CN115106739B - High-dose gamma irradiation resistant electrohydraulic cooperative arm - Google Patents
High-dose gamma irradiation resistant electrohydraulic cooperative arm Download PDFInfo
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- CN115106739B CN115106739B CN202210814606.3A CN202210814606A CN115106739B CN 115106739 B CN115106739 B CN 115106739B CN 202210814606 A CN202210814606 A CN 202210814606A CN 115106739 B CN115106739 B CN 115106739B
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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
- 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
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
Abstract
The invention discloses an electrohydraulic cooperative arm resistant to high-dose gamma irradiation, and relates to the technical field of mechanical arms; comprising the following steps: the sealing base is provided with an installation cavity and is made of metal; 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 rotary arm, and a shielding cover is arranged on the motor joint outer cover; the second rotary arm, one end of second rotary arm with the other end transmission of motor joint is connected, the other end of second rotary arm is equipped with electronic clamping jaw. The invention simultaneously performs physical shielding treatment on the hydraulic joint and the motor joint, so that the load capacity of the operating arm can be improved while the operating arm is ensured to have enough action precision through the cooperation of the hydraulic joint and the motor joint.
Description
Technical Field
The invention relates to the technical field of mechanical arms, belongs to the field of design of micro-operation arm systems of fusion reactor robots, and particularly relates to an electrohydraulic cooperative operation arm resistant to high-dose gamma irradiation.
Background
In the running process of the fusion reactor, the reactor core components such as the cladding, the divertor and the like are maintained and renovated for a plurality of times through a remote control operation system in the whole life cycle of the fusion reactor. In the running process of the fusion reactor robot, the fusion reactor robot faces severe environments such as strong radiation, high temperature, vacuum, strong magnetic field, narrow space and the like, and has specificity in the aspects of functional requirements, high-dose radiation operation environments and the like.
Fusion reactor robots are required to be at least 5 x 10 tolerant 6 The gamma total irradiation dose of Gy is controlled by adopting a pure motor driving mode in order to ensure that a large number of remote control tasks can be efficiently and accurately completed in a short shutdown time, and the irradiation-resistant total dose is only 1 multiplied by 10 6 Gy, but the fusion reactor internals are heavy and require a large hydraulic drive. In the design of a robot system, a micro-operation arm is positioned at the tail end part of the whole mechanical arm, the control precision and the realization of the whole function of the micro-operation arm are directly affected, the radiation resistance of the traditional electronic device is weak, meanwhile, the micro-operation arm is limited by a controller, a driving motor, insulating materials, lubrication and sealing technologies, and the operation arm driven by a conventional motor is difficult to meet the operation and maintenance requirements of a fusion reactor.
Disclosure of Invention
Aiming at the technical problem that the operation arm driven by the existing motor is difficult to meet the operation and maintenance requirements of the fusion reactor; the invention provides an electrohydraulic cooperative arm resistant to high-dose gamma irradiation, which can ensure that the operating arm has enough action precision and improve the load capacity.
The invention is realized by the following technical scheme:
the invention provides an electrohydraulic cooperative arm resistant to high-dose gamma irradiation, which comprises the following components: the sealing base is provided with an installation cavity and is made of metal; 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 rotary arm, and a shielding cover is arranged on the motor joint outer cover; the second rotary arm, one end of second rotary arm with the other end transmission of motor joint is connected, the other end of second rotary arm is equipped with electronic clamping jaw.
The electrohydraulic cooperative arm resistant to high-dose gamma irradiation provided by the invention has the advantages that the hydraulic joint is arranged in the sealed base made of metal, the sealed base can provide physical shielding for the hydraulic joint, the influence of high-dose gamma irradiation on a sealing original piece, a lubricating material and a control device of the hydraulic joint is avoided, so that the hydraulic joint can work normally, and meanwhile, the motor joint is covered by the shielding cover, so that the physical shielding is provided for the motor joint through the shielding cover, and the influence of high-dose gamma irradiation on the normal work of the motor is avoided.
The hydraulic joint is arranged on the airtight base, the first rotary arm is in transmission connection with the hydraulic joint and the motor joint, the motor joint drives the electric clamping jaw to work through the second rotary arm, and the hydraulic joint can provide enough load capacity, so that the operating arm has enough load capacity, the motor joint is arranged on one side close to the electric clamping jaw, so that the electric clamping jaw has enough displacement precision, and the operating arm has enough action precision through the electric clamping jaw clamping device.
In summary, the electrohydraulic cooperative arm resistant to high dose gamma irradiation provided by the invention performs physical shielding treatment on the hydraulic joint and the motor joint at the same time, so that the load capacity of the operation arm can be improved while the operation arm is ensured to have enough action precision through the cooperation of the hydraulic joint and the motor joint.
In an alternative embodiment, the hydraulic joint comprises: the hydraulic actuator, one end of the first rotary shaft of the hydraulic actuator is connected with one end of the first rotary arm in a transmission way; the hydraulic rotary transformer is used for monitoring the rotation angle of the hydraulic joint; the electrohydraulic servo valve is used for controlling the rotating speed and the steering of the first rotating shaft of the hydraulic actuator so as to accurately control the action of the hydraulic actuator through the cooperation of the electrohydraulic servo valve and the hydraulic rotary transformer.
