End execution joint of heavy-load mechanical arm for Tokamak device maintenance

Abstract

The invention discloses an end execution joint of a heavy-load mechanical arm for Tokamak device maintenance, which comprises a first shell, a second shell, a driving mechanism and a detection mechanism, a mounting cavity is formed in the first shell, the driving mechanism comprises a driving assembly and a rotating part, the driving assembly is arranged in the mounting cavity, and the rotating part is arranged in the mounting cavity. The driving end of the driving assembly is connected with the first end of the rotating part, the second end of the rotating part is connected with the second shell, and the driving assembly is configured to drive the rotating part to rotate by a preset angle so as to drive the second shell to rotate; the detection mechanism is configured to detect the rotating angle of the rotating part and control the driving assembly to work or stop according to the detection result. According to the heavy-load mechanical arm for tokamak device maintenance, the tail end execution joint is designed in a modularized mode, the tail end execution joint is simple in structure, the occupied space of the joint is reduced, and the interior of the tokamak device can be conveniently maintained.

Description

Technical Field

[0001] The invention belongs to the technical field of heavy-duty mechanical arms, and in particular relates to an end execution joint of a heavy-duty mechanical arm for maintaining a tokamak device. Background Art

[0002] The Tokamak nuclear fusion device is a device that uses magnetic confinement to achieve controlled nuclear fusion. It has many advantages and is the best choice for coping with future energy crises. China's current Tokamak nuclear fusion device CFETR is a new generation of device that demonstrates the feasibility of continuous large-scale fusion energy safety and stable power generation. Its overall structure and internal components are much larger than previous devices. The large components that need to be maintained in the CFETR vacuum chamber can weigh up to tons. The operation of CFETR will also bring radiation problems, and personnel cannot get close during internal maintenance.

[0003] The Tokamak nuclear fusion device is a device that uses magnetic confinement to achieve controlled nuclear fusion. After the Tokamak device has been running for a period of time, it is impossible for humans to directly enter and carry out maintenance work because of the high temperature and strong radiation vacuum environment inside. The large components that need to be maintained in the vacuum chamber can weigh up to tons, and the maintenance passages to enter the interior are often very small, making it impossible to disassemble and move out the large components for maintenance. Therefore, a heavy-duty robotic arm is required to extend into the interior to maintain the large components. The end-effector joint of the robotic arm is a key component for connecting the actuators, and its performance directly affects the overall work efficiency of the robotic arm. The end-effector joint of the existing heavy-duty robotic arm is inconvenient to inspect and repair during the specific maintenance process due to its complex structure and large space occupation. Summary of the invention

[0004] The purpose of the present invention is to provide an end effector joint of a heavy-duty robot arm for maintenance of a Tokamak device, so as to solve the problems of the conventional end effector joints in the prior art, which have complex structures and occupy a large space.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A terminal actuator joint of a heavy-duty mechanical arm for maintenance of a Tokamak device comprises a first shell, a second shell, a driving mechanism and a detection mechanism, wherein:

[0007] The first shell has an installation cavity, the driving mechanism includes a driving assembly and a rotating part, the driving assembly is arranged in the installation cavity, the driving end of the driving assembly is connected to the first end of the rotating part, the second end of the rotating part is connected to the second shell, and the driving assembly is configured to drive the rotating part to rotate by a preset angle, thereby driving the second shell to rotate;

[0008] The detection mechanism is disposed on the rotating part, and is configured to detect the rotation angle of the rotating part and control the driving component to start or stop according to the detection result.

[0009] Furthermore, the rotating part includes a stator shaft assembly and a rotating bracket, wherein:

[0010] The stator shaft assembly is fixedly mounted on the driving assembly, the rotating bracket is rotatably sleeved on the periphery of the stator shaft assembly, the first end of the rotating bracket is connected to the driving end of the driving assembly, and the second end of the rotating bracket is connected to the second housing;

[0011] The stator shaft assembly comprises a stator shaft and a stator cover. The first end of the stator shaft is fixedly mounted on the driving assembly, and the stator cover is detachably mounted on the second end of the stator shaft.

[0012] Furthermore, the detection mechanism includes a first detection component, a second detection component and an encoder reading head, wherein:

[0013] The first detection component and the encoder reading head are fixedly mounted on the stator housing, the second detection component is mounted on the rotating bracket, and the driving component drives the rotating bracket to rotate, thereby driving the second detection component to rotate;

[0014] The encoder reading head is configured to record the rotation angle of the rotating bracket and transmit the recorded information to the driving component to control the second shell.

