve 24, and the servo valve is composed of electromagnetic and hydraulic parts. The electromagnetic part is a permanent magnet torque motor, which consists of a permanent magnet, a magnetic conductor, an armature, a control coil and a spring tube, and adopts a double-coil redundant design. The hydraulic part is a two-stage hydraulic amplifier with symmetrical structure, the pre-stage is a double-nozzle flapper valve, and the power stage is a four-way slide valve. The spool valve is connected with the armature baffle assembly through the feedback rod, and the displacement of the spool valve, the displacement of the baffle, and the output torque of the torque motor are proportional to the output electric signal (current). Since the armature assembly itself is not sensitive to radiation, the parts sensitive to radiation are the coil enameled wire layer, the lead-out harness, the processing of solder joints, and the sealing ring. Therefore, the weak link of the electro-hydraulic servo valve 24 is subjected to radiation resistance reinforcement treatment to meet the radiation resistance requirements.

The electro-hydraulic servo valve 24 corresponds to the radiation-resistant reinforcement treatment as follows:

1) Coil part

The motor coil is wound with enameled wire, which consists of conductors and insulating layers. In order to prevent the coil short circuit caused by the aging and cracking of the insulating layer of the high-irradiation enameled wire, use the radiation-resistant polyimide enameled round copper wire (irradiation resistance level at least not lower than 5×10 ⁶ Gy) to wind the coil. As a special engineering material, polyimide has high radiation resistance.

2) Lead wire harness and solder joint treatment

In order to achieve the purpose of radiation-resistant reinforcement, the electrical lead wire of the servo valve was replaced with a nuclear industrial grade K1 type control cable HK1-KRJGP12×0.35mm ² , which has a high radiation level and can meet the requirements of use.

In addition to the radiation resistance of the wire harness itself, the welding and insulation protection of the wire harness and the electrical connection points also require radiation resistance reinforcement. In this example, first, eutectic solder is used as the solder material. Secondly, after the wire harness is welded, it is necessary to carry out insulation heat shrink protection on the solder joints. The insulating heat shrink finger sleeves and heat shrink tubes use IE grade K1 nuclear industry grade heat shrink sleeves. The heat shrink sleeves are made of ternary ethyl acetate. It is made of composite material composed of propylene rubber, ethylene-vinyl acetate copolymer, decabromodiphenylethane, antimony trioxide, composite antioxidant and composite anti-radiation agent. The heat shrinkable tube sleeve is a double-layer structure. Including the outer layer and the inner layer, the outer layer is a heat shrinkable layer, and the inner layer is a hot melt adhesive layer, which has excellent waterproof and moisture-proof performance, heat resistance, radiation resistance and high temperature and high pressure water vapor resistance. It still has good performance after 5×10 ⁶ Gy.

After the solder joints are protected by heat shrinkable insulation, they are encapsulated by epoxy phenolic resin as a whole.

The above treatment can ensure that the electrical lead-out harness and the welding treatment meet the irradiation requirements.

3) Sealing ring

The oil inlet and outlet of the electro-hydraulic servo valve 24 need to be sealed with a sealing ring. The sealing ring of 5080HG6-408-79 type nitrile rubber material can be used for retrofit design.

In addition, the radiation can be attenuated to a certain extent by the physical shielding of the base body. In order to meet the radiation resistance requirements, the electro-hydraulic servo valve 24 is subjected to secondary sealing and reinforcement by adopting a metal protective cover to make it meet the radiation resistance test requirements.

As for the hydraulic resolver 23 , in this embodiment, a J60XFW245 type single-channel resolver is used as the detection device for the rotation angle of the hydraulic joint 20 . The irradiated resolver can meet the irradiation requirement of 5×10 ⁶ Gy.

Based on the above structure, a metal sealing structure design is adopted between the airtight base 10 and the base cover 12 and the base cover 12 and the hydraulic actuator 21 to strengthen the physical shielding performance of the internal components of the airtight base 10 .

Continuing to refer to FIG. 3 , the first swing arm 30 is a hollow metal shell structure, so that the cable of the operating arm can be routed from the middle of the hydraulic joint 20 to the motor joint 40 through the first swing arm 30 , and then through the first swing Arm 30 is physically shielded for the cables that operate the arm. Specifically, the first rotating arm 30 includes a casing and a cover plate, and the casing has a wall thickness of 4-7 mm and is made of forged aluminum alloy.

