Hydraulic power system for a fusion device

Abstract

The application discloses a hydraulic power system for a fusion device and relates to the technical field of fusion device matching equipment; the hydraulic power system comprises a hydraulic oil source assembly, a hydraulic executing element and a mechanical arm; the hydraulic oil source assembly comprises an oil storage tank, a pressurizing pump and a cooler, and an oil outlet of the cooler is connected with an oil inlet of the oil storage tank; the hydraulic executing element comprises at least one swing cylinder and at least one hydraulic motor, the hydraulic motor and each swing cylinder are connected with a corresponding servo reversing valve in parallel after being connected with the corresponding servo reversing valve, and an oil return port of the servo reversing valve is connected with an oil inlet of the cooler; the mechanical arm comprises at least one swing joint and at least a rotary joint, the swing cylinder is installed in the swing joint, and the hydraulic motor is installed on the rotary joint; wherein, the connecting pipelines of the swing cylinder and the hydraulic motor are arranged in the connecting arm of the mechanical arm and the corresponding joint. The application can adapt to the environment of high temperature, high vacuum, strong magnetic field and strong radiation in a fusion reactor, and meet the use requirement of a remote operating robot in the fusion reactor device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fusion device supporting equipment, in particular to a hydraulic power system for a fusion device. BACKGROUND

[0002] A tokamak device is a toroidal experimental device for realizing controllable nuclear fusion by using magnetic confinement, and a core structure thereof is a toroidal cavity structure for confining a fusion reaction plasma. During operation of the tokamak device, the environment inside the toroidal cavity is harsh, such as high temperature, high vacuum, strong magnetic field, and strong radiation, which can cause damage to components facing the plasma and strong neutron radiation. After the operation ends, internal components need to be inspected, repaired, and replaced, and due to the strong radiation environment, these tasks need to be performed by a teleoperation robot.

[0003] At present, the teleoperation robot in the vacuum chamber of the fusion tokamak device is mainly driven by a motor. However, as the size of the fusion reactor increases, the teleoperation hydraulic system continues to grow, and the torque requirement of the joint continues to increase, and it also needs to withstand high temperature and radiation and other harsh requirements. These factors have a certain impact on the operation of the motor. Under the condition of the same output torque, the hydraulic drive mode has the characteristics of small size, light weight, and easy integration compared with the motor drive mode. Therefore, it is necessary to develop a hydraulic power system for teleoperation maintenance in the fusion reactor. SUMMARY

[0004] In view of the technical problem that the existing motor-driven teleoperation robot in the fusion reactor device cannot meet the use requirements, the present application provides a hydraulic power system for a fusion device, which can adapt to the high temperature, high vacuum, strong magnetic field, and strong radiation environment in the fusion reactor, has good sealing performance and radiation resistance, and can output a large torque to meet the use requirements of the teleoperation robot in the fusion reactor device.

[0005] The present application is implemented by the following technical solutions:

[0006] The present application provides a hydraulic power system for a fusion device, comprising: a hydraulic oil source assembly comprising an oil storage tank, a pressure pump, and a cooler, the oil outlet of the cooler being connected to the oil inlet of the oil storage tank; a hydraulic actuator comprising at least one swing cylinder and at least one hydraulic motor, the hydraulic motor and each swing cylinder being connected in parallel after being connected to a corresponding servo reversing valve, and the oil return port of the servo reversing valve being connected to the oil inlet of the cooler; a mechanical arm comprising at least one swing joint and at least one rotary joint, the swing cylinder being installed in the swing joint, and the hydraulic motor being installed on the rotary joint; wherein the connection pipeline of the swing cylinder and the hydraulic motor is arranged in the connection arm of the mechanical arm and the corresponding joint.

[0007] The hydraulic power system for the fusion device provided by the present application, the hydraulic oil source assembly is provided with a pressurizing pump and a cooler, the hydraulic actuating element includes a swing cylinder and a hydraulic motor, the mechanical arm includes a swing joint and a rotary joint, correspondingly, the swing cylinder is installed in the swing joint, and the hydraulic motor is installed on the rotary joint, so that the hydraulic oil is pumped to the swing cylinder and the hydraulic motor through the pressurizing pump, the swing joint and the rotary joint of the mechanical arm are driven to move through the hydraulic drive, and the hydraulic motor and the swing cylinder are connected in parallel after being connected to the corresponding servo reversing valve, so that the influence on other actuating elements and pipelines caused by the failure of a single hydraulic actuating element and / or the corresponding connected pipeline can be avoided, the oil return port of the servo reversing valve is connected to the oil inlet of the cooler, the hydraulic oil in the hydraulic circuit can be cooled, the temperature of the hydraulic oil is reduced, and the working requirement in the high-temperature environment is met.

[0008] In addition, the connecting pipelines of the swing cylinder and the hydraulic motor are arranged in the connecting arm of the mechanical arm and the corresponding joint, on the one hand, the hydraulic pipeline can be radiologically protected and magnetically shielded through the mechanical arm, and on the other hand, the risk of hydraulic pipeline leakage can be reduced, and the pollution of the working environment caused by the mechanical arm driven by the hydraulic drive can be avoided.

