Space bearing type modular mechanical arm joint and combination thereof

Abstract

The invention provides a space bearing type modular mechanical arm joint. A bearing connection mechanism is fixedly connected with a fixed bearing mechanism which is connected with a rotary bearing mechanism through a harmonic reducer and a cross roller bearing, one end of a servo motor is connected with an incremental encoder, the other end of the servo motor is connected with a planetary speed reduction mechanism which is connected with the harmonic reducer through a bevel gear, the cross roller bearing is connected with the rotary bearing mechanism through an output shaft, an absolute encoder is fixedly connected onto the output shaft, and an EtherCAT bus driver is connected with the servo motor and performs servo control on the servo motor. The invention further discloses a modular space bearing type modular mechanical arm joint which includes a plurality of space bearing type modular mechanical arm joints which are combined together. The modular space bearing type modular mechanical arm joint is applicable to the maintenance environment with small inlets of magnetic confinement fusion (MCF) devices, long distance and large rotation space, and has the advantages of being light, compact in structure, large in bearing capacity, convenience in wiring, good in real-time communication and the like.

Description

technical field [0001] The invention relates to the technical field of nuclear power plant construction, operation and maintenance, in particular to a space-bearing componentized mechanical arm joint. Background technique [0002] The construction, operation and maintenance of MCF (Magnetic Confinement Fusion) equipment in the ITER (International Thermonuclear Experimental Reactor) project are affected by factors such as high radiation intensity, high temperature, relatively narrow entrance and internal cross-section, large radius of gyration, and inaccessibility of personnel. The long-distance remote control robotic arm has become one of the necessary facilities for MCF equipment maintenance. The LORA robotic arm (also known as AIA robot) developed by the CEALIST Interactive Robotics Laboratory is responsible for the maintenance task of sealing the hot chamber inside the Tokamak cavity. However, since each joint of the robotic arm has two degrees of freedom, the self-weigh...

AI Technical Summary

Problems solved by technology

However, since each joint of the robotic arm has two degrees of freedom, the self-weight and structural characteristics of the long mechanical hip make the end load smaller, and the positioning accuracy control and internal wiring of the overall robotic arm end are extremely complicated.

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