A multi-degree-of-freedom radiation-resistant robotic arm joint and robotic arm

Abstract

The present invention discloses a multi-degree-of-freedom radiation-resistant manipulator joint and a manipulator, which relate to the technical field of manipulators; the manipulator joint includes a stator and a rotating shaft, and a first oil return chamber, an oil inlet chamber, and a second oil return chamber are sequentially provided between the stator and the rotating shaft; the side wall of the stator is provided with a first oil inlet flow channel and a first oil return flow channel, and the interior of the rotating shaft is provided with a second oil inlet flow channel and a second oil return flow channel; wherein, when the rotating shaft rotates, the first oil return chamber, the oil inlet chamber, and the second oil return chamber can all remain sealed, and the first oil inlet flow channel and the second oil inlet flow channel can both be connected to the oil inlet chamber, and the first oil return flow channel can simultaneously be connected to the second oil return flow channel via the first oil return chamber and the second oil return chamber, thereby preventing the hydraulically driven multi-degree-of-freedom radiation-resistant manipulator from leaking hydraulic oil. The manipulator has at least two adjacent force arms connected by the aforementioned joint, which can combine the advantages of hydraulic drive and motor drive.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a multi-degree-of-freedom radiation-resistant robotic arm joint and a robotic arm. Background Art

[0002] In the prior art, there are various tandem multi-DOF radiation-resistant manipulators and prototypes, such as the long-reach manipulator arm used on the Joint Hyperloop JET for transporting tools and components, the tandem long-reach manipulator AIA for visual inspection within the Tore Supra vacuum chamber, the tandem long-reach manipulator EAMA for the EAST tokamak, the arc-shaped telescopic manipulator arm for tokamak vacuum chamber maintenance, and a tandem 7-DOF radiation-resistant manipulator with a crane. These multi-DOF radiation-resistant manipulators are all fully motor-driven. The advantages of fully motor-driven manipulators are that they eliminate the risk of fluid leakage, prevent new environmental pollution, and provide high control precision. However, their disadvantages are that motor-driven manipulators have a lower power-to-volume ratio than hydraulic drives, making them unsuitable for applications with large loads and limited space.

[0003] Furthermore, existing technologies include fully hydraulically driven tandem robotic arms for radioactive material handling, capable of carrying loads up to 100 kg. The advantage of hydraulic drive is its higher power-to-volume ratio compared to electric motors, making it suitable for applications with large loads and limited space. However, the disadvantage is the risk of hydraulic oil leakage, which can cause further environmental pollution. Summary of the Invention

[0004] Aiming at the technical problem that the existing hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm has the risk of hydraulic oil leakage, the present invention provides a multi-degree-of-freedom radiation-resistant robotic arm joint and a robotic arm, which can prevent the hydraulic oil leakage of the hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm.

[0005] The present invention is achieved through the following technical solutions:

[0006] In the first aspect, the present invention provides a multi-degree-of-freedom radiation-resistant robotic arm joint, comprising a stator and a rotating shaft rotatably arranged in the stator, the stator being used to connect the upper-level force arm, and the rotating shaft being used to connect the lower-level force arm; along the axial direction of the rotating shaft, a first oil return chamber, an oil inlet chamber and a second oil return chamber are sequentially provided between the stator and the rotating shaft, and the first oil return chamber, the oil inlet chamber and the second oil return chamber are all annular cavities circumferentially around the rotating shaft; a first oil inlet channel and a first oil return channel are provided on the side wall of the stator, and a second oil inlet channel and a second oil return channel are provided inside the rotating shaft; wherein, when the rotating shaft rotates, the first oil return chamber, the oil inlet chamber and the second oil return chamber can all remain in a sealed state, and the first oil inlet channel and the second oil inlet channel can both be connected to the oil inlet chamber, and the first oil return channel can simultaneously be connected to the second oil return channel through the first oil return chamber and the second oil return chamber.