[0009] In conclusion, the hydraulic power system for the fusion device provided by the present application can adapt to the environment of high temperature, high vacuum, strong magnetic field and strong radiation in the fusion reactor, has good sealing performance and radiation resistance, and can output a large torque, so as to meet the use requirement of the remotely operated robot in the fusion reactor.

[0010] In an optional embodiment, the swing joint includes a support arm and a connecting seat, the connecting seat is connected to the support arm through a corresponding swing cylinder, and the connecting seat can swing within a set range relative to the support arm.

[0011] In an optional embodiment, the support arm is provided with a first oil inlet flow channel and a first oil return flow channel, the first oil inlet flow channel is connected to the oil inlet of the corresponding swing cylinder, and the first oil return flow channel is connected to the oil return port of the corresponding swing cylinder, the connecting seat is provided with a second oil inlet flow channel and a second oil return flow channel, the second oil inlet flow channel is connected to the first oil inlet flow channel, and the second oil return flow channel is connected to the first oil return flow channel, so that the hydraulic oil can flow in the swing joint, an external oil supply pipeline does not need to be additionally configured, the pipeline does not interfere with the operation of the mechanical arm, the reliability of the pipeline is not affected by the operation of the mechanical arm, and the swing cylinder located at the joint can be directly supplied with the hydraulic oil, and the risk of hydraulic oil leakage at the swing joint is greatly reduced.

[0012] In an optional embodiment, a first air flow channel is further arranged in the support arm, a second air flow channel is further arranged in the connecting seat, and the first air flow channel is connected with the second air flow channel; along the width direction of the support arm, the first oil inlet flow channel is located between the first oil return flow channel and the first air flow channel; along the width direction of the connecting seat, the second oil inlet flow channel is located between the second oil return flow channel and the second air flow channel. On the one hand, the air flow channel is facilitated to be arranged and protected by the mechanical arm, and on the other hand, the oil inlet flow channel is arranged between the oil return flow channel and the air flow channel, the hydraulic oil pressure in the oil return flow channel is lower than that in the oil inlet flow channel, and the gas pressure in the air flow channel is lower than that in the oil inlet flow channel, so that when the oil inlet flow channel leaks, the hydraulic oil can leak into the oil return flow channel or the air flow channel, without directly leaking from the mechanical arm, thereby further reducing the risk of hydraulic oil leakage.

[0013] In an optional embodiment, the rotary joint comprises a stator and a rotating shaft rotatingly arranged in the stator, the stator is used to connect an upper-level force arm, and the rotating shaft is used to connect a lower-level force arm; along the axial direction of the rotating shaft, a first oil return cavity, an oil inlet cavity and a second oil return cavity are sequentially arranged between the stator and the rotating shaft, and the first oil return cavity, the oil inlet cavity and the second oil return cavity are annular cavities around the rotating shaft in the circumferential direction; a third oil inlet flow channel and a third oil return flow channel are arranged on the side wall of the stator, and a fourth oil inlet flow channel and a fourth oil return flow channel are arranged in the interior of the rotating shaft; wherein, when the rotating shaft rotates, the first oil return cavity, the oil inlet cavity and the second oil return cavity can all maintain a sealed state, and the third oil inlet flow channel and the fourth oil inlet flow channel can both communicate with the oil inlet cavity, and the third oil return flow channel can simultaneously communicate with the fourth oil return flow channel through the first oil return cavity and the second oil return cavity.

[0014] The first oil return cavity, the oil inlet cavity and the second oil return cavity are sequentially arranged between the stator and the rotating shaft along the axial direction of the stator, the third oil inlet flow channel and the third oil return flow channel are arranged on the side wall of the stator, the fourth oil inlet flow channel and the fourth oil return flow channel are arranged in the interior of the rotating shaft, and when the rotating shaft rotates, the first oil return cavity, the oil inlet cavity and the second oil return cavity can all maintain a sealed state, the third oil inlet flow channel and the fourth oil inlet flow channel can both communicate with the oil inlet cavity, and the third oil return flow channel can simultaneously communicate with the fourth oil return flow channel through the first oil return cavity and the second oil return cavity, so that the hydraulic oil can flow in the joint of the mechanical arm, without the need to additionally configure an external oil delivery pipeline, thereby avoiding the interference of the pipeline with the operation of the mechanical arm, and also avoiding the influence of the operation of the mechanical arm on the reliability of the pipeline, and the hydraulic oil can be directly supplied to the hydraulic motor located at the joint.

[0015] And along the axial direction of the stator, the first return cavity and the second return cavity are arranged on both sides of the oil inlet cavity, the hydraulic oil flowing in the oil inlet cavity is high-pressure oil for driving the hydraulic motor to operate, and the hydraulic oil flowing in the first return cavity and the second return cavity is hydraulic oil flowing out of the hydraulic motor and directly returning to the hydraulic oil tank, so that the hydraulic oil pressure in the first return cavity and the second return cavity is the same as the hydraulic oil pressure in the oil inlet cavity. Therefore, when the oil inlet cavity leaks, the leaked hydraulic oil enters the first return cavity and / or the second return cavity and is directly taken away by the hydraulic oil flowing in the first return cavity and the second return cavity to return to the hydraulic oil tank, so that the hydraulic oil does not directly leak from the stator and the rotating shaft, thereby greatly reducing the risk of hydraulic oil leakage at the joint of the mechanical arm.