In an optional embodiment, the first rotating shaft is a hollow shaft, and the hydraulic rotary transformer is in a hollow annular shape, so that a cable of the operating arm can conveniently pass through the hydraulic joint, interference caused by the cable of the operating arm to rotation of the hydraulic joint is avoided on one hand, and the cable of the operating arm is arranged inside the hydraulic joint on the other hand, and influence of high-dose gamma irradiation on the cable of the operating arm can be avoided.
In an alternative embodiment, the electrohydraulic servo valve is subjected to a radiation-resistant stiffening treatment to ensure that the electrohydraulic servo valve has sufficient radiation resistance.
In an alternative embodiment, the first rotary arm is a hollow metal shell structure, so that the cable of the operation arm can be conveniently distributed from the middle part of the hydraulic joint to the motor joint through the first rotary arm, and the cable of the operation arm through the first rotary arm is physically shielded.
In an alternative embodiment, the motor joint includes: one end of the motor rotary transformer is in transmission connection with one end of the first rotary arm; one end of a second output shaft of the torque motor is in transmission connection with the other end of the motor rotary transformer; the input end of the speed reducer is in transmission connection with the torque motor, the other end of the speed reducer is in transmission connection with the second rotary arm, so that the output rotating speed of the torque motor is reduced through the speed reducer, and the second rotary arm is accurately controlled to act in cooperation with the hydraulic rotary transformer.
In an alternative embodiment, the speed reducer is a harmonic speed reducer, and compared with a common planetary speed reducer, the speed reducer has the advantages of reducing the material consumption, reducing the volume and the weight, and being beneficial to the light weight, the miniaturization and the joint integration design of the system.
In an alternative embodiment, the motor rotary transformer, the torque motor and the middle part of the speed reducer are all provided with through channels so as to adapt to the use requirement of threading from the middle part of the motor joint, thereby achieving the dual purposes of simplifying the shape and protecting the cable against irradiation.
In an alternative embodiment, the second rotating arm is a hollow metal shell structure, so that the cable of the operating arm can be conveniently distributed from the middle part of the motor joint to the electric clamping jaw through the second rotating arm, and the cable of the electric clamping jaw is physically shielded through the second rotating arm.
In an alternative embodiment, one end of the electronic device mounted on the electric clamping jaw is located in the second rotary arm, so that physical shielding is provided for the electronic device mounted on the electric clamping jaw through the second rotary arm, and irradiation resistance of the electric clamping jaw is further provided.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the electrohydraulic cooperative operation arm resistant to high-dose gamma irradiation is characterized in that the hydraulic joint is arranged in a sealed base made of metal, the sealed base can provide physical shielding for the hydraulic joint, the influence of high-dose gamma irradiation on a sealing element, a lubricating material, a control device and the like of the hydraulic joint is avoided, the hydraulic joint can work normally, meanwhile, a shielding cover is arranged on a motor joint housing, the physical shielding is provided for the motor joint through the shielding cover, the influence of high-dose gamma irradiation on the normal work of a motor is avoided, and because the hydraulic joint can provide enough load capacity, the operation arm has enough load capacity, and the motor joint is arranged on one side close to an electric clamping jaw, so that the electric clamping jaw has enough displacement precision and the electric clamping jaw clamping device are adopted.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
In the drawings:
FIG. 1 is a schematic perspective view of an electrohydraulic cooperating arm resistant to high dose gamma radiation in accordance with an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of an electrohydraulic cooperating arm resistant to high dose gamma radiation in accordance with an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a hydraulic joint according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a motor joint and an electric jaw according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of a motor joint and an electric jaw in accordance with an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a torque motor according to an embodiment of the present invention;
fig. 7 is a schematic cross-sectional view of a decelerator according to an embodiment of the present invention.
In the drawings, the reference numerals and corresponding part names:
the device comprises a sealed base, a mounting cavity, a base cover plate, a base side plate, an electro-hydraulic interface, a hydraulic joint, a hydraulic actuator, a first rotating shaft, a hydraulic rotary transformer, a hydraulic servo valve, a motor, a torque motor, a speed reducer, a wave generator, a rigid gear, a flexible gear, a crossed roller bearing, a second rotating arm, an electric clamping jaw and a shielding cover.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Embodiments and features of embodiments in this application 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", "outer", "front", "rear", "top", "bottom", etc. indicate orientations or positional relationships based on those shown in the drawings, or those that are commonly put in use of the product of the application, or those that are commonly understood by those skilled in the art, are merely for convenience of description and simplicity of description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Examples
With reference to fig. 1, this embodiment provides an electrohydraulic cooperating arm resistant to high dose gamma irradiation, comprising: the sealing base 10 is provided with an installation cavity 11, and the sealing base 10 is made of metal; a hydraulic joint 20, the hydraulic joint 20 being mounted in the mounting cavity 11; the first rotary arm 30 is positioned outside the base, and one end of the first rotary arm 30 is in transmission connection with the hydraulic joint 20; the motor joint 40, one end of the motor joint 40 is in transmission connection with the other end of the first rotary arm 30, and a shielding cover 70 is arranged on the outer cover of the motor joint 40; and one end of the second rotary arm 50 is in transmission connection with the other end of the motor joint 40, and the other end of the second rotary arm 50 is provided with an electric clamping jaw 60.