[0007] The multi-degree-of-freedom radiation-resistant robotic arm joint provided by the present invention is provided with a first oil return chamber, an oil inlet chamber and a second oil return chamber in sequence along the axial direction of the stator between the stator and the rotating shaft. At the same time, a first oil inlet channel and a first oil return channel are provided on the side wall of the stator, and a second oil inlet channel and a second oil return channel are provided inside the rotating shaft. When the rotating shaft rotates, the first oil return chamber, the oil inlet chamber and the second oil return chamber can all remain in a sealed state, and the first oil inlet channel and the second oil inlet channel can both be connected to the oil inlet chamber. The first oil return channel can be connected to the second oil return channel through the first oil return chamber and the second oil return chamber at the same time, so that the hydraulic oil can flow through the robotic arm joint, and there is no need to additionally configure an external infusion pipeline, which avoids interference of the pipeline with the operation of the robotic arm, and can also avoid affecting the reliability of the pipeline due to the operation of the robotic arm, and can directly provide hydraulic oil to the hydraulic motor located at the joint.

[0008] Among them, along the axial direction of the stator, a first reflux chamber and a second reflux chamber are provided on both sides of the oil inlet chamber. The hydraulic oil flowing in the oil inlet chamber is the high-pressure oil that drives the hydraulic motor, and the hydraulic oil flowing in the first reflux chamber and the second reflux chamber is the hydraulic oil flowing out after the hydraulic motor, which directly returns to the hydraulic oil tank, so that the hydraulic oil pressure in the first reflux chamber and the second reflux chamber is lower than the pressure of the hydraulic oil in the oil inlet chamber. Therefore, when the oil inlet chamber leaks, the leaked hydraulic oil enters the first reflux chamber and / or the second reflux chamber, and is directly carried away by the hydraulic oil flowing in the first reflux chamber and the second reflux chamber and returned to the hydraulic oil tank, which will not cause the hydraulic oil to leak directly from the stator and the rotating shaft, thereby greatly reducing the risk of hydraulic oil leakage at the joints of the robotic arm.

[0009] In summary, the multi-degree-of-freedom radiation-resistant robotic arm joint provided by the present invention can prevent the hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm from leaking hydraulic oil, thereby preventing the hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm from polluting the working environment.

[0010] In an optional embodiment, the stator is provided with a receiving hole for accommodating the rotating shaft; the inner wall of the receiving hole is provided with a first oil return groove, an oil inlet groove and a second oil return groove in sequence along the axial direction of the receiving hole, and the first oil return groove, the oil inlet groove and the second oil return groove are all annular grooves arranged along the circumference of the receiving hole; wherein, the inner cavity of the first oil return groove is a part of the first oil return cavity, the inner cavity of the oil inlet groove is a part of the oil inlet cavity, and the second oil return groove is a part of the second oil return cavity.

[0011] By machining grooves in the stator's receiving hole, the volumes of the corresponding first oil return chamber, oil inlet chamber, and second oil return chamber are expanded to ensure that the hydraulic oil can flow normally from the joints of the robotic arm. Compared with machining grooves on the rotating shaft, the groove depth is smaller at the same volume, which will not affect the structural strength of the stator.

[0012] In an optional embodiment, seals are provided on both sides of the groove openings of the first oil return groove, the oil inlet groove and the second oil return groove, and the seals are used to seal the gap between the hole wall of the accommodating hole and the side wall of the rotating shaft. The seals are arranged in the stator to facilitate the installation of the rotating shaft.

[0013] In an optional embodiment, one end of the second oil inlet channel and the second oil return channel are both arranged on the side wall of the rotating shaft outside the stator, so as to connect the internal flow channel of the rotating shaft with the internal flow channel of the mechanical arm force arm.

[0014] 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 provided 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 in the second cable hole, so that the cable assembly can smoothly pass through the relatively rotatable stator and rotating shaft.

[0015] In an optional embodiment, the cable slip ring includes a first slip ring and a second slip ring that are coaxially arranged; the first slip ring is fixedly connected to the inside of the stator, and the second slip ring is fixedly sleeved outside the rotating shaft, and the first slip ring can be slidably sleeved outside the second slip ring along its own circumference, so as to achieve reliable connection between the cable assembly in the stator and the cable assembly in the rotating shaft.

[0016] In an optional embodiment, the upper end of the rotating shaft is connected to the hydraulic motor, and the second cable hole is located on the side wall of the rotating shaft opposite one end of the cable slip ring to avoid interference of the cable assembly with the connection between the hydraulic motor and the rotating shaft.

[0017] In an optional embodiment, a ventilation cavity is further provided between the stator and the rotating shaft along the axial direction of the rotating shaft; a first air flow channel is provided on the side wall of the stator, and a second air flow channel is provided inside the rotating shaft; wherein, when the rotating shaft rotates, the ventilation cavity can remain in a sealed state, and both the first air flow channel and the second air flow channel can be connected to the ventilation cavity, so that the air path can be directly arranged inside the mechanical part, without the need for additional external air path pipelines, thereby avoiding interference of the pipelines with the operation of the robotic arm, and also avoiding the impact of the operation of the robotic arm on the reliability of the pipelines.