4 and 5, the motor joint 40 includes: a motor resolver 41, one end of the motor resolver 41 is drivingly connected to one end of the first swing arm 30; a torque motor 42, the torque motor 42 One end of the second output shaft (wave generator) is drivingly connected with the other end of the motor resolver 41; the reducer 43, the input end of the reducer 43 is drivingly connected with the torque motor 42, and the reducer 43 The other end is drivingly connected with the second swing arm 50 to reduce the output speed of the torque motor 42 through the reducer 43 , and cooperate with the hydraulic resolver 23 to precisely control the movement of the second swing arm 50 .

Specifically, the reducer 43 is a harmonic reducer, which can reduce the material used for the reducer compared with the ordinary planetary reducer, thereby reducing the volume and weight, which is beneficial to the lightweight, miniaturization and joint integration design of the system. The middle of the motor resolver 41, the torque motor 42 and the reducer 43 are all provided with a channel through the middle, so as to meet the needs of threading from the middle of the motor joint 40, so as to simplify the shape and protect the cable. dual purpose.

That is to say, the motor joints 40 are all hollow components, so that the overall structure is compact, and at the same time, the hollow inside forms a physical shield for the wire harness. The electric joint control loop is composed of brushless torque motor 42, motor speed measuring resolver (motor resolver 41), motor driver and other devices.

The rotational speed of the torque motor 42 is monitored by the motor tachometer resolver. After being collected and calculated by the resolver acquisition interface circuit of the motor drive board, the current motor rotational speed V1 is obtained, and the speed difference is obtained by comparing it with the set rotational speed V0. , after the logic control circuit calculates the output control signal according to the difference, and after power amplification, the executive motor is driven to rotate according to a certain speed and rotation.

The position feedback of the electric joint is counted according to the rotation number and direction of the motor, and then converted according to the reduction ratio of the reducer 43 to obtain the rotation angle of the current joint. output motor speed control signal to adjust the joint position.

in:

Motor resolver 41, using J60XFW245 single-channel resolver, can meet the irradiation requirement of 5×10 ⁶ Gy total dose after the electromagnetic coil, wire, bearing and other components of resolver are designed for radiation resistance; The transformer itself cannot count the circles. The number of rotations can be counted through the controller counting program, and then the rotation angle of the electric joint can be calculated according to the formula. At the same time, it has no power-off hold function. Therefore, the electric joint needs to be reset to zero before working. , the resolver using this method can have two functions of motor speed measurement and joint angle measurement;

The torque motor 42 (Fig. 6) adopts the DC brushless torque motor 42 and adopts the frameless hollow shaft design;

The reducer 43 (Fig. 7) is based on the HMHG-32-100-I type harmonic reducer 43, and is designed for radiation resistance and reinforcement, and a large-diameter hollow shaft hole is designed in the middle of the cam of the wave generator 43a to adapt The use requirement of threading from the center of the reducer 43 can achieve the dual purpose of simplifying the wiring and protecting the cable.

more specific:

The motor resolver 41 includes a metal stator, a metal rotor, a coil and an outgoing cable. The resolver shell and shaft are made of 2Cr13 radiation-resistant material, the enameled wire is made of polyimide enameled round copper wire QY-2/220, the winding is made of glass fiber and then treated with 1070 polyimide dipping paint, and the bearing is selected in accordance with the "GJB" 117B-2020 Radiation Resistant Rolling Bearing Specifications, Radiation Resistant Bearings, Resolver Lead Harnesses Use High Radiation Resistant Cables.

Torque motor 42, the electromagnetic wire of the insulating structure is made of polyimide enameled round copper wire, the slot insulation and interphase insulation are made of polyimide film polyaramid fiber paper soft composite material, and the lead wire is made of special radiation-resistant special cable (PEEK insulation). cable), the end is bound with alkali-free tape, the impregnating paint is radiation-resistant polyesterimide impregnating paint, and the magnetic steel is bonded with epoxy D97; bearings (ZGCr15/ZGCr15SiMn), electrical steel, XG24/25 rare earth permanent magnet material), which is also anti-radiation and anti-aging material, so that the total radiation resistance of the torque motor 42 exceeds 5×10 ⁶ Gy; the motor enameled wire adopts polyimide enameled round copper wire QY-2/ 220, the windings are bound with glass fiber binding wires and then treated with 1070 polyimide dipping varnish.

For the reducer 43, it can be seen from Figure 7 that the weak link of the reducer 43 is the roller bearing, and the bearing ring and rolling elements of the crossed roller bearing 43d are ZGCr15 conforming to the "GJB 117B-2020 Radiation Resistant Rolling Bearing Specification". /ZGCr15SiMn Group A bearing steel and other materials, and lubricated with KG400-3 extreme pressure grease.