It should be understood that the special micro-operation arm of the teleoperation robot is a complete radiation-resistant micro-operation arm joint system, and consists of a micro-operation arm body and external driving and controlling equipment. The micro-operation arm body is required to adopt an irradiation-resistant design, is a main tested part of the whole machine irradiation test, and is used as auxiliary driving control test equipment of the micro-operation arm joint system, such as a hydraulic oil source, an electric control cabinet, an electric clamping jaw 60, an external cable and the like, and irradiation examination is not carried out.
The external driving and controlling equipment consists of an electric control cabinet (containing software), a hydraulic system, a movable base and external cable laying. The external driving and controlling equipment is integrally in an external non-nuclear environment and is used for providing electrohydraulic power and control signals for the micro-operation arm in the power-on function test link. The power input of the micro-operation arm hydraulic joint 20 is provided by a hydraulic oil source and an oil pipeline; the hydraulic joint 20 valve group control signal, the power and control signal of the electric joint and the power and control signal of the electric clamping jaw 60 of the micro-operation arm are respectively transmitted and interacted by the external electric control cabinet through the hydraulic joint 20 driving and controlling cable, the electric joint driving and controlling cable and the electric clamping jaw 60 driving and controlling cable. For the design of the outer surface of the operating arm body (including the surfaces of the hermetic base 10, the first rotary arm 30, the shield case, the second rotary arm 50 and the electric jaw 60) to avoid the groove structure as a whole, the deposition and attachment of the contaminant can be prevented.
Specific:
referring to fig. 2 and 3, the airtight base 10 is designed in a cavity type, a base cover plate 12 and a base side plate 13 are arranged on the basis of a base body, and a high-low pressure oil circuit of a hydraulic system is integrated in a mounting cavity 11 of the base without connection of additional hydraulic pipelines. Meanwhile, an electrohydraulic interface is designed on the closed base 10, and when the operation arm needs to be electrified, the external control system and the internal electrohydraulic element can be quickly connected through the electrohydraulic interface.
In this embodiment, the electro-hydraulic interface is disposed on the base side plate 13 and is in an integrated configuration with the base side plate 13. At the upper side of the base, 2 electrical interfaces are arranged, respectively an electric joint drive interface and a hydraulic joint 20 drive interface. The electrical connectors of the two paths of interfaces are all nuclear industry-grade aviation connectors, such as: the electric joint driving interface adopts an HDC/YK33T4K310AG socket, the hydraulic joint 20 driving interface adopts an HDC/YK33T1K308AG aviation plug, and the irradiation grade is 5 multiplied by 10 6 Gy。
The airtight base 10 is installed at one side of the base side plate 13, and a hydraulic oil inlet and outlet pipe joint is arranged at the lower part. The pipe joint is a radiation-resistant hydraulic pipe joint, so that the hydraulic oil pipe can be conveniently connected in an inserting way. The sealing O-shaped ring of the pipe joint adopts radiation-resistant rubber (usually EPDM) and has the integral radiation-resistant performance of 5 multiplied by 10 6 Gy (again high level irradiation requires test verification).
For the material of the closed base 10, a metal material which can resist high dose gamma irradiation, such as tungsten nickel alloy, aluminum alloy, etc., is adopted, in this embodiment, the closed base 10 is made of aluminum alloy forging material, and the wall thickness is designed to be 9-15 mm, preferably 11 mm. From the calculation, 5×10 6 The internal dose decay of the Gy irradiation dose after passing through the base cavity wall was 4.24X10 6 Gy, the metal shell of the base can play a certain irradiation attenuation role.
It should be noted that, for gamma rays, the metal structure has better radiation resistance, and only long-term high dose rate irradiation can macroscopically show changes in mechanical properties such as yield strength and ductility. The radiation damage dose (cumulative dose that can be tolerated in the event of significant degradation or failure of material or device performance) of metals such as aluminum, stainless steel, iron, copper, and copper alloys is 6 x 10 9 ～5×10 11 Gy.As a material with better gamma-ray radiation shielding effect, the tungsten-nickel alloy is not only radiation-resistant, but also has good shielding weakening effect on radiation dose.
Referring to fig. 3, the hydraulic joint 20 includes: the hydraulic actuator 21, one end of a first rotating shaft 22 of the hydraulic actuator 21 is in transmission connection with one end of the first rotary arm 30; a hydraulic resolver 23, the hydraulic resolver 23 being used to monitor the rotation angle of the hydraulic joint 20; the electrohydraulic servo valve 24 is used for controlling the rotating speed and the steering of the first rotating shaft 22 of the hydraulic actuator 21, so as to precisely control the action of the hydraulic actuator 21 through the cooperation of the electrohydraulic servo valve 24 and the hydraulic rotary transformer 23.