[0018] In an optional embodiment, a ventilation ring groove is provided inside the stator, and the inner cavity of the ventilation ring groove is a part of the ventilation cavity. By machining a groove in the inner cavity of the stator, the volume of the ventilation cavity is expanded to ensure that the gas can flow normally from the joint of the robotic arm. Compared with machining a groove on the rotating shaft, the groove depth is smaller at the same volume, and will not affect the structural strength of the stator.

[0019] In the second aspect, the present invention provides a multi-degree-of-freedom radiation-resistant robotic arm, comprising multiple levels of force arms connected in series, at least two adjacent force arms being connected by the above-mentioned multi-degree-of-freedom radiation-resistant robotic arm joints, capable of realizing the pollution-free hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm, and realizing the hybrid of motor drive and hydraulic drive of the multi-degree-of-freedom radiation-resistant robotic arm, so as to integrate the advantages of hydraulic drive and motor drive, and having the characteristics of large load capacity and high precision.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. The multi-degree-of-freedom radiation-resistant robotic arm joint provided by the present invention is provided with a first oil return chamber, an oil inlet chamber and a second oil return chamber in sequence along the axial direction of the stator between the stator and the rotating shaft. At the same time, a first oil inlet channel and a first oil return channel are provided on the side wall of the stator, and a second oil inlet channel and a second oil return channel are provided inside the rotating shaft. When the rotating shaft rotates, the first oil return chamber, the oil inlet chamber and the second oil return chamber can all remain in a sealed state, and the first oil inlet channel and the second oil inlet channel can both be connected to the oil inlet chamber. The first oil return channel can be connected to the second oil return channel through the first oil return chamber and the second oil return chamber at the same time, so that the hydraulic oil can flow through the robotic arm joint, and there is no need to additionally configure an external infusion pipeline, which avoids interference of the pipeline with the operation of the robotic arm, and can also avoid affecting the reliability of the pipeline due to the operation of the robotic arm, and can directly provide hydraulic oil to the hydraulic motor located at the joint.

[0022] 2. The multi-degree-of-freedom radiation-resistant robotic arm joint provided by the present invention is provided with a first reflux chamber and a second reflux chamber on both sides of the oil inlet chamber along the axial direction of the stator. The hydraulic oil flowing in the oil inlet chamber is the high-pressure oil that drives the hydraulic motor, and the hydraulic oil flowing in the first reflux chamber and the second reflux chamber is the hydraulic oil flowing out after the hydraulic motor, which directly returns to the hydraulic oil tank, so that the hydraulic oil pressure in the first reflux chamber and the second reflux chamber is higher than the pressure of the hydraulic oil in the oil inlet chamber. Therefore, when the oil inlet chamber leaks, the leaked hydraulic oil enters the first reflux chamber and / or the second reflux chamber, and is directly carried away by the hydraulic oil flowing in the first reflux chamber and the second reflux chamber and returned to the hydraulic oil tank, which will not cause the hydraulic oil to leak directly from the stator and the rotating shaft, thereby greatly reducing the risk of hydraulic oil leakage at the robotic arm joint.

[0023] 3. The multi-degree-of-freedom radiation-resistant robotic arm proposed in the present invention includes multiple levels of force arms connected in series, and at least two adjacent force arms are connected by the above-mentioned multi-degree-of-freedom radiation-resistant robotic arm joints, which can realize the pollution-free hydraulic drive of the multi-degree-of-freedom radiation-resistant robotic arm and realize the hybrid of motor drive and hydraulic drive of the multi-degree-of-freedom radiation-resistant robotic arm, so as to integrate the advantages of hydraulic drive and motor drive, and has the characteristics of large load capacity and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0025] In the attached figure:

[0026] Figure 1 This is a schematic structural diagram of a multi-degree-of-freedom radiation-resistant robotic arm joint according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A magnified schematic diagram of part A;

[0028] Figure 3 This is a schematic diagram of the three-dimensional structure of the connection between the stator and the upper lever arm according to an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the cross-sectional structure of the stator and upper lever arm according to an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the three-dimensional structure of the connection between the rotating shaft and the lower lever arm according to an embodiment of the present invention;

[0031] Figure 6 It is a schematic cross-sectional structural diagram of the rotating shaft and the lower lever arm according to an embodiment of the present invention.