[0016] In an optional embodiment, the stator is provided with a receiving hole for accommodating the rotating shaft; a first return oil groove, an oil inlet groove and a second return oil groove are sequentially and spaced apart along the axial direction of the receiving hole on the inner wall of the receiving hole, and the first return oil groove, the oil inlet groove and the second return oil groove are all annular grooves arranged along the circumferential direction of the receiving hole; wherein the inner cavity of the first return oil groove is part of the first return oil cavity, the inner cavity of the oil inlet groove is part of the oil inlet cavity, and the second return oil groove is part of the second return oil cavity.

[0017] By machining grooves in the receiving hole of the stator, the volumes of the corresponding first return oil cavity, oil inlet cavity and second return oil cavity are expanded, ensuring that the hydraulic oil can flow normally from the joint of the mechanical arm. Compared with machining grooves on the rotating shaft, the groove depth is smaller under the same volume, and the structural strength of the stator is not affected.

[0018] In an optional embodiment, the first return oil groove, the oil inlet groove and the second return oil groove are both provided with sealing elements on both sides of the groove opening, and the sealing elements are used to seal the gap between the hole wall of the receiving hole and the side wall of the rotating shaft. The sealing elements are arranged in the stator, facilitating the installation of the rotating shaft.

[0019] In an optional embodiment, the stator is provided with a first cable hole, and the middle part of the rotating shaft is provided with a second cable hole; a cable slip ring is arranged between the stator and the rotating shaft, and the cable slip ring is used to electrically connect the cable assembly located in the first cable hole and the cable assembly located in the second cable hole, so that the cable assembly can smoothly pass through the relatively rotatable stator and rotating shaft.

[0020] In an optional embodiment, the cable slip ring comprises a first slip ring and a second slip ring arranged coaxially; the first slip ring is fixedly connected to the inside of the stator, the second slip ring is fixedly sleeved on the outside of the rotating shaft, and the first slip ring can be slidably sleeved on the outside of the second slip ring along the circumferential direction of the first slip ring, so as to reliably connect the cable assembly in the stator and the cable assembly in the rotating shaft.

[0021] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0022] 1、 The hydraulic power system for fusion device provided by the present application, the hydraulic oil source assembly is provided with a pressurizing pump and a cooler, the hydraulic actuating element includes a swing cylinder and a hydraulic motor, the mechanical arm includes a swing joint and a rotary joint, correspondingly, the swing cylinder is installed in the swing joint, and the hydraulic motor is installed on the rotary joint, so that the hydraulic oil is pumped to the swing cylinder and the hydraulic motor through the pressurizing pump, the swing joint and the rotary joint of the mechanical arm are driven to move through the hydraulic drive, and the hydraulic motor and the swing cylinder are connected in parallel after being connected to a corresponding servo reversing valve, so that the influence of the failure of a single hydraulic actuating element and / or the corresponding connected pipeline on other actuating elements and pipelines can be avoided, the oil return port of the servo reversing valve is connected to the oil inlet port of the cooler, the hydraulic oil in the hydraulic circuit can be cooled, the temperature of the hydraulic oil is reduced, and the working requirement in a high-temperature environment is met.

[0023] 2、 The hydraulic power system for fusion device provided by the present application, the connecting pipelines of the swing cylinder and the hydraulic motor are arranged in the connecting arm of the mechanical arm and the corresponding joint, on the one hand, the hydraulic pipeline can be protected by radiation and shielded by a magnetic field through the mechanical arm, and on the other hand, the risk of hydraulic pipeline leakage can be reduced, and the pollution of the working environment caused by the hydraulic-driven mechanical arm can be avoided.

[0024] 3、 The hydraulic power system for fusion device provided by the present application can adapt to the environment of high temperature, high vacuum, strong magnetic field and strong radiation in the fusion reactor, has good sealing performance and radiation resistance, and can output a large torque, so that the use requirement of the teleoperation robot in the fusion reactor device is met. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and other related drawings can be obtained by those skilled in the art without creative labor.

[0026] In the drawings:

[0027] Figure 1 The pipeline principle diagram of the hydraulic power system for fusion device of the embodiment of the present application;

[0028] Figure 2 The front view structural schematic diagram of the swing hydraulic joint of the mechanical arm of the embodiment of the present application;

[0029] Figure 3 The left view structural schematic diagram of the swing hydraulic joint of the mechanical arm of the embodiment of the present application;

[0030] Figure 4 is a schematic view of the A-A plane structure of the application; Figure 3

[0031] Figure 5 is a schematic view of the right structure of the swing hydraulic joint connecting seat of the mechanical arm of the embodiment of the application;

[0032] Figure 6 is a schematic view of the structure of the rotary joint of the mechanical arm of the embodiment of the application;

[0033] Figure 7 is an enlarged schematic view of the B part of the application; Figure 6

[0034] Figure 8 is a schematic view of the structure of the stator of the rotary joint of the mechanical arm of the embodiment of the application;

[0035] Figure 9 is a schematic view of the cross-sectional structure of the stator of the rotary joint of the mechanical arm of the embodiment of the application

[0036] Figure 10 is a schematic view of the structure of the rotary joint shaft of the embodiment of the application.