That is, the hydraulic driving joint is a negative feedback control loop formed by a controller, a servo valve driving plate, an electrohydraulic servo valve 24, a hydraulic actuator 21 and a hydraulic rotary transformer 23, and the hydraulic joint 20 connects two components of the closed base 10 and the first rotary arm 30 so as to drive the first rotary arm 30 through the first rotating shaft 22 of the hydraulic actuator 21 to complete the relative rotary motion between the components.
It is known that the housing of the hydraulic actuator 21 is fixed on the housing of the airtight base 10, the stator of the hydraulic rotary transformer 23 is fixedly connected with the housing of the hydraulic actuator 21, and the rotor of the hydraulic rotary transformer 23 is connected with the first rotating shaft 22 of the hydraulic actuator 21 by a certain pressing force, so that the hydraulic rotary transformer 23 can measure the rotating angle of the hydraulic joint 20 in real time. The hydraulic rotary transformer 23 collects the rotation angle signal of the hydraulic joint 20, converts the rotation angle signal into angle value data through an angle resolving card, feeds back the angle value data to a controller (usually a PLC) through a corresponding serial port, compares the current angle value with an expected angle value, forms an electrohydraulic servo valve 24 control signal, sends a control command frame to an electrohydraulic servo valve 24 driving plate, and outputs a current signal to the electrohydraulic servo valve 24 after the electrohydraulic servo valve 24 driving plate analyzes the command to control the opening direction and the opening size of the electrohydraulic servo valve, so that the control of the rotation speed and the steering of the hydraulic actuator 21 is realized.
With continued reference to 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 are all adopted by structural partsThe metal material is insensitive to irradiation and can bear strong irradiation. The weak link is various sealing elements under the condition of high irradiation, and the aging failure phenomenon is most easy to occur. To meet the irradiation resistance requirement of the system, the sealing member (O-ring) of the hydraulic actuator 21 of the present embodiment is made of 5080HG6-408-79 type nitrile rubber material which is resistant to high irradiation so that the hydraulic actuator 21 as a whole can withstand 5×10 6 And (5) irradiating with Gy.
In addition, components and actuators located in the rear end electric joint, such as the brushless torque motor 42, the motor tacho resolver, etc., require electrical wiring harnesses routed through the hydraulic joint 20 to the rear end. The hydraulic joint 20 is used as a mechanism for connecting the sealed base 10 and the first pivoting arm 30, and the components are relatively rotated, so that the rear end harness must not be involved, twisted or interfered with by the relative rotation of the joint when passing through the hydraulic joint 20.
In view of this, in this embodiment, the first rotating shaft 22 is a hollow shaft, and the hydraulic rotary transformer 23 is a hollow ring, so that the cable of the operating arm can be conveniently passed through the hydraulic joint 20, on one hand, interference caused by the cable of the operating arm to the rotation of the hydraulic joint 20 is avoided, and on the other hand, the cable of the operating arm is arranged inside the hydraulic joint 20, so that the influence of high dose gamma irradiation on the cable of the operating arm can be avoided.
Specifically, the entire rotation range of the hydraulic joint 20 is known according to the use environment of the operation arm: the (+ -90 degrees) and the multi-turn rotary joint are not needed, so that an expensive electric slip ring is not needed, and the wire harness and the moving part can be prevented from interfering in a threading way from the axis of the joint. Meanwhile, the wire harness is fixed at the upper end and the lower end, and the wire protection sleeve is sleeved after the wire harness is bundled, so that the phenomenon that the wire harness is pulled to slide in the action process of the hydraulic joint 20 can be prevented. And in the cable laying process, the wire harness is fixed and trend constrained by arranging the metal wire clamp, so that the wire harness is reasonable and attractive in wiring and does not interfere.
The electrohydraulic servo valve 24 is a control element of the hydraulic actuator 21, and its principle of operation is: the controller sends a control command to the valve driving plate, the driving plate analyzes the command and then outputs a current driving signal to drive a moment coil of the electrohydraulic servo valve 24, the opening degree and the direction of the valve are adjusted, and the hydraulic actuator 21 is further controlled to move at a certain rotation speed and a certain rotation direction.
On the basis, the electrohydraulic servo valve 24 is subjected to irradiation resistance reinforcement treatment so as to ensure that the electrohydraulic servo valve 24 has enough irradiation resistance. In this embodiment, the electrohydraulic servo valve 24 is installed at the bottom of the inner cavity of the closed base 10, and the communication of the whole hydraulic system is realized through the design of an integrated oil circuit on the closed base 10.