[0032] Markings and corresponding parts names in the accompanying drawings:

[0033] 10-stator, 11-first oil inlet channel, 12-first oil return channel, 13-accommodating hole, 14-first oil return groove, 15-oil inlet groove, 16-second oil return groove, 17-first cable hole, 18-first air flow channel, 19-ventilation ring groove;

[0034] 20 - rotating shaft, 21 - second oil inlet channel, 22 - second oil return channel, 23 - second cable hole, 24 - second air flow channel, 25 - transmission hole;

[0035] 30-first oil return chamber;

[0036] 40- oil inlet chamber;

[0037] 50-second oil return chamber;

[0038] 60-cable slip ring, 61-first slip ring, 62-second slip ring;

[0039] 70-Hydraulic motor;

[0040] 80-ventilation cavity;

[0041] 90-seal;

[0042] 101-upper lever arm;

[0043] 102-lower lever arm;

[0044] 103-Cable assembly. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, 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.

[0046] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0047] In the description of the embodiments of the present application, the terms "center", "up", "down", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inside", "outside", "front", "back", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They 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 specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0048] In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "having," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0049] Example 1

[0050] Combine Figure 1 and Figure 2The present embodiment provides a multi-degree-of-freedom radiation-resistant manipulator joint, comprising a stator 10 and a rotating shaft 20 rotatably disposed in the stator 10, wherein the stator 10 is used to connect the upper-level lever arm, and the rotating shaft 20 is used to connect the lower-level lever arm; along the axial direction of the rotating shaft 20, a first oil return chamber 30, an oil inlet chamber 40, and a second oil return chamber 50 are sequentially provided between the stator 10 and the rotating shaft 20, and the first oil return chamber 30, the oil inlet chamber 40, and the second oil return chamber 50 are all annular cavities circumferentially around the rotating shaft 20; the side wall of the stator 10 A first oil inlet channel 11 and a first oil return channel 12 are provided, and a second oil inlet channel 21 and a second oil return channel 22 are provided inside the rotating shaft 20; wherein, when the rotating shaft 20 rotates, the first oil return chamber 30, the oil inlet chamber 40 and the second oil return chamber 50 can all remain in a sealed state, and the first oil inlet channel 11 and the second oil inlet channel 21 can both be communicated with the oil inlet chamber 40, and the first oil return channel 12 can simultaneously be communicated with the second oil return channel 22 through the first oil return chamber 30 and the second oil return chamber 50.

[0051] It should be understood that the first oil return chamber 30, the oil inlet chamber 40 and the second oil return chamber 50 are independent spaces between the stator 10 and the rotating shaft 20, and the chambers are usually separated by seals 90, that is, by arranging multiple seals 90 at intervals along the axial direction of the stator 10, the space between the stator 10 and the rotating shaft 20 is divided into the first oil return chamber 30, the oil inlet chamber 40 and the second oil return chamber 50 in sequence along the axial direction of the stator 10.

[0052] Combine Figure 3 and Figure 4 In this embodiment, the stator 10 is provided with a receiving hole 13 for accommodating the rotating shaft 20; the inner wall of the receiving hole 13 is provided with a first oil return groove 14, an oil inlet groove 15 and a second oil return groove 16 in sequence along the axial direction of the receiving hole 13, and the first oil return groove 14, the oil inlet groove 15 and the second oil return groove 16 are all annular grooves arranged along the circumference of the receiving hole 13; wherein, the inner cavity of the first oil return groove 14 is a part of the first oil return chamber 30, the inner cavity of the oil inlet groove 15 is a part of the oil inlet chamber 40, and the second oil return groove 16 is a part of the second oil return chamber 50.

[0053] By machining grooves in the accommodating hole 13 of the stator 10, the volumes of the corresponding first oil return chamber 30, the oil inlet chamber 40 and the second oil return chamber 50 are expanded to ensure that the hydraulic oil can flow normally from the joints of the robotic arm. Compared with machining grooves on the rotating shaft 20, the groove depth is smaller at the same volume, which will not affect the structural strength of the stator 10.