[0015] Furthermore, the first detection assembly includes a detection bracket and at least one group of photoelectric switches, the first end of the detection bracket is mounted on the stator housing, the second end of the detection bracket extends toward an end away from the stator housing, the second detection assembly includes at least one group of photoelectric switch barriers, each of the photoelectric switch barriers corresponds to one of the photoelectric switches, and each of the photoelectric switches has an avoidance groove for avoiding the corresponding photoelectric switch barrier;

[0016] The rotating bracket is provided with an encoder magnetic ring sleeved on the periphery of the second end of the stator shaft, and the encoder reading head is installed on the inner surface of the stator housing;

[0017] When the rotating bracket rotates, the encoder magnetic ring is driven to rotate, and the encoder reading head cooperates with the encoder magnetic ring to read the rotation angle of the rotating bracket in real time, and transmits the angle information to the driving component, thereby controlling the second shell;

[0018] When the second shell moves to the extreme position, the rotating bracket drives the photoelectric switch barrier to pass through the avoidance groove corresponding to the photoelectric switch, and the photoelectric switch is triggered and transmits a stop signal to the drive component, and the drive component stops working, thereby limiting the second shell.

[0019] Furthermore, the driving assembly includes a plurality of driving units and a control circuit board, wherein:

[0020] The driving unit includes a driving motor and a reducer, wherein the driving end of the driving motor is mounted on the reducer through a motor flange, the driving end of the reducer is connected to the rotating bracket, and the reducer is configured to drive the rotating bracket to rotate. The control circuit board is mounted on the first shell, and the control circuit board is configured to receive information sent by the encoder reading head and the first detection component, and control the driving motor to start or stop according to the received information.

[0021] Furthermore, the photoelectric switch grilles are arranged in three groups, and the rotating bracket is arranged in a circular structure, wherein two of the photoelectric switch grilles are symmetrically arranged on the same diameter of the rotating bracket, and the remaining photoelectric switch grille other than the two symmetrically arranged photoelectric switch grilles is located between the two symmetrically arranged photoelectric switch grilles.

[0022] Furthermore, a tool quick-change device is detachably provided at the end of the second shell, a first side of the tool quick-change device is detachably mounted on the second shell via a quick-change connector, and a second end of the tool quick-change device is connected to an external execution tool.

[0023] Furthermore, a maintenance hole is provided on the first shell for facilitating maintenance of internal facilities, and a disassembly cover is detachably provided on the maintenance hole.

[0024] Furthermore, a placement hole for placing the control circuit board is provided on the surface of the first shell, and a protective cover is detachably mounted on the outer circle of the placement hole.

[0025] Furthermore, the reducer includes an RV reducer, a first transmission part and a second transmission part, wherein:

[0026] The driving end of the driving motor is connected to the first end of the RV reducer, the second end of the RV reducer is connected to the first end of the first transmission part, the second end of the first transmission part is transmission-connected to the first end of the second transmission part, and the second end of the second transmission part is transmission-connected to the rotating bracket.

[0027] Compared with the prior art, the beneficial effects of the end effector joint of the heavy-duty robotic arm for maintenance of the tokamak device are as follows: through the cooperation of the driving mechanism and the detection mechanism, the driving assembly is installed in the first shell, the driving assembly drives the rotating part to rotate a preset angle, and drives the second shell to rotate, the detection mechanism detects the rotation angle of the rotating part and controls the driving assembly to work or stop according to the detection result, and adopts a modular design. The structure of the end effector joint is simple, the space occupied by the joint is reduced, and it is convenient to repair the interior of the tokamak device; by setting the first detection assembly, the second detection assembly and the encoder reading head, the encoder reading head records the rotation angle of the rotating bracket and transmits the recorded information to the driving assembly, and the driving assembly drives the rotating bracket to stop rotating. While ensuring rotation, the rotation angle of the rotating bracket can be limited; the combination of modular design and three-stage transmission structure not only enhances the transmission efficiency and safety, but also realizes the real-time monitoring function and significantly reduces the risk of joint collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following briefly introduces the background technology of the present invention and the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the end actuator joint of the heavy-duty mechanical arm for maintenance of the Tokamak device provided by an embodiment of the present invention;