The electro-hydraulic servo valve 24 adopts an FF-101 type double-nozzle baffle type force feedback two-stage electro-hydraulic servo valve 24, and the servo valve consists of an electromagnetic part and a hydraulic part. The electromagnetic part is a permanent magnet torque motor, and consists of a permanent magnet, a magnetizer, an armature, a control coil and a spring tube, and adopts a double-coil redundancy design. The hydraulic part is a two-stage hydraulic amplifier with symmetrical structure, the pre-stage is a double-nozzle baffle valve, and the power stage is a four-way slide valve. The slide valve is connected with the armature baffle assembly through a feedback rod, the slide valve is displaced, the baffle is displaced, and the torque motor output torque is changed in proportion to the output electric signal (current). Because the armature assembly is insensitive to irradiation, the parts sensitive to irradiation are coil enamelled wire layers, lead wire bundles, welding spot treatment, sealing rings and the like. Therefore, the weak links of the electrohydraulic servo valve 24 are subjected to irradiation resistance reinforcement treatment so as to meet irradiation resistance requirements.
The electro-hydraulic servo valve 24 is correspondingly subjected to irradiation resistance reinforcement treatment as follows:
1) Coil part
The motor coil is formed by winding an enameled wire, and the enameled wire is composed of a conductor and an insulating layer. To prevent coil short circuit caused by aging and rupture of insulating layer of high irradiation enameled wire, irradiation-resistant polyimide enameled round copper wire (irradiation resistance grade is at least 5×10) 6 Gy) for coil winding. Polyimide is used as a special engineering material and has very high irradiation resistance.
2) Lead wire harness and solder joint treatment
To achieve the irradiation-resistant reinforcement purpose, the electric outgoing line of the servo valve is replaced by a coreIndustrial grade K1 type control cable HK1-KRJGP 12X 0.35mm 2 The wire harness irradiation grade is high, and can meet the use requirement.
Besides the irradiation resistance of the wire harness, the irradiation resistance reinforcement treatment is also required for welding and insulating protection of the wire harness and the electric connection points. In this example, first, eutectic solder is used as the solder material. Secondly, after the wire beam welding is finished, insulation heat shrinkage protection is needed for welding points, an IE-grade K1 nuclear industrial grade heat shrinkage pipe sleeve is adopted for an insulation heat shrinkage fingerstall and a heat shrinkage pipe, the heat shrinkage pipe sleeve is made of a composite material formed by taking ethylene propylene diene monomer, ethylene-vinyl acetate copolymer, decabromodiphenyl ethane, antimony trioxide, a composite antioxidant and a composite anti-radiation agent as raw materials, the heat shrinkage pipe sleeve is of a double-layer structure and comprises an outer layer and an inner layer, the outer layer is a heat shrinkage layer, the inner layer is a hot melt adhesive layer, and the heat shrinkage pipe has excellent waterproof and dampproof performance, heat resistance, radiation resistance and high-temperature and high-pressure steam resistance, and is subjected to radiation accumulated dose of 5 multiplied by 10 6 The product still has good use performance after Gy.
After thermal shrinkage insulation protection is carried out on the welding spots, the welding spots are integrally encapsulated through epoxy phenolic resin.
Through the treatment, the electric lead-out wire harness and the welding treatment can be ensured to meet the irradiation requirement.
3) Sealing ring
The oil inlet and outlet of the electrohydraulic servo valve 24 is required to be sealed by a sealing ring. The sealing ring made of 5080HG6-408-79 type nitrile rubber material can be modified.
In addition, the irradiation may be attenuated to some extent by physical shielding of the susceptor body. In order to meet the irradiation tolerance requirement, the electrohydraulic servo valve 24 is reinforced by adopting a metal protection cover in a secondary sealing way, so that the irradiation tolerance requirement is met.
As for the hydraulic resolver 23, a J60XFW245 type single-channel resolver is employed as a device for detecting the rotation angle of the hydraulic joint 20 in the present embodiment, the accuracy of measurement of the resolver reaches 15', the accuracy measurement requirement of the hydraulic joint 20 is satisfied, and the resolver reinforced by irradiation resistance can satisfy 5×10 6 Irradiation of GyRequirements.
Based on the above structure, a metal sealing structure design is adopted between the airtight base 10 and the base cover plate 12, and between the base cover plate 12 and the hydraulic actuator 21, so as to strengthen the physical shielding performance of the components inside the airtight base 10.
With continued reference to fig. 3, the first rotary 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 inside of the first rotary arm 30, and then the cable of the operating arm through the first rotary arm 30 is physically shielded. Specifically, the first rotary arm 30 comprises a shell and a cover plate, wherein the wall thickness of the shell is 4-7 mm, and the first rotary arm is made of forged aluminum alloy.
Referring to fig. 4 and 5, the motor joint 40 includes: a motor resolver 41, wherein one end of the motor resolver 41 is in transmission connection with one end of the first rotary arm 30; a torque motor 42, wherein one end of a second output shaft (wave generator) of the torque motor 42 is in transmission connection with the other end of the motor resolver 41; the input end of the speed reducer 43 is in transmission connection with the torque motor 42, and the other end of the speed reducer 43 is in transmission connection with the second rotary arm 50, so that the output rotating speed of the torque motor 42 is reduced through the speed reducer 43, and the second rotary arm 50 is accurately controlled to act in cooperation with the hydraulic rotary transformer 23.
