Radiation-resistant mechanical arm and robot

Abstract

The invention provides a radiation-resistant mechanical arm and a robot comprising the radiation-resistant mechanical arm. The radiation-resistant mechanical arm comprises a base and at least one joint assembly. Each joint assembly comprises a joint driving motor; the base comprises an aluminum alloy shell and protective shells arranged in the aluminum alloy shell; at least one driver is arranged in each protective shell, and each driver is electrically connected with the corresponding joint driving motor; the protective shell is a radiation-resistant shell; and the aluminum alloy shell is used for supporting the radiation-resistant mechanical arm. The number of the protective shells is multiple, and at least one driver is arranged in each protective shell. The joint assembly further comprises a joint encoder connected with the joint driving motor. The joint encoder is used for feeding back the rotating position of the joint driving motor; and the joint encoder is a mechanical absolute value encoder.

Description

technical field [0001] The present disclosure relates to the technical field of mechanical arms, in particular to a radiation-resistant mechanical arm and a robot. Background technique [0002] When the robotic arm works in a nuclear radiation environment, if no protective measures are taken, it will cause damage to the drive and other components, which will seriously affect the service life. In the prior art, the following protective measures are retrieved: [0003] The publication number is CN202169592U, the name is a Chinese utility model patent for radiation-proof mechanical arm structure, and the entire mechanical arm body is made of stainless steel or protective lead plate, which is heavy and the manufacturing cost is high; the publication number is CN107240428A, and the name is Chinese invention of robot radiation protection The patent application coats boron powder on the surface of the circuit board at the joints of the robot, and sets a lead protective cover outsi...

AI Technical Summary

Problems solved by technology

[0003] The publication number is CN202169592U, the name is a Chinese utility model patent for radiation-proof mechanical arm structure, and the entire mechanical arm body is made of stainless steel or protective lead plate, which is heavy and the manufacturing cost is high; the publication number is CN107240428A, and the name is Chinese invention of robot radiation protection The patent application coats boron powder on the surface of the circuit board at the joints of the robot, and sets a lead protective cover outside the joints of the robot, which can only target the neutron source, and at the same time the range of motion of the corresponding joints is limited; the publication number is CN105511328B and the name is nuclear power plant The Chinese invention patent of the mechanical arm and the radiation-resistant two-phase stepping motor driver adopts the following scheme: the electronic components in the driver are pasted with radiation-proof materials, the entire circuit board is wrapped by a radiation-proof shell, and the entire circuit board is equipped with anti-radiation materials. Radiation shielding box, the shell of the shielding box has a double-layer structure, which are heavy metal shielding layer and neutron organic composite shielding layer; the neutron shielding layer is on the outermost side, and the heavy metal shielding layer is on the inner side, which can effectively absorb the secondary radiation generated by neutron layer shielding. gamma rays, but the multi-layer shielding structure of the driver increases the size of the joint of the robot arm, resulting in an increase in the weight of the joint

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