[0054] On this basis, combined with Figure 4Seals 90 are provided on both sides of the openings of the first oil return groove 14, the oil inlet groove 15, and the second oil return groove 16. These seals 90 are used to seal the gap between the wall of the receiving hole 13 and the sidewall of the rotating shaft 20. Accordingly, multiple annular grooves for accommodating the seals 90 are coaxially provided on the sidewall of the receiving hole 13. This allows the seals 90 to be positioned within the stator 10, facilitating installation of the rotating shaft 20.

[0055] Combine Figure 1 、 Figure 3 and Figure 4 In actual use, the stator 10 and the upper lever arm 101 are integrally formed, and the first oil inlet channel 11 and the first return oil channel provided in the stator 10 both extend along the length direction of the upper lever arm 101 and are connected to the inner cavity of the stator 10.

[0056] Combine Figure 5 and Figure 6 One end of each of the second oil inlet channel 21 and the second oil return channel 22 is disposed on the sidewall of the rotating shaft 20 outside the stator 10, thereby connecting the internal flow channel of the rotating shaft 20 with the internal flow channel of the robotic arm. Similarly, in actual use, the rotor and the lower lever 102 are integrally formed. The second oil inlet channel 21 and the second oil return channel provided on the rotor extend axially along the rotor to the lower lever 102, and then extend along the length of the lower lever 102.

[0057] The multi-degree-of-freedom radiation-resistant manipulator joint provided in this embodiment is provided with a first oil return chamber 30, an oil inlet chamber 40 and a second oil return chamber 50 in sequence along the axial direction of the stator 10 between the stator 10 and the rotating shaft 20. At the same time, a first oil inlet flow channel 11 and a first oil return flow channel 12 are provided on the side wall of the stator 10, and a second oil inlet flow channel 21 and a second oil return flow channel 22 are provided inside the rotating shaft 20. When the rotating shaft 20 rotates, the first oil return chamber 30, the oil inlet chamber 40 and the second oil return chamber 50 can all remain in a sealed state, and the first oil inlet flow channel 11 and the first oil return flow channel 12 are provided on the side wall of the stator 10. The oil flow channel 11 and the second oil inlet flow channel 21 can both be connected to the oil inlet chamber 40, and the first return oil flow channel 12 can be connected to the second return oil flow channel 22 through the first return oil chamber 30 and the second return oil chamber 50 at the same time, so that the hydraulic oil can flow through the joint of the robotic arm. There is no need to additionally configure an external infusion pipeline, which avoids interference with the operation of the robotic arm caused by the pipeline, and can also avoid the impact of the operation of the robotic arm on the reliability of the pipeline, and can directly provide hydraulic oil to the hydraulic motor 70 located at the joint.

[0058] Among them, along the axial direction of the stator 10, a first reflux chamber and a second reflux chamber are provided on both sides of the oil inlet chamber 40. The hydraulic oil flowing in the oil inlet chamber 40 is the high-pressure oil that drives the hydraulic motor 70, and the hydraulic oil flowing in the first reflux chamber and the second reflux chamber is the hydraulic oil flowing out after the hydraulic motor 70, which directly returns to the hydraulic oil tank, so that the hydraulic oil pressure in the first reflux chamber and the second reflux chamber is lower than the pressure of the hydraulic oil in the oil inlet chamber 40. Therefore, when the oil inlet chamber 40 leaks, the leaked hydraulic oil enters the first reflux chamber and / or the second reflux chamber, and is directly carried away by the hydraulic oil flowing in the first reflux chamber and the second reflux chamber and returned to the hydraulic oil tank, which will not cause the hydraulic oil to leak directly from the stator 10 and the rotating shaft 20, thereby greatly reducing the risk of hydraulic oil leakage at the joints of the robotic arm.

[0059] In summary, the multi-degree-of-freedom radiation-resistant robotic arm joint provided in this embodiment can prevent the hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm from leaking hydraulic oil, thereby preventing the hydraulically driven multi-degree-of-freedom radiation-resistant robotic arm from polluting the working environment.

[0060] Example 2

[0061] Combine Figure 1 、 Figure 4 and Figure 6 This embodiment provides a multi-degree-of-freedom radiation-resistant robotic arm joint. Based on the structure and principle described in Example 1, the stator 10 is provided with a first cable hole 17, and a second cable hole 23 is provided in the middle of the rotating shaft 20; a cable slip ring 60 is provided between the stator 10 and the rotating shaft 20, and the cable slip ring 60 is used to electrically connect the cable assembly located in the first cable hole 17 and the cable assembly in the second cable hole 23, so that the cable assembly can smoothly pass through the relatively rotatable stator 10 and rotating shaft 20.