Specifically, the speed reducer 43 is a harmonic speed reducer, and compared with a common planetary speed reducer, the speed reducer can reduce the material consumption, thereby reducing the volume and the weight, and being beneficial to the light weight, the miniaturization and the joint integration design of the system. The middle parts of the motor rotary transformer 41, the torque motor 42 and the speed reducer 43 are respectively provided with a through passage so as to adapt to the use requirement of threading from the middle part of the motor joint 40, thereby achieving the dual purposes of simplifying the shape and protecting the cable.
That is, the motor joints 40 are hollow devices, which make the overall configuration compact, while the internal hollows form a physical shield for the wire harness. The electric joint control loop consists of a brushless torque motor 42, a motor speed measuring rotary transformer (a motor rotary transformer 41), a motor driver and other devices.
The rotation speed of the torque motor 42 is monitored by a motor speed measuring rotary transformer, the current motor rotation speed V1 is obtained after the motor speed measuring rotary transformer is acquired and decoded by a rotary transformer acquisition interface circuit of a motor driving plate, the speed difference is obtained by comparing the current motor rotation speed V1 with a set rotation speed V0, a control signal is calculated and output according to the difference by a logic control circuit, and the executing motor is driven to rotate according to a certain rotation speed and a certain rotation direction after power amplification.
The position feedback of the electric joint is counted according to the rotation number and direction of the motor, then the rotation angle of the current joint is obtained by conversion according to the reduction ratio of the speed reducer 43, the difference is obtained by comparison with the initial position set by the built-in program of the controller, the motor rotation speed control signal is output, and the joint position is adjusted.
Wherein:
the motor resolver 41 is a J60XFW245 single-channel resolver, and can meet the requirement of 5 multiplied by 10 after radiation-resistant design is carried out on the electromagnetic coil, the lead, the bearing and other parts of the resolver 6 Irradiation requirements of total dose of Gy; the rotating transformer can count the number of rotations through a counting program of the controller, then calculates the rotation angle of the electric joint according to a formula, and has no power failure maintaining function, so that the rotation angle of the electric joint needs to be reset before working;
torque motor 42 (fig. 6), employing a dc brushless torque motor 42, and employing a frameless hollow shaft design;
the reducer 43 (figure 7) is based on an HMHG-32-100-I type harmonic reducer 43, performs irradiation-resistant reinforcement design treatment, and is provided with a large-caliber hollow shaft hole in the middle part of a cam of the wave generator 43a, so that the use requirement of threading from the center of the reducer 43 is met, and the double purposes of simplifying wiring and protecting cables can be achieved.
More specifically:
the motor resolver 41 includes a metal stator, a metal rotor, a coil, and a lead-out cable. The rotary transformer shell and the rotating shaft adopt 2Cr13 radiation-resistant materials, the enameled wires adopt polyimide enameled round copper wires QY-2/220, the winding is subjected to 1070 polyimide impregnating varnish treatment after being bound by glass fibers, the bearing adopts radiation-resistant bearings which meet GJB 117B-2020 radiation-resistant rolling bearing specifications, and the rotary-change lead-out wire harness adopts a high-radiation-resistant cable.
The torque motor 42, the electromagnetic wire of the insulation structure is made of polyimide enamelled round copper wire, the slot insulation and the interphase insulation are made of polyimide film polyaramid fiber paper soft composite material, the lead wire is made of radiation-resistant special cable (PEEK insulated cable), the end part binding is made of alkali-free tape, the impregnating varnish is made of radiation-resistant polyester imide impregnating varnish, and the magnetic steel is bonded by epoxy D97; bearings (ZGCr 15/ZGCr15 SiMn), electrical steels, magnetic steels (selected from cobalt-sweater XG24/25 rare earth permanent magnet), and also radiation-resistant and anti-aging materials, so that the total radiation dose of the torque motor 42 exceeds 5X 10 6 Gy; the motor enameled wire adopts polyimide enamelled round copper wire QY-2/220, and 1070 polyimide impregnating varnish treatment is carried out after the winding is bound by adopting a glass fiber binding wire.
As can be seen from fig. 7, the irradiation weak link of the speed reducer 43 is a roller bearing part, the bearing rings and the rolling bodies of the crossed roller bearing 43d are made of materials such as ZGCr15/ZGCr15SiMn bearing steel which accords with the GJB 117B-2020 radiation-resistant rolling bearing standard, and the like, and are lubricated by adopting KG400-3 extreme pressure lubricating grease.
The torque motor 42, the motor rotary transformer 41 and other devices of the motor joint 40 all adopt radiation-resistant PEEK insulated wires as outgoing wires.
Considering that the irradiation-resistant weak links of the torque motor 42 and the motor resolver 41 are electromagnetic wires and an installation line, the dosage of polyimide impregnating varnish needs to be properly adjusted in the manufacturing process of the torque motor 42 and the motor resolver 41, a certain radiation protection effect is achieved on the insulation of the electromagnetic wires, and a protective cover design is carried out on the basis so as to ensure that the electromagnetic wires are in a 5 multiplied by 10 range 6 Can work normally under the total radiation dose of Gy.