[0030] Figure 2 It is a schematic diagram of the exploded structure of the end actuator joint of the heavy-duty mechanical arm for maintenance of the Tokamak device provided by an embodiment of the present invention;

[0031] Figure 3 It is a schematic cross-sectional structural diagram of the end actuator joint of a heavy-duty mechanical arm for maintenance of a Tokamak device provided by an embodiment of the present invention;

[0032] Figure 4 is a schematic diagram of the three-dimensional structure of a driving mechanism provided by an embodiment of the present invention;

[0033] Figure 5 It is a transmission principle diagram of the driving mechanism provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0035] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly and comprehensively understood. It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there can also be a central component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0036] See also Figures 1 to 5 As shown, in this embodiment, an end execution joint of a heavy-duty robot arm for maintenance of a tokamak device includes a first shell 10, a second shell 20, a driving mechanism 30 and a detection mechanism 40, wherein: an installation cavity is opened in the first shell 10, the driving mechanism 30 includes a driving component and a rotating part, the driving component is arranged in the installation cavity, the driving end of the driving component is connected to the first end of the rotating part, the second end of the rotating part is connected to the second shell 20, and a tool quick-changing device 90 for repairing equipment is installed on the second shell 20, the driving component is configured to drive the rotating part to rotate a preset angle, thereby driving the second shell 20 to rotate; the detection mechanism 40 is arranged on the rotating part, and the detection mechanism 40 is configured to detect the rotation angle of the rotating part and control the driving component to work or stop according to the detection result.

[0037] It can be seen that through the cooperation of the driving mechanism 30 and the detection mechanism 40, the driving assembly is installed in the first shell 10. The driving assembly drives the rotating part to rotate at a preset angle, thereby driving the second shell 20 to rotate. The detection mechanism 40 detects the rotation angle of the rotating part and controls the driving assembly to work or stop according to the detection result. The modular design is adopted, the structure of the end execution joint is simple, the space occupied by the joint is reduced, and the internal maintenance of the tokamak device is convenient.

[0038] As an embodiment, the rotating part includes a stator shaft assembly and a rotating bracket 31, wherein: the stator shaft assembly is fixedly mounted on the driving assembly, the rotating bracket 31 can be rotatably mounted on the periphery of the stator shaft assembly, the first end of the rotating bracket 31 is connected to the driving end of the driving assembly, and the second end of the rotating bracket 31 is connected to the second shell 20; the stator shaft assembly includes a stator shaft 33 and a stator cover 32, the first end of the stator shaft 33 is fixedly mounted on the driving assembly, and the stator cover 32 is detachably mounted on the second end of the stator shaft 33.

[0039] As an embodiment, the detection mechanism 40 includes a first detection component, a second detection component and an encoder reading head 41, wherein: the first detection component and the encoder reading head 41 are fixedly mounted on the stator cover 32, the second detection component is mounted on the rotating bracket 31, the driving component drives the rotating bracket 31 to rotate, so as to drive the second detection component to rotate; the encoder reading head 41 is configured to record the rotation angle of the rotating bracket 31, and transmit the recorded information to the driving component to control the second shell 20.

[0040] It can be seen that by setting the first detection component, the second detection component and the encoder reading head 41, the encoder reading head 41 records the rotation angle of the rotating bracket 31 and transmits the recorded information to the driving component. The driving component drives the rotating bracket 31 to stop rotating. While ensuring the rotation, the rotation angle of the rotating bracket 31 can be limited.

[0041] As an embodiment, the first detection component includes a detection bracket 42 and at least one group of photoelectric switches 43, the first end of the detection bracket 42 is mounted on the stator cover 32, and the second end of the detection bracket 42 extends toward an end away from the stator cover 32, the second detection component includes at least one group of photoelectric switch barriers 44, each photoelectric switch barrier 44 corresponds to a photoelectric switch 43, and each photoelectric switch 43 has an avoidance groove 440 for avoiding the corresponding photoelectric switch barrier 44; the rotating bracket 31 is provided with an encoder magnetic ring 45 which is mounted on the periphery of the second end of the stator shaft 33, and the encoder reading head 41 is mounted on the inner surface of the stator cover 32.