[0037] Markings in the drawings and corresponding names of parts:

[0038] 10-hydraulic oil source assembly, 11-oil tank, 12-pressurizing pump, 13-cooler, 14-camera, 15-energy accumulator, 16-safety valve, 17-pressure reducing valve;

[0039] 20-hydraulic actuator, 21-swing cylinder, 22-hydraulic motor, 23-servo reversing valve;

[0040] 30-swing joint, 31-supporting arm, 31a-first oil inlet flow channel, 31b-first oil return flow channel, 31c-first air flow channel, 32-connecting seat, 32a-second oil inlet flow channel, 32b-second oil return flow channel, 32c-second air flow channel;

[0041] 40-rotary joint, 41-stator, 41a-third oil inlet flow channel, 41b-third oil return flow channel, 41c- accommodating hole, 41d-first oil return groove, 41e-oil inlet groove, 41f-second oil return groove, 41g-first cable hole, 41h-third air flow channel, 41i-ventilation ring groove, 42-rotary shaft, 42a-fourth oil inlet flow channel, 42b-fourth oil return flow channel, 42c-second cable hole, 42d-fourth air flow channel, 42e-driving hole, 43-first oil return cavity, 44-oil inlet cavity, 45-second oil return cavity, 46-sealing member, 47-cable slip ring, 47a-first slip ring, 47b-second slip ring, 48-ventilation cavity. ​​DETAILED DESCRIPTION

[0042] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0043] It should be noted that similar reference numerals and letters refer to similar items throughout the drawings, and thus, once an item is defined in one drawing, it is not necessary to further define and explain it in subsequent drawings. The embodiments in the present application and the features in the embodiments can be combined with each other in the case of no conflict.

[0044] In the description of the embodiments of the present application, the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “longitudinal”, “lateral”, “horizontal”, “inner”, “outer”, “front”, “back”, “top”, “bottom”, and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be understood as a limitation on the present application.

[0045] In the description of the present application, unless explicitly specified and limited, the terms “provided”, “opened”, “mounted”, “connected”, “linked” should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium; can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0046] EMBODIMENTS

[0047] COMBINED Figure 1The embodiment provides a hydraulic power system for a fusion device, comprising: a hydraulic oil source assembly 10, comprising an oil storage tank 11, a pressurizing pump 12 and a cooler 13, wherein an oil outlet of the cooler 13 is connected with an oil inlet of the oil storage tank 11; a hydraulic actuator 20, comprising at least one swing cylinder 21 and at least one hydraulic motor 22, wherein the hydraulic motor 22 and each swing cylinder 21 are connected with a corresponding servo reversing valve 23 in parallel, and an oil return port of the servo reversing valve 23 is connected with an oil inlet of the cooler 13; a mechanical arm, comprising at least one swing joint 30 and at least one rotary joint 40, wherein the swing cylinder 21 is installed in the swing joint 30, and the hydraulic motor 22 is installed on the rotary joint 40; and wherein the connecting pipeline of the swing cylinder 21 and the hydraulic motor 22 is arranged in a connecting arm of the mechanical arm and a corresponding joint.

[0048] It should be understood that the hydraulic oil source assembly 10 further comprises a high-low pressure oil filter, an energy accumulator 15, a safety valve 16 and a pressure reducing valve 17. After the motor of the pressurizing pump 12 is powered on, the pumping part inside the pump body is driven to rotate, the low-pressure oil in the oil tank is converted into high-pressure oil at the output end of the hydraulic pump after passing through the low-pressure oil filter, the high-pressure oil is connected to each hydraulic joint through the hydraulic pipeline, and the low-pressure hydraulic oil discharged by the hydraulic actuator is returned to the cooler 13 through the servo valve and the hydraulic pipeline, the oil is forcedly cooled by the cooler 13 (usually integrated with air cooling and water cooling assemblies), and finally flows back to the oil tank. In the pipeline system, the safety valve 16 is used to limit the maximum pressure of the system output, and plays a protection role; the energy accumulator is used to buffer the pulsation of the output pressure of the hydraulic pump, so that the system pressure is more stable.

[0049] For the mechanical arm, the oil circuit is processed on the bearing structure (connecting rod and joint) of the mechanical arm, and the traditional hydraulic pipeline is not needed; and the hard pipe is used for connection in the joint with a long connecting rod, and the connection is safe and reliable. Meanwhile, the metal hose is used for connection between the hydraulic joint and the electric joint, so that the rotation angle of the joint can be adapted, and the pressure resistance and the bending resistance are good.