According to the supporting material of the current lubricating grease, the lubricating grease can reach 2.2X10 6 Gy 60 The total Co radiation dose was reinforced outside the decelerator 43 by a tungsten nickel alloy protective housing having a wall thickness of 9.39 mm. Likewise, theOther gear drive, speed reducer 43, etc., adopts the reinforcement design, and the thickness of this scheme design safety cover (shield cover) is 8-12mm.
Referring again to fig. 5, the end of the motorized clasps 60 where the electronic components are mounted is located within the second swivel arm 50 to provide physical shielding for the electronic components of the motorized clasps 60 via the second swivel arm 50, and further to provide radiation resistance of the motorized clasps 60.
It should be noted that, the motorized jaw 60 at the end of the operating arm is a Z-EFG-100 motorized jaw with an internal integrated servo system, and in combination with fig. 4, the motorized jaw 60 performs a clamping action by means of a lead screw nut and a link mechanism. Since the motorized clasps 60 in this example are free of metallic material, they have a high gamma irradiation resistance.
When the operation arm provided in this embodiment is subjected to a functional test, an external power supply is first turned on and an oil source is started. After the operation is stable, the instruction is input through a control panel of the electric control cabinet (PLC controller), and the instruction analysis is carried out after the acquisition of the PLC controller in the electric control cabinet. The corresponding hydraulic joint 20 driving instruction and electric joint driving instruction are output, and the hydraulic actuator 21 and the electric joint module are driven to rotate after driving and amplifying, so that functional tests of joint rotation, translation, clamping and the like required by the system are realized. And the detection of the joint angle is completed through the corresponding rotation and decoding circuit.
Wherein, the control of the electric joint and the hydraulic joint 20 is completed by a controller in an electric control cabinet:
the hydraulic joint 20 operates as follows: the controller sends an instruction frame to a servo valve driving plate, after the driving plate finishes instruction analysis, an electric current signal is output to drive an electro-hydraulic servo valve 24, and the servo valve controls forward and reverse rotation of a rotary hydraulic actuator 21 to realize control of a hydraulic joint 20; the angle signal of the hydraulic joint 20 is collected by the hydraulic rotary transformer, and then is connected with the rotary resolver to be converted into an angle value, and the angle value is fed back to the controller through a corresponding serial port.
The working principle of the electric joint is as follows: the controller sends an instruction frame to the motor driving plate through the serial port, and after the driving plate finishes instruction analysis, the three-phase 48V motor driving signal is output to realize forward and reverse rotation of the motor, and the joint is driven to finish rotation through the harmonic reducer 43; the rotation speed monitoring of the motor is realized by connecting the rotary transformer to a driving plate rotation decoding circuit after measuring, and converting the rotation speed into motor rotation speed and rotation angle signals. The rotation angle value of the electric joint can be obtained by calculating the number of turns of the motor and converting the ratio of the speed reducer 43.
The working principle of the terminal motorised jaw 60 is as follows: the working power supply of the electric clamping jaw 60 is 24V, and the power supply and the control of the clamping jaw are simultaneously completed by adopting a composite cable, so that the tail end clamping action is realized.
The rotary transformer of the hydraulic joint 20, the electrohydraulic servo valve 24, the torque motor 42 of the electric joint, the electric wire harness of devices such as speed measurement and rotation change and the like are respectively connected to the wiring welding cups of the driving interface electric connector of the hydraulic joint 20 and the driving interface electric connector of the electric joint in an internal wiring mode, and then are connected to the wiring terminals of the electric control cabinet after signal conditioning through external cables, so that the physical connection between the functional port of the controller and the electric devices is realized.
Summarizing, in the electrohydraulic co-operation arm resistant to high dose gamma irradiation provided by the embodiment, the hydraulic joint 20 is installed in the sealed base 10 made of metal, and physical shielding can be provided for the hydraulic joint 20 by the sealed base 10, so that the influence of high dose gamma irradiation on a sealing element, a lubricating material and a control device of the hydraulic joint 20 is avoided, the hydraulic joint 20 can work normally, and meanwhile, a shielding cover is arranged on the outer cover of the motor joint 40, so that physical shielding is provided for the motor joint 40 through the shielding cover, and the influence of high dose gamma irradiation on the normal work of the motor is avoided.
The hydraulic joint 20 is installed on the airtight base 10, the first rotary arm 30 is in transmission connection with the hydraulic joint 20 and the motor joint 40, and the motor joint 40 drives the electric clamping jaw 60 to work through the second rotary arm 50, so that the operating arm has enough load capacity due to the fact that the hydraulic joint 20 can provide enough load capacity, and the motor joint 40 is arranged on one side close to the electric clamping jaw 60, so that the electric clamping jaw 60 has enough displacement precision, and the electric clamping jaw 60 clamps devices, so that the operating arm has enough action precision.