[0042] When the rotating bracket 31 rotates, the encoder magnetic ring 45 is driven to rotate, and the encoder reading head 41 cooperates with the encoder magnetic ring 45 to read the rotation angle of the rotating bracket 31 in real time, and transmits the angle information to the driving component, thereby controlling the second housing 20;

[0043] When the second shell 20 moves to the extreme position, the rotating bracket 31 drives the photoelectric switch barrier 44 to pass through the avoidance groove 440 corresponding to the photoelectric switch 43, and the photoelectric switch 43 is triggered and transmits a stop signal to the drive component, and the drive component stops working, thereby limiting the second shell 20.

[0044] As an embodiment, the driving component includes a plurality of driving units and a control circuit board 34, wherein: the driving unit includes a driving motor 35 and a reducer, the driving end of the driving motor 35 is installed on the reducer through a motor flange 36, the driving end of the reducer is connected to the rotating bracket 31, the reducer is configured to drive the rotating bracket 31 to rotate, the control circuit board 34 is installed on the first shell 10, the control circuit board 34 is configured to receive information sent by the encoder reading head 41 and the first detection component, and control the driving motor 35 to work or stop according to the received information.

[0045] Specifically, the inner ring of the bearing 50 is sleeved with the connecting shaft 60, the connecting shaft 60 is installed on the first shell 10, the outer ring of the bearing 50 is connected to the first end of the end cover 70, the second end of the end cover 70 is passed through the side plate 80, the side plate 80 is detachably connected to the first end of the second shell 20, and the mounting cover 21 is detachably installed on the second shell 20.

[0046] As an embodiment, three groups of photoelectric switch gates 44 are provided, and the rotating bracket 31 is provided as a circular structure, wherein two photoelectric switch gates 44 are symmetrically provided on the same diameter of the rotating bracket 31, and the remaining photoelectric switch gate 44 except the two symmetrically provided photoelectric switch gates 44 is located between the two symmetrically provided photoelectric switch gates 44.

[0047] It should be noted that the three groups of photoelectric switch barriers 44 are all installed on the rotating bracket 31, serving as the starting point and the end point of the joint movement respectively. The movement range of the joint is 0°-±90°. Therefore, the three groups of photoelectric switch barriers 44 are respectively distributed at the three positions of 0°, -90°, and +90° of the encoder bracket, among which the 0° position serves as the origin of the joint alignment, and the ±90° position serves as the end point of the joint movement.

[0048] Specifically, two photoelectric switches 43 are designed, and correspondingly, each group of photoelectric switch barriers 44 is also designed with two. Obviously, two photoelectric switches 43 are provided to prevent malfunctions.

[0049] As an embodiment, a tool quick change device 90 is detachably provided at the end of the second shell 20. The first side of the tool quick change device 90 is detachably mounted on the second shell 20 via a quick change connector 91. The second end of the tool quick change device 90 is connected to an external execution tool. The tool quick change device 90 is a conventional quick change device in the field of heavy-duty robotic arms.

[0050] As an implementation manner, a maintenance hole 11 is opened on the first shell 10 for facilitating maintenance of internal facilities, and a disassembly cover plate 12 is detachably provided on the maintenance hole 11 .

[0051] As an implementation manner, a placement hole for placing the control circuit board 34 is opened on the surface of the first shell 10, and a protective cover plate 37 is detachably installed on the outer circle of the placement hole to isolate the placement hole from the outside.

[0052] As an embodiment, the reducer includes an RV reducer 38, a first transmission part and a second transmission part, wherein: the driving end of the drive motor 35 is connected to the first end of the RV reducer 38, the second end of the RV reducer 38 is connected to the first end of the first transmission part, the second end of the first transmission part is transmission-connected to the first end of the second transmission part, and the second end of the second transmission part is transmission-connected to the rotating bracket 31.

[0053] Specifically, the first transmission part is an internal gear, and the second transmission part is a 2Z-X(E) type planetary gear.

[0054] The working process of the end execution joint of the heavy-duty manipulator for maintenance of the above-mentioned tokamak device is as follows: first, the control circuit board 34 controls the drive motor 35 to start, and the drive motor 35 transmits power through the reducer, and transmits the torque to the second shell 20 through the transmission cooperation of the RV reducer 38, the first transmission part and the second transmission part, and then the second shell 20 drives the heavy-duty manipulator; the encoder reading head 41 cooperates with the encoder magnetic ring 45 to read the rotation angle of the rotating bracket 31 in real time, and transmits the angle information to the drive component, thereby controlling the second shell 20. The photoelectric switch 43 limits the second shell 20. When the second shell 20 moves to the extreme position, the rotating bracket 31 drives the photoelectric switch barrier 44 to pass through the avoidance groove 440 corresponding to the photoelectric switch 43, and the photoelectric switch 43 is triggered and transmits the stop signal to the drive component, and the drive component stops working, thereby limiting the second shell 20.