[0050] Optionally, the cooler 13 and the servo reversing valve 23 are connected with the camera 14. Specifically, the camera needs to be installed at the end of the mechanical arm of the remotely operated robot in the vacuum chamber of the fusion tokamak device, so as to collect images, and the camera needs to be high-temperature resistant, therefore, the camera 14 is connected in the hydraulic system, so that the hydraulic oil of the hydraulic system is used for cooling the camera 14, and then the camera 14 can be used in the high-temperature environment.

[0051] In combination with Figure 2The swing joint 30 comprises a support arm 31 and a connecting seat 32, the connecting seat 32 is connected with the support arm 31 through a pair of swing cylinders 21, and the connecting seat 32 can swing within a set range relative to the support arm 31.

[0052] In combination with Figure 3 , Figure 4 and Figure 5 , the support arm 31 is provided with a first oil inlet flow channel 31a and a first oil return flow channel 31b; the first oil inlet flow channel 31a is connected with the oil inlet of the corresponding swing cylinder 21, and the first oil return flow channel 31b is connected with the oil return of the corresponding swing cylinder 21; the connecting seat 32 is provided with a second oil inlet flow channel 32a and a second oil return flow channel 32b, the second oil inlet flow channel 32a is connected with the first oil inlet flow channel 31a, and the second oil return flow channel 32b is connected with the first oil return flow channel 31b, so that the hydraulic oil can flow in the swing joint 30, without the need to additionally configure external oil delivery pipelines, avoiding the interference of the pipelines on the operation of the mechanical arm, and also avoiding the influence of the operation of the mechanical arm on the reliability of the pipelines, and being able to directly provide hydraulic oil for the swing cylinder 21 located at the joint, greatly reducing the risk of hydraulic oil leakage at the swing joint 30.

[0053] On this basis, the support arm 31 is further provided with a first gas flow channel 31c, the connecting seat 32 is further provided with a second gas flow channel 32c, and the first gas flow channel 31c is connected with the second gas flow channel 32c; along the width direction of the support arm 31, the first oil inlet flow channel 31a is located between the first oil return flow channel and the first gas flow channel 31c; along the width direction of the connecting seat 32, the second oil inlet flow channel is located between the second oil return flow channel 32b and the second gas flow channel 32c. On the one hand, it is convenient for the layout of the gas circuit and protects the gas circuit through the mechanical arm, and on the other hand, the oil inlet flow channel is arranged between the oil return flow channel and the gas circuit, and the hydraulic oil pressure in the oil return flow channel is lower than that in the oil inlet flow channel, and the gas pressure in the gas circuit is lower than that in the oil inlet flow channel, so that when the oil inlet flow channel leaks, the hydraulic oil can leak into the return flow channel or the gas circuit, without causing the hydraulic oil to directly leak from the mechanical arm, further reducing the risk of hydraulic oil leakage.

[0054] In combination with Figure 6The rotating joint 40 comprises a stator 41 and a rotating shaft 42 rotatingly arranged in the stator 41, the stator 41 is used for connecting an upper force arm, and the rotating shaft 42 is used for connecting a lower force arm; a first oil return cavity 43, an oil inlet cavity 44 and a second oil return cavity 45 are sequentially arranged between the stator 41 and the rotating shaft 42 along the axial direction of the rotating shaft 42, and the first oil return cavity 43, the oil inlet cavity 44 and the second oil return cavity 45 are annular cavities around the rotating shaft 42 in the circumferential direction; a third oil inlet flow channel 41a and a third oil return flow channel 41b are arranged on the side wall of the stator 41, and a fourth oil inlet flow channel 42a and a fourth oil return flow channel 42b are arranged in the rotating shaft 42; wherein, when the rotating shaft 42 rotates, the first oil return cavity 43, the oil inlet cavity 44 and the second oil return cavity 45 can all maintain a sealed state, and the third oil inlet flow channel 41a and the fourth oil inlet flow channel 42a can both be in communication with the oil inlet cavity 44, and the third oil return flow channel 41b can be in communication with the fourth oil return flow channel 42b through the first oil return cavity 43 and the second oil return cavity 45 at the same time.

[0055] It should be understood that the first oil return cavity 43, the oil inlet cavity 44 and the second oil return cavity 45 are independent spaces between the stator 41 and the rotating shaft 42, and the spaces are usually separated by a plurality of sealing members 46 arranged along the axial direction of the stator 41, so that the space between the stator 41 and the rotating shaft 42 is sequentially separated into the first oil return cavity 43, the oil inlet cavity 44 and the second oil return cavity 45 along the axial direction of the stator 41.

