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A modular heavy-duty manipulator joint

A robotic arm and modular technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the manipulator joints cannot meet the maintenance requirements of heavy parts, and achieve the effect of compact transmission structure, weight reduction, and compact structure

Active Publication Date: 2022-01-21
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a heavy-duty rotary joint used in extreme environments, which can solve the problem that the prior art mechanical arm joints cannot meet the maintenance requirements of heavy components in future large-scale tokamak devices

Method used

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  • A modular heavy-duty manipulator joint
  • A modular heavy-duty manipulator joint
  • A modular heavy-duty manipulator joint

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Embodiment Construction

[0059] Such as Figure 1-Figure 5 As shown, a modular heavy-duty manipulator joint includes a precision reducer 1 , a drive motor 2 , an orthogonal axis planetary reducer 3 , a clutch mechanism 4 and a heavy-duty planetary reducer 5 . Among them, the heavy-duty planetary gearbox 5 includes an input end cover 5-1, a gearbox input shaft 5-2, a driving pinion 5-3, an inner ring gear 5-4, a shaft end cover 5-5, and a bearing 5 -6, planetary gear carrier 1 5-7, gear shaft 5-8, housing 5-9, bearing 2 5-10, planetary gear carrier 2 5-11, planetary gear 5-12, slewing support roller 5-13 , Slewing bearing end cover 5-14, shaft end cover 2 5-15, output end 5-16, output end cover 5-17, bearing three 5-18, bearing cover 5-19, resolver 5-20 and over Wire sleeve 5-21.

[0060] The drive motor 2 integrates a rotary transformer and a braking device. The rotary transformer can be used in the radiation environment of the tokamak, and monitors and feeds back the output speed of the motor; the ...

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Abstract

The invention discloses a modular heavy-duty mechanical arm joint, which integrates a driving motor and a reduction box, and the modular design can effectively reduce the weight of the driving joint and realize rapid replacement of the driving joint. The present invention adopts a redundant drive mode in which multiple motors are simultaneously driven, so that when one of the motors fails, the other motors continue to drive the joints of the manipulator to operate, preventing the manipulator from failing in extreme environments and being unable to be recovered for maintenance, thereby increasing the cost Inventing the suitability of joints in extreme environments. The invention is provided with a rescue interface, which can deploy other mechanical arms to rescue the faulty joint in an environment inaccessible to personnel when all the redundant motors inside the mechanical arm joint fail, further increasing the joint of the invention in extreme environments. applicability. The invention adopts the hollow two-stage planetary gear drive, cancels the sun gear structure of the conventional planetary gear box, reserves wiring space in the joint center, and can transmit heavy loads and meet the requirement of compact transmission structure.

Description

technical field [0001] The invention relates to the technical field of a manipulator for maintenance of a tokamak nuclear fusion experimental device, in particular to a modular heavy-duty manipulator joint. Background technique [0002] The tokamak nuclear fusion device is a device that uses magnetic confinement to achieve controlled nuclear fusion. It has many advantages and is the best choice to deal with the future energy crisis. The tokamak nuclear fusion device CFETR currently designed by China is a new generation device that demonstrates the feasibility of continuous large-scale fusion energy safety and stable power generation projects. Its overall structure and internal components are much larger than previous devices. Large components requiring maintenance in the CFETR vacuum chamber can weigh in the ton. The operation of CFETR will also cause radiation problems, and personnel cannot approach it during internal maintenance. In addition, the main components of CFET...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J9/12
CPCB25J17/0258B25J9/126B25J9/102
Inventor 程羊潘洪涛程勇陈思赵文龙张宇杨松竹李俊炜
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI