Mechanical arm wrist joint used under nuclear environment

Abstract

The invention discloses a mechanical arm wrist joint used under a nuclear environment. A rotary body rotates relative to a main structure, so as to drive a rotary motor to drive through rotating, a counter-torque motor provides counter-torque to eliminate transmission backlash; a telescopic body stretches and telescopes relative to the main structure, so as to drive a motor to drive through stretching and telescoping, and then the guide and the circumferential limiting are realized through the transmission of a gear and rack transmission mechanism; under the driving of the rotary body and thetelescopic body, the rotary operation of the main structure is realized, thus no backlash high-precision movement of two freedom degrees, namely, rotating, stretching and telescoping, of the whole wrist joint is achieved; tail end tools of the wrist joint is provided with driving force , so as to complete the work under the nuclear environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a wrist joint of a mechanical arm used in a nuclear environment. Background technique [0002] The working environment of nuclear facility decommissioning, radioactive waste treatment, nuclear facility maintenance and other operations has the characteristics of strong radioactivity and unstructured (the size of the facility in the environment is variable and unknown), and the robotic arm working in this environment needs to have strong protection performance, operability, easy maintenance and high precision. [0003] The wrist joint is the end joint of the robotic arm, which directly affects the overall performance of the robotic arm. In the prior art, the degrees of freedom of the wrist joint are all rotational degrees of freedom, which are prone to collisions when operating in a small unstructured space, and have a certain transmission backlash, which affects th...

AI Technical Summary

Problems solved by technology

In the prior art, the degrees of freedom of the wrist joint are all rotational degrees of freedom, which are prone to collisions when operating in a small unstructured space, and have a certain transmission backlash, which affects the transmission accuracy; in addition, the wrist joint is generally the same as other joints of the mechanical arm Form a whole, not easy to disassemble and maintain, and the motor and reducer are generally exposed, resulting in weak protection

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