[0056] That is, the multi-degree-of-freedom radiation-resistant mechanical arm joint provided in the embodiment sequentially arranges the first oil return cavity 43, the oil inlet cavity 44 and the second oil return cavity 45 between the stator 41 and the rotating shaft 42 along the axial direction of the stator 41, and arranges the third oil inlet flow channel 41a and the third oil return flow channel 41b on the side wall of the stator 41, and arranges the fourth oil inlet flow channel 42a and the fourth oil return flow channel 42b in the rotating shaft 42, and when the rotating shaft 42 rotates, the first oil return cavity 43, the oil inlet cavity 44 and the second oil return cavity 45 can all maintain a sealed state, the third oil inlet flow channel 41a and the fourth oil inlet flow channel 42a can both be in communication with the oil inlet cavity 44, and the third oil return flow channel 41b can be in communication with the fourth oil return flow channel 42b through the first oil return cavity 43 and the second oil return cavity 45 at the same time, so that the hydraulic oil can flow in the mechanical arm joint, without the need to additionally configure an external oil supply pipeline, avoiding the interference of the pipeline with the operation of the mechanical arm, and also avoiding the influence of the operation of the mechanical arm on the reliability of the pipeline, and the hydraulic motor 22 located at the joint can be directly supplied with hydraulic oil.

[0057] Wherein, along the axial direction of the stator 41, the first return cavity and the second return cavity are arranged on both sides of the oil inlet cavity 44, the hydraulic oil flowing in the oil inlet cavity 44 is high-pressure oil for driving the hydraulic motor 22 to operate, and the hydraulic oil flowing in the first return cavity and the second return cavity is the hydraulic oil flowing out of the hydraulic motor 22 and directly returning to the hydraulic oil tank, so that the hydraulic oil pressure in the first return cavity and the second return cavity is the same as the hydraulic oil pressure in the oil inlet cavity 44. Therefore, when the oil inlet cavity 44 leaks, the leaked hydraulic oil enters the first return cavity and / or the second return cavity and is directly taken away by the hydraulic oil flowing in the first return cavity and the second return cavity to return to the hydraulic oil tank, so that the hydraulic oil does not directly leak from the stator 41 and the rotating shaft 42, thereby greatly reducing the risk of hydraulic oil leakage at the joint of the mechanical arm.

[0058] In combination Figure 8 And Figure 9 In the embodiment, the stator 41 is provided with a containing hole 41c for containing the rotating shaft 42; the inner wall of the containing hole 41c is sequentially and spacedly provided with a first return oil groove 41d, an oil inlet groove 41e and a second return oil groove 41f along the axial direction of the containing hole 41c, and the first return oil groove 41d, the oil inlet groove 41e and the second return oil groove 41f are all circumferential grooves arranged along the containing hole 41c; wherein the inner cavity of the first return oil groove 41d is part of the first return oil cavity 43, the inner cavity of the oil inlet groove 41e is part of the oil inlet cavity 44, and the second return oil groove 41f is part of the second return oil cavity 45.

[0059] In this way, the volumes of the corresponding first return oil cavity 43, oil inlet cavity 44 and second return oil cavity 45 are expanded by machining grooves in the containing hole 41c of the stator 41, so that the hydraulic oil can flow normally from the joint of the mechanical arm. Compared with machining grooves on the rotating shaft 42, the groove depth is smaller under the same volume, and the structural strength of the stator 41 is not affected.

[0060] On this basis, the groove openings of the first return oil groove 41d, the oil inlet groove 41e and the second return oil groove 41f are both provided with sealing elements 46 for sealing the gap between the hole wall of the containing hole 41c and the side wall of the rotating shaft 42. Correspondingly, a plurality of ring grooves for containing the sealing elements 46 are coaxially arranged on the side wall of the containing hole 41c, so that the sealing elements 46 are arranged in the stator 41, and the installation of the rotating shaft 42 is facilitated.

[0061] In combination Figure 6 And Figure 8 In actual use, the stator 41 and the upper arm are integrally formed, and the third oil inlet flow channel 41a and the first return oil flow channel of the stator 41 both extend along the length direction of the upper arm and are in communication with the inner cavity of the stator 41.

[0062] In combinationFigure 10 The fourth oil inlet flow channel 42a and the fourth oil return flow channel 42b are arranged on the side wall of the rotating shaft 42 outside the stator 41, so as to connect the internal flow channel of the rotating shaft 42 with the internal flow channel of the mechanical arm force arm. In actual use, the rotor and the lower force arm are integrally formed, the fourth oil inlet flow channel 42a and the second oil return flow channel of the rotor are extended to the lower force arm along the axial direction of the rotor, and then extended along the length direction of the lower force arm.

[0063] In addition, the stator 41 is provided with a first cable hole 41g, and the middle part of the rotating shaft 42 is provided with a second cable hole 42c; a cable slip ring 47 is arranged between the stator 41 and the rotating shaft 42, and the cable slip ring 47 is used for electrically connecting the cable assembly arranged in the first cable hole 41g and the cable assembly arranged in the second cable hole 42c, so that the cable assembly can smoothly pass through the relatively rotatable stator 41 and rotating shaft 42.

[0064] It should be understood that the first cable hole 41g extends along the length direction of the upper force arm, and the second cable hole 42c extends along the axial direction of the rotating shaft 42 to the lower force arm, and then extends along the length direction of the lower force arm.

[0065] In combination with Figure 7 The cable slip ring 47 comprises a coaxially arranged first slip ring 47a and a second slip ring 47b; the first slip ring 47a is fixedly connected to the inside of the stator 41, the second slip ring 47b is fixedly arranged on the outside of the rotating shaft 42, and the first slip ring 47a is arranged on the outside of the second slip ring 47b and can slide along the circumferential direction of the first slip ring 47a, so as to reliably connect the cable assembly in the stator 41 with the cable assembly in the rotating shaft 42.

[0066] In combination with Figure 6 The upper end of the rotating shaft 42 is in transmission connection with the hydraulic motor 22, and the end of the second cable hole 42c opposite to the cable slip ring 47 is arranged on the side wall of the rotating shaft 42, so as to avoid the interference of the cable assembly on the connection between the hydraulic motor 22 and the rotating shaft 42.

[0067] In order to facilitate the connection between the hydraulic motor 22 and the rotating shaft 42, a transmission hole 42e is arranged at the upper end of the rotating shaft 42, so as to facilitate the insertion of the output shaft of the hydraulic motor 22 into the transmission hole 42e. The upper end of the second cable hole 42c is in communication with the transmission hole 42e, and a via hole is arranged on the side wall of the transmission hole 42e for the cable assembly to pass through, and the second slip ring 47b is arranged opposite to the via hole.

[0068] Further, along the axial direction of the rotating shaft 42, a ventilation cavity 48 is further arranged between the stator 41 and the rotating shaft 42; the stator 41 is provided with a third air flow channel 41h, and the rotating shaft 42 is provided with a fourth air flow channel 42d; when the rotating shaft 42 rotates, the ventilation cavity 48 can maintain a sealed state, and the third air flow channel 41h and the fourth air flow channel 42d can both communicate with the ventilation cavity 48, so that the gas circuit can be directly arranged inside the mechanical arm, without the need to additionally configure an external gas circuit pipeline, thereby avoiding the interference of the pipeline on the operation of the mechanical arm, and also avoiding the influence of the operation of the mechanical arm on the reliability of the pipeline.

[0069] It can be understood that the ventilation cavity 48 is a space between the stator 41 and the rotating shaft 42, and is sealed by the sealing element 46. In this embodiment, the stator 41 is provided with a ventilation ring groove 41i, and the inner cavity of the ventilation ring groove 41i is part of the ventilation cavity 48. By processing a groove in the inner cavity of the stator 41, the volume of the ventilation cavity 48 is expanded, so as to ensure the normal flow of gas from the joint of the mechanical arm. Compared with processing a groove on the rotating shaft 42, the groove depth is smaller under the same volume, and the structural strength of the stator 41 is not affected.

[0070] In summary, the hydraulic power system for the fusion device provided in this embodiment is provided with a pressurizing pump 12 and a cooler 13 in the hydraulic oil source assembly 10, a hydraulic actuating element 20 including an oscillating cylinder 21 and a hydraulic motor 22, and a mechanical arm including an oscillating joint 30 and a rotating joint 40. Correspondingly, the oscillating cylinder 21 is installed in the oscillating joint 30, and the hydraulic motor 22 is installed on the rotating joint 40. The hydraulic oil is pumped to the oscillating cylinder 21 and the hydraulic motor 22 by the pressurizing pump 12, so as to drive the oscillating joint 30 and the rotating joint 40 of the mechanical arm to act by hydraulic drive. The hydraulic motor 22 and the oscillating cylinder 21 are connected in parallel after being connected to a corresponding servo reversing valve 23, so as to avoid the influence on other actuating elements and pipelines when a single hydraulic actuating element 20 and / or the corresponding connected pipeline fails. The oil return port of the servo reversing valve 23 is connected to the oil inlet port of the cooler 13, so as to cool the hydraulic oil in the hydraulic circuit, thereby reducing the temperature of the hydraulic oil and meeting the requirement of working in a high-temperature environment.

[0071] Moreover, the connecting pipelines of the oscillating cylinder 21 and the hydraulic motor 22 are all arranged in the connecting arm of the mechanical arm and the corresponding joint. On the one hand, the hydraulic pipelines can be radiologically protected and magnetically shielded by the mechanical arm. On the other hand, the risk of leakage of the hydraulic pipelines can be reduced, thereby avoiding the pollution of the working environment by the hydraulic-driven mechanical arm.

[0072] To sum up, the hydraulic power system for a fusion device provided in the embodiment can adapt to the environment of high temperature, high vacuum, strong magnetic field and strong radiation in the fusion reactor, has good sealing performance and radiation resistance, and can output a large torque, thereby meeting the use requirement of the teleoperation robot in the fusion reactor.

[0073] The above detailed description is only a specific embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A hydraulic power system for a fusion device, characterized by, The hydraulic oil source assembly (10) comprises an oil storage tank (11), a pressurizing pump (12) and a cooler (13), and the oil outlet of the cooler (13) is connected with the oil inlet of the oil storage tank (11). The hydraulic actuating element (20) comprises at least one swing cylinder (21) and at least one hydraulic motor (22), the hydraulic motor (22) and each swing cylinder (21) are connected with a corresponding servo reversing valve (23) in parallel, and the oil return port of the servo reversing valve (23) is connected with the oil inlet of the cooler (13). The mechanical arm comprises at least one swing joint (30) and at least one rotary joint (40), the swing cylinder (21) is installed in the swing joint (30), and the hydraulic motor (22) is installed on the rotary joint (40). The connecting pipelines of the swing cylinder (21) and the hydraulic motor (22) are arranged in the connecting arm and the corresponding joint of the mechanical arm. The rotary joint (40) comprises a stator (41) and a rotating shaft (42) rotatingly arranged in the stator (41), the stator (41) is used for connecting the upper force arm, and the rotating shaft (42) is used for connecting the lower force arm. Along the axial direction of the rotating shaft (42), the first oil return cavity (43), the oil inlet cavity (44) and the second oil return cavity (45) are sequentially arranged between the stator (41) and the rotating shaft (42), and the first oil return cavity (43), the oil inlet cavity (44) and the second oil return cavity (45) are annular cavities in the circumferential direction of the rotating shaft (42). The stator (41) is provided with a third oil inlet flow channel (41a) and a third oil return flow channel (41b), and the rotating shaft (42) is provided with a fourth oil inlet flow channel (42a) and a fourth oil return flow channel (42b). When the rotating shaft (42) rotates, the first oil return cavity (43), the oil inlet cavity (44) and the second oil return cavity (45) can keep a sealed state, the third oil inlet flow channel (41a) and the fourth oil inlet flow channel (42a) can communicate with the oil inlet cavity (44), and the third oil return flow channel (41b) can communicate with the fourth oil return flow channel (42b) through the first oil return cavity (43) and the second oil return cavity (45). The swing joint (30) comprises a support arm (31) and a connecting seat (32), the connecting seat (32) is connected with the support arm (31) through a corresponding swing cylinder (21), and the connecting seat (32) can swing relative to the support arm (31) within a set range.

2. The hydraulic power system for a fusion device of claim 1, wherein, The support arm (31) is provided with a first oil inlet flow channel (31a) and a first oil return flow channel (31b).

3. The hydraulic power system for a fusion device of claim 2, wherein, The first oil inlet flow channel (31a) is connected with the oil inlet of the corresponding swing cylinder (21), and the first oil return flow channel (31b) is connected with the oil return port of the corresponding swing cylinder (21). ​ The connecting seat (32) is provided with a second oil inlet flow channel (32a) and a second oil return flow channel (32b), the second oil inlet flow channel (32a) is connected with the first oil inlet flow channel (31a), and the second oil return flow channel (32b) is connected with the first oil return flow channel (31b).

4. The hydraulic power system for a fusion device of claim 3, wherein, The support arm (31) is further provided with a first air flow channel (31c), and the connecting seat (32) is further provided with a second air flow channel (32c), the first air flow channel (31c) is connected with the second air flow channel (32c); Along the width direction of the support arm (31), the first oil inlet flow channel (31a) is located between the first oil return flow channel (31b) and the first air flow channel (31c); Along the width direction of the connecting seat (32), the second oil inlet flow channel is located between the second oil return flow channel (32b) and the second air flow channel (32c).

5. The hydraulic power system for a fusion device of claim 1, wherein, The stator (41) is provided with a containing hole (41c) for containing the rotating shaft (42); The inner wall of the containing hole (41c) is sequentially and spacedly provided with a first oil return groove (41d), an oil inlet groove (41e) and a second oil return groove (41f) along the axial direction of the containing hole (41c), and the first oil return groove (41d), the oil inlet groove (41e) and the second oil return groove (41f) are all circumferentially arranged annular grooves; The inner cavity of the first oil return groove (41d) is part of the first oil return cavity (43), the inner cavity of the oil inlet groove (41e) is part of the oil inlet cavity (44), and the second oil return groove (41f) is part of the second oil return cavity (45).

6. The hydraulic power system for a fusion device of claim 5, wherein, The first oil return groove (41d), the oil inlet groove (41e) and the second oil return groove (41f) are both provided with sealing elements (46) on both sides of the groove opening, and the sealing elements (46) are used for sealing the gap between the hole wall of the containing hole (41c) and the side wall of the rotating shaft (42).

7. The hydraulic power system for a fusion device of claim 1, wherein, The stator (41) is provided with a first cable hole (41g), and the middle part of the rotating shaft (42) is provided with a second cable hole (42c); A cable slip ring (47) is arranged between the stator (41) and the rotating shaft (42), and the cable slip ring (47) is used for electrically connecting the cable assembly located in the first cable hole (41g) and the cable assembly in the second cable hole (42c).

8. The hydraulic power system for a fusion device of claim 7, wherein, The cable slip ring (47) comprises coaxially arranged first and second slip rings (47a) and (47b); The first slip ring (47a) is fixedly connected to the inside of the stator (41), the second slip ring (47b) is fixedly sleeved on the outside of the rotating shaft (42), and the first slip ring (47a) can be slidably sleeved on the outside of the second slip ring (47b) along the circumferential direction of the first slip ring (47a).

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