[0062] It should be understood that the first cable hole 17 extends along the length direction of the upper lever arm 101 , and the second cable hole 23 first extends axially along the rotating shaft 20 to the lower lever arm 102 , and then extends along the length direction of the lower lever arm 102 .

[0063] Among them, combined Figure 2 The cable slip ring 60 includes a first slip ring 61 and a second slip ring 62 that are coaxially arranged; the first slip ring 61 is fixedly connected to the inside of the stator 10, and the second slip ring 62 is fixedly sleeved outside the rotating shaft 20, and the first slip ring 61 can be slidably sleeved outside the second slip ring 62 along its own circumference, so as to achieve reliable connection between the cable assembly in the stator 10 and the cable assembly in the rotating shaft 20.

[0064] In addition, the upper end of the rotating shaft 20 is transmission-connected to the hydraulic motor 70 , and the second cable hole 23 is located on the side wall of the rotating shaft 20 opposite one end of the cable slip ring 60 to avoid interference of the cable assembly with the connection between the hydraulic motor 70 and the rotating shaft 20 .

[0065] Combine Figure 6 To facilitate the connection between the hydraulic motor 70 and the rotating shaft 20, a transmission hole 25 is provided at the upper end of the rotating shaft 20, allowing the output shaft of the hydraulic motor 70 to be inserted into the transmission hole 25. The upper end of the second cable hole 23 is connected to the transmission hole 25, and a through hole for the cable assembly to pass through is opened on the side wall of the transmission hole. At the same time, the second slip ring 62 is arranged opposite the aforementioned through hole.

[0066] Example 3

[0067] Combine Figure 5 , this embodiment provides a multi-degree-of-freedom radiation-resistant robotic arm joint. Based on the structure and principle described in Example 1 or 2, a ventilation cavity 80 is further provided between the stator 10 and the rotating shaft 20 along the axial direction of the rotating shaft 20; a first air flow channel 18 is provided on the side wall of the stator 10, and a second air flow channel 24 is provided inside the rotating shaft 20; wherein, when the rotating shaft 20 rotates, the ventilation cavity 80 can remain in a sealed state, and both the first air flow channel 18 and the second air flow channel 24 can be connected to the ventilation cavity 80, so that the air path can be directly arranged inside the mechanical part, without the need for additional external air path pipelines, thereby avoiding interference with the operation of the robotic arm caused by the pipeline, and also avoiding the impact of the operation of the robotic arm on the reliability of the pipeline.

[0068] Combine Figure 2 and Figure 4 It can be understood that the ventilation cavity 80 is a space between the stator 10 and the rotating shaft 20, and is sealed by a seal 90. In this embodiment, a ventilation ring groove 19 is provided inside the stator 10, and the inner cavity of the ventilation ring groove 19 is a part of the ventilation cavity 80. By machining a groove in the inner cavity of the stator 10, the volume of the ventilation cavity 80 is expanded to ensure that the gas can flow normally from the joint of the robotic arm. Compared with machining a groove on the rotating shaft 20, under the same volume, the groove depth is smaller, which will not affect the structural strength of the stator 10.

[0069] Example 4

[0070] This embodiment provides a multi-degree-of-freedom radiation-resistant robotic arm, including multiple levels of force arms connected in series, and at least two adjacent force arms are connected by the multi-degree-of-freedom radiation-resistant robotic arm joints described in Example 3, which can realize the pollution-free hydraulic drive of the multi-degree-of-freedom radiation-resistant robotic arm and realize the hybrid of motor drive and hydraulic drive of the multi-degree-of-freedom radiation-resistant robotic arm, so as to integrate the advantages of hydraulic drive and motor drive, and has the characteristics of large load capacity and high precision.

[0071] Among them, for the driving mode between the connected force arms, hydraulic drive or motor drive can be selected according to the magnitude of the force at the joint and the control accuracy requirements. For hydraulically driven joints, it is only necessary to connect the oil inlet of the hydraulic motor 70 to the oil inlet chamber 40 (or the first oil inlet channel 11), and connect the liquid outlet of the hydraulic motor 70 to the first return oil chamber 30 or the second return oil chamber 50 (or directly to the first return oil channel 12). For motor-driven joints, it is sufficient to directly connect the connecting wire corresponding to the motor to the cable corresponding to the cable assembly in the first cable hole 17.