In summary, the electrohydraulic cooperative arm resistant to high dose gamma irradiation provided in this embodiment performs physical shielding treatment on the hydraulic joint 20 and the motor joint 40 at the same time, so that the load capacity of the operation arm can be improved while ensuring sufficient action accuracy through the cooperation of the hydraulic joint 20 and the motor joint 40.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. An electrohydraulic co-operating arm resistant to high dose gamma radiation, comprising:
the sealing base (10), the sealing base (10) is provided with a mounting cavity (11), and the sealing base (10) is made of metal;
-a hydraulic joint (20), the hydraulic joint (20) being mounted within the mounting cavity (11);
the hydraulic joint (20) comprises:
the hydraulic actuator (21), one end of a first rotating shaft (22) of the hydraulic actuator (21) is in transmission connection with one end of a first rotary arm (30);
a hydraulic resolver (23), the hydraulic resolver (23) being configured to monitor a rotation angle of the hydraulic joint (20);
an electrohydraulic servo valve (24), wherein the electrohydraulic servo valve (24) is used for controlling the rotation speed and the steering of a first rotating shaft (22) of the hydraulic actuator (21);
the first rotating shaft (22) is a hollow shaft, and the hydraulic rotary transformer (23) is a hollow annular;
the first rotary arm (30) is of a hollow metal shell structure, the first rotary arm (30) is positioned outside the base, and one end of the first rotary arm (30) is in transmission connection with the hydraulic joint (20);
the motor joint (40), one end of the motor joint (40) is in transmission connection with the other end of the first rotary arm (30), and a shielding cover (70) is arranged on the outer cover of the motor joint (40);
the second rotary arm (50), one end of the second rotary arm (50) is in transmission connection with the other end of the motor joint (40), and the other end of the second rotary arm (50) is provided with an electric clamping jaw (60);
wherein the material of the closed base (10) is tungsten-nickel alloy or aluminum forging alloy, and the wall thickness is 9-15 mm, so that the dosage emitted by the nuclear fusion reactor outside the closed base (10) is 5 multiplied by 10 6 Gamma irradiation dose of Gy was attenuated to 4.24×10 6 -irradiation to the hydraulic joint (20) after Gy;
the electro-hydraulic servo valve (24) is subjected to irradiation resistance reinforcement treatment, the electro-hydraulic servo valve (24) is an FF-101 type double-nozzle baffle type force feedback two-stage electro-hydraulic servo valve, an electromagnetic part of the electro-hydraulic servo valve (24) is a permanent magnet torque motor, a hydraulic part of the electro-hydraulic servo valve (24) is a two-stage hydraulic amplifier with symmetrical structure, and a motor coil of the electro-hydraulic servo valve (24) is a polyimide enameled round copper wire;
the electric outgoing line of the electrohydraulic servo valve (24) is a nuclear industry grade K1 control cable HK1-KRJGP12 multiplied by 0.35mm 2 The electric connection points of the electro-hydraulic servo valve (24) are welded with the wire harness by adopting eutectic soldering tin, and after the wire harness is welded, an IE-grade K1 nuclear industrial-grade heat-shrinkable tube sleeve is adopted for heat shrinkage protection treatment, the heat-shrinkable tube sleeve adopted for the heat shrinkage protection treatment is made of a composite material formed by taking ethylene propylene diene monomer rubber, ethylene-vinyl acetate copolymer, decabromodiphenyl ethane, antimony trioxide, a composite antioxidant and a composite radiation resistant agent as raw materials, the heat-shrinkable tube sleeve adopted for the heat shrinkage protection treatment is of a double-layer structure with an outer layer being a heat shrinkable layer and an inner layer being a hot melt adhesive layer, and the electric connection points of the electro-hydraulic servo valve (24) and the wire harness are welded and then are integrally encapsulated by epoxy phenolic resin;
the electrohydraulic servo valve (24) is sealed by a sealing ring made of 5080HG6-408-79 type nitrile rubber material.
2. The electrohydraulic co-operating arm resistant to high doses of gamma radiation according to claim 1, characterized in that said electromechanical joint (40) comprises:
the motor rotary transformer (41), one end of the motor rotary transformer (41) is in transmission connection with one end of the first rotary arm (30);
the torque motor (42), one end of a second output shaft of the torque motor (42) is in transmission connection with the other end of the motor rotary transformer (41);
the input end of the speed reducer (43) is in transmission connection with the torque motor (42), and the other end of the speed reducer (43) is in transmission connection with the second rotary arm (50).
3. The electrohydraulic co-operating arm resistant to high doses of gamma radiation according to claim 2, characterized in that said decelerator (43) is a harmonic decelerator (43).
4. The electrohydraulic co-operating arm resistant to high doses of gamma radiation according to claim 2, characterized in that said motor resolver (41), said torque motor (42) and said decelerator (43) are each provided with a central passage.
5. The electrohydraulic co-operating arm resistant to high doses of gamma radiation according to claim 1, characterized in that said second rotary arm (50) is a hollow metal shell structure.
6. The high dose gamma irradiation resistant electrohydraulic co-operating arm of claim 5 wherein an end of said motorized jaw (60) mounting electronics is located within said second swivel arm (50).
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