A piezoelectric ultrasound vibration -driven maintenance robotic arm applied to bad working conditions

Abstract

The invention discloses a piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to harsh working conditions. The piezoelectric ultrasonic vibrator driving type maintenancemechanical arm comprises a base, universal wheels, a steel wire rope, a rack, a pulley, a piezoelectric ultrasonic vibrator, a rotary table bearing, seven knuckle arms, an L-shaped frame, an extensionplatform, a hand grabbing mechanism, and cameras; four universal wheels are arranged at the lower side of the base; the rack is provided with two guide rails; the pulley is rotatably arranged at thetop end of an oil cylinder push rod; a prismatic pair is formed by a first knuckle arm and the rack; an oil cylinder controls the first knuckle arm to move up and down in a telescopic mode; revolute pairs are formed by each knuckle arm and a knuckle arm connected to each knuckle arm; a revolute pair is formed by a sixth knuckle arm and the L-shaped frame; a seventh knuckle arm is connected with the L-shaped frame in a fastening mode; a revolute pair is formed by the seventh knuckle arm and the extension platform; the piezoelectric ultrasonic oscillator arranged in the seventh knuckle arm drives the extension platform to rotate; the hand grabbing mechanism is arranged on the extension platform; the hand grabbing mechanism is provided with two cameras used for an operator to observe operating environment around the mechanical arm; and the extension platform can connect other clamping mechanisms and welding mechanisms according to actual job types.

Description

technical field [0001] The invention relates to an overhaul manipulator used in an environment unsuitable for manual work, such as strong magnetic field and strong radiation, in particular to an overhaul manipulator used in a working condition of strong magnetic field and strong radiation. Background technique [0002] The internal and external areas and volume of the tokamak device are large, and the inner wall is generally designed by block manufacturing and reassembly process. Taking EAST as an example, the unit block size of its inner wall is generally 0.25 m 2 (50cm×50cm) or so, weighing tens of kilograms. In order to prevent radiation and leakage accidents, the minimum welding and assembly accuracy is required to be ±2mm. After ITER is running, the temperature of the inner wall is as high as 120-200°C, and the heat energy density can reach 5MW / m when it is started. 2 , it can reach 0.5MW / m when shut down 2 , a vacuum of 10 -6 Pa, the magnetic field strength can r...

AI Technical Summary

Problems solved by technology

In the existing mechanical arms, the rotation of its joints is mostly driven by motors. In the working conditions of strong magnetic fields and strong radiation, the motors are very likely to experience signal loss or interference errors. Robotic arms are very dangerous, so there is an urgent need to develop a robotic arm device that can be applied to strong magnetic fields and strong radiation conditions

Images