[0072] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom radiation-resistant robotic arm joint, characterized in that: It comprises a stator (10) and a rotating shaft (20) rotatably arranged in the stator (10), wherein the stator (10) is used to connect to the upper-level lever arm, and the rotating shaft (20) is used to connect to the lower-level lever arm; A first oil return chamber (30), an oil inlet chamber (40) and a second oil return chamber (50) are sequentially provided between the stator (10) and the rotating shaft (20) along the axial direction of the rotating shaft (20), and the first oil return chamber (30), the oil inlet chamber (40) and the second oil return chamber (50) are all annular chambers circumferentially around the rotating shaft (20); The side wall of the stator (10) is provided with a first oil inlet flow channel (11) and a first oil return flow channel (12), and the interior of the rotating shaft (20) is provided with a second oil inlet flow channel (21) and a second oil return flow channel (22); When the rotating shaft (20) rotates, the first oil return chamber (30), the oil inlet chamber (40) and the second oil return chamber (50) can all maintain a sealed state, and the first oil inlet flow channel (11) and the second oil inlet flow channel (21) can both communicate with the oil inlet chamber (40), and the first oil return flow channel (12) can simultaneously communicate with the second oil return flow channel (22) via the first oil return chamber (30) and the second oil return chamber (50).

2. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 1, characterized in that: The stator (10) is provided with a receiving hole (13) for receiving the rotating shaft (20); The inner wall of the receiving hole (13) is provided with a first oil return groove (14), an oil inlet groove (15) and a second oil return groove (16) in sequence along the axial direction of the receiving hole (13); the first oil return groove (14), the oil inlet groove (15) and the second oil return groove (16) are all annular grooves arranged along the circumference of the receiving hole (13); The inner cavity of the first oil return groove (14) is a part of the first oil return cavity (30), the inner cavity of the oil inlet groove (15) is a part of the oil inlet cavity (40), and the second oil return groove (16) is a part of the second oil return cavity (50).

3. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 2, characterized in that: Sealing members (90) are provided on both sides of the slot openings of the first oil return slot (14), the oil inlet slot (15) and the second oil return slot (16). The sealing members (90) are used to seal the gap between the hole wall of the accommodating hole (13) and the side wall of the rotating shaft (20).

4. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 1, characterized in that: One end of the second oil inlet channel (21) and one end of the second oil return channel (22) are both arranged on a side wall of the rotating shaft (20) outside the stator (10).

5. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 1, characterized in that: The stator (10) is provided with a first cable hole (17), and the middle portion of the rotating shaft (20) is provided with a second cable hole (23); A cable slip ring (60) is provided between the stator (10) and the rotating shaft (20), and the cable slip ring (60) is used to electrically connect the cable assembly located in the first cable hole (17) and the cable assembly in the second cable hole (23).

6. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 5, characterized in that: The cable slip ring (60) comprises a first slip ring (61) and a second slip ring (62) which are coaxially arranged; The first slip ring (61) is fixedly connected to the inside of the stator (10), the second slip ring (62) is fixedly sleeved outside the rotating shaft (20), and the first slip ring (61) can be slidably sleeved outside the second slip ring (62) along its own circumference.

7. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 5, characterized in that: The upper end of the rotating shaft (20) is transmission-connected to the hydraulic motor (70), and the second cable hole (23) is located on the side wall of the rotating shaft (20) facing one end of the cable slip ring (60).

8. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 1, characterized in that: A ventilation cavity (80) is further provided between the stator (10) and the rotating shaft (20) along the axial direction of the rotating shaft (20); A first air flow channel (18) is provided on the side wall of the stator (10), and a second air flow channel (24) is provided inside the rotating shaft (20); When the rotating shaft (20) rotates, the ventilation cavity (80) can maintain a sealed state, and both the first air flow channel (18) and the second air flow channel (24) can be communicated with the ventilation cavity (80).

9. The multi-degree-of-freedom radiation-resistant robotic arm joint according to claim 8, characterized in that: A ventilation ring groove (19) is provided inside the stator (10), and the inner cavity of the ventilation ring groove (19) is a part of the ventilation cavity (80).

10. A multi-degree-of-freedom radiation-resistant robotic arm, comprising multiple stages of force arms connected in series, characterized in that: At least two adjacent force arms are connected through the multi-degree-of-freedom radiation-resistant robotic arm joint according to any one of claims 1 to 9.

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