The components such as the torque motor 42 and the motor resolver 41 of the motor joint 40 all use radiation-resistant PEEK insulated wires as lead wires.

Considering that the weak links of the torque motor 42 and the motor resolver 41 are the electromagnetic wire and the installation wire, the dosage of the polyimide impregnating varnish needs to be adjusted appropriately during the manufacturing process of the torque motor 42 and the motor resolver 41 , to play a certain radiation protection effect on the insulation of the electromagnetic wire, and on this basis, the protective cover is designed to ensure that it can work normally under the total radiation dose of 5×10 ⁶ Gy.

According to the current support material of the grease, the total radiation dose of the grease can reach 2.2×10 ⁶ Gy ⁶⁰ Co, and a tungsten-nickel alloy protective cover with a wall thickness of 9.39 mm is used outside the reducer 43 for reinforcement. The same other gear transmission, reducer 43, etc., adopt reinforcement design, and the thickness of the protective cover (shielding cover) is designed to be 8-12mm in this scheme.

Referring again to FIG. 5 , the end of the electric gripper 60 where the electronic device is mounted is located in the second swivel arm 50 , so as to provide physical shielding for the electronic device of the electric gripper 60 through the second swivel arm 50 , and further provide the electric gripper 60 radiation resistance.

It should be noted that the electric gripper 60 at the end of the operating arm selects the Z-EFG-100 electric gripper with integrated servo system. Referring to FIG. 4 , the electric gripper 60 realizes the gripping action by means of a screw nut and a link mechanism. Since the electric gripper 60 in this example is not made of metal material, it has high resistance to γ-irradiation.

When performing a functional test on the operating arm provided in this embodiment, firstly connect the external power source and start the oil source. After the work is stable, the command input is carried out through the control panel of the electric control cabinet (PLC controller), and the command is analyzed by the PLC controller inside the electric control cabinet after collection. Output the corresponding hydraulic joint 20 drive command and electric joint drive command, and drive the hydraulic actuator 21 and the electric joint module to rotate after drive amplification, so as to realize the joint rotation, translation, clamping and other functional tests required by the system. And through the corresponding resolver and decoding circuit to complete the detection of the joint angle.

Among them, the control of the electric joint and the hydraulic joint 20 is completed by the controller in the electric control cabinet:

The working principle of the hydraulic joint 20 is as follows: the controller sends an instruction frame to the servo valve drive board. After the drive board completes the instruction analysis, the output current signal drives the electro-hydraulic servo valve 24, and the servo valve controls the forward and reverse rotation of the rotary hydraulic actuator 21. Realize the control of the hydraulic joint 20; the angle signal of the hydraulic joint 20 is collected by the hydraulic resolver, connected to the resolver angle card and converted into an angle value, and fed back to the controller through the corresponding serial port.

The working principle of the electric joint is as follows: the controller sends the command frame to the motor drive board through the serial port. After the drive board completes the command analysis, it outputs the three-phase 48V motor drive signal to realize the forward and reverse rotation of the motor, and drives the joint to complete the rotation through the harmonic reducer 43 ; The speed monitoring of the motor is measured by the resolver and then connected to the drive board resolver decoding circuit, which is converted into the motor speed and angle signal. For the angle value of the electric joint, the rotation angle value of the electric joint can be obtained by calculating the number of revolutions of the motor and converting it through the ratio of the reducer 43 .

The working principle of the end electric gripper 60 is as follows: the working power of the electric gripper 60 is 24V, and a composite cable is used to simultaneously complete the power supply and control of the gripper to realize the end clamping action.

Among them, the rotary transformer and electro-hydraulic servo valve 24 of the hydraulic joint 20, the torque motor 42 of the electric joint and the electrical wiring harness of the speed-measuring resolver and other devices are respectively connected to the hydraulic joint 20 drive interface electrical connector and electric wiring harness by means of internal wiring. The connection solder cup of the joint drive interface electrical connector is connected to the connection terminal of the electric control cabinet through the external cable after signal conditioning, so as to realize the physical connection between the functional port of the controller and the electrical components.

To sum up, in the electro-hydraulic cooperative arm with high-dose γ-irradiation resistance provided in this embodiment, the hydraulic joint 20 is installed in the metal airtight base 10, and the airtight base 10 can provide physical shielding for the hydraulic joint 20, To avoid the impact of high-dose γ-irradiation on the sealing elements, lubricating materials and control devices of the hydraulic joint 20, the hydraulic joint 20 can work normally. Provide physical shielding to avoid the impact of high dose gamma radiation on the normal operation of the motor.

The hydraulic joint 20 is installed on the airtight base 10 , the first rotary arm 30 drives and connects the hydraulic joint 20 and the motor joint 40 , and the motor joint 40 drives the electric gripper 60 to work through the second rotary arm 50 , because the hydraulic joint 20 can Sufficient load capacity is provided, so that the operating arm has sufficient load capacity, and the motor joint 40 is arranged on the side close to the electric gripper 60, so that the electric gripper 60 has sufficient displacement accuracy and is clamped by the electric gripper 60 device, so that the operating arm has sufficient movement accuracy.

To sum up, the electro-hydraulic cooperative operating arm that is resistant to high-dose γ-irradiation provided by this embodiment simultaneously physically shields the hydraulic joint 20 and the motor joint 40, so that the cooperation between the hydraulic joint 20 and the motor joint 40 can ensure The operating arm has sufficient motion accuracy while increasing its load capacity.

The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. an electro-hydraulic cooperative manipulator arm resistant to high-dose gamma irradiation, characterized in that, comprising: an airtight base (10), the airtight base (10) is provided with an installation cavity (11), and the airtight base (10) is made of metal; a hydraulic joint (20), the hydraulic joint (20) is installed in the installation cavity (11); a first swing arm (30), the first swing arm (30) is located outside the base, and one end of the first swing arm (30) is drive-connected with the hydraulic joint (20); a motor joint (40), one end of the motor joint (40) is drivingly connected with the other end of the first rotating arm (30), and a shielding cover (70) is provided on the outer cover of the motor joint (40); A second swivel arm (50), one end of the second swivel arm (50) is drivingly connected with the other end of the motor joint (40), and the other end of the second swivel arm (50) is provided with an electric gripper (60). 2. The high-dose gamma radiation-resistant electro-hydraulic cooperative operating arm according to claim 1, wherein the hydraulic joint (20) comprises: a hydraulic actuator (21), one end of a first rotating shaft (22) of the hydraulic actuator (21) is drivingly connected with one end of the first swing arm (30); a hydraulic rotary transformer (23), the hydraulic rotary transformer (23) is used for monitoring the rotation angle of the hydraulic joint (20); An electro-hydraulic servo valve (24), the electro-hydraulic servo valve (24) is used to control the rotational speed and steering of the first rotating shaft (22) of the hydraulic actuator (21). 3. The high-dose γ-irradiation-resistant electro-hydraulic cooperative operating arm according to claim 2, characterized in that the first rotating shaft (22) is a hollow shaft, and the hydraulic rotary transformer (23) is a mid-pass the ring. 4 . The electro-hydraulic cooperative operating arm resistant to high-dose gamma irradiation according to claim 2 , wherein the electro-hydraulic servo valve ( 24 ) is treated with irradiation-resistant reinforcement. 5 . 5. The high-dose gamma radiation-resistant electro-hydraulic cooperative operating arm according to claim 1, wherein the first swivel arm (30) is a hollow metal shell structure. 6. The high-dose gamma radiation-resistant electro-hydraulic cooperative operating arm according to claim 1, wherein the motor joint (40) comprises: a motor resolver (41), one end of the motor resolver (41) is drivingly connected with one end of the first swing arm (30); a torque motor (42), one end of the second output shaft of the torque motor (42) is drivingly connected with the other end of the motor resolver (41); A reducer (43), the input end of the reducer (43) is drivingly connected with the torque motor (42), and the other end of the reducer (43) is drivingly connected with the second swing arm (50). 7. The high-dose gamma radiation-resistant electro-hydraulic cooperative operating arm according to claim 6, wherein the reducer (43) is a harmonic reducer (43). 8. The high-dose gamma radiation-resistant electro-hydraulic cooperative operating arm according to claim 6, characterized in that the motor resolver (41), the torque motor (42) and the reducer (43) ) are provided with a central channel in the middle. 9 . The electro-hydraulic cooperative operating arm resistant to high-dose gamma irradiation according to claim 1 , wherein the second rotating arm ( 50 ) is a hollow metal shell structure. 10 . 10. The high-dose gamma radiation-resistant electro-hydraulic cooperative operating arm according to claim 9, wherein one end of the electric gripper (60) where the electronic device is installed is located in the second swivel arm (50) .

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