[0055] It should be noted that: when performing maintenance, the inspection hole cover can be opened to facilitate the inspection of the internal components of the joint, and the tool quick change device 90 enables the robot arm to automatically replace the end effector or other peripheral equipment, thereby effectively performing internal maintenance work on the tokamak device.

[0056] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above examples. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An end effector joint of a heavy-duty manipulator for maintenance of a Tokamak device, characterized in that: The end execution joint of the heavy-duty manipulator for maintenance of the Tokamak device comprises a first shell, a second shell, a driving mechanism and a detection mechanism, wherein: The first shell has an installation cavity, the driving mechanism includes a driving assembly and a rotating part, the driving assembly is arranged in the installation cavity, the driving end of the driving assembly is connected to the first end of the rotating part, the second end of the rotating part is connected to the second shell, and the driving assembly is configured to drive the rotating part to rotate by a preset angle, thereby driving the second shell to rotate; The detection mechanism is disposed on the rotating part, and is configured to detect the rotation angle of the rotating part and control the driving component to start or stop according to the detection result.

2. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 1, characterized in that: The rotating part comprises a stator shaft assembly and a rotating bracket, wherein: The stator shaft assembly is fixedly mounted on the driving assembly, the rotating bracket is rotatably sleeved on the periphery of the stator shaft assembly, the first end of the rotating bracket is connected to the driving end of the driving assembly, and the second end of the rotating bracket is connected to the second housing; The stator shaft assembly comprises a stator shaft and a stator cover. The first end of the stator shaft is fixedly mounted on the driving assembly, and the stator cover is detachably mounted on the second end of the stator shaft.

3. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 2, characterized in that: The detection mechanism comprises a first detection component, a second detection component and an encoder reading head, wherein: The first detection component and the encoder reading head are fixedly mounted on the stator housing, the second detection component is mounted on the rotating bracket, and the driving component drives the rotating bracket to rotate, thereby driving the second detection component to rotate; The encoder reading head is configured to record the rotation angle of the rotating bracket and transmit the recorded information to the driving component to control the second shell.

4. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 3, characterized in that: The first detection assembly includes a detection bracket and at least one group of photoelectric switches, wherein a first end of the detection bracket is mounted on the stator housing, and a second end of the detection bracket extends toward an end away from the stator housing, and the second detection assembly includes at least one group of photoelectric switch barriers, each of which corresponds to one of the photoelectric switches, and each of the photoelectric switches has an avoidance groove for avoiding the corresponding photoelectric switch barrier; The rotating bracket is provided with an encoder magnetic ring sleeved on the periphery of the second end of the stator shaft, and the encoder reading head is installed on the inner surface of the stator housing; When the rotating bracket rotates, the encoder magnetic ring is driven to rotate, and the encoder reading head cooperates with the encoder magnetic ring to read the rotation angle of the rotating bracket in real time, and transmits the angle information to the driving component, thereby controlling the second shell; When the second shell moves to the extreme position, the rotating bracket drives the photoelectric switch barrier to pass through the avoidance groove corresponding to the photoelectric switch, and the photoelectric switch is triggered and transmits a stop signal to the drive component, and the drive component stops working, thereby limiting the second shell.

5. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 3, characterized in that: The driving assembly includes a plurality of driving units and a control circuit board, wherein: The driving unit includes a driving motor and a reducer, wherein the driving end of the driving motor is mounted on the reducer through a motor flange, the driving end of the reducer is connected to the rotating bracket, and the reducer is configured to drive the rotating bracket to rotate. The control circuit board is mounted on the first shell, and the control circuit board is configured to receive information sent by the encoder reading head and the first detection component, and control the driving motor to start or stop according to the received information.

6. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 4, characterized in that: The photoelectric switch barriers are arranged in three groups, and the rotating bracket is arranged in a circular structure, wherein two of the photoelectric switch barriers are symmetrically arranged on the same diameter of the rotating bracket, and the remaining photoelectric switch barrier except the two symmetrically arranged photoelectric switch barriers is located between the two symmetrically arranged photoelectric switch barriers.

7. The end effector joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 1, characterized in that: A tool quick-change device is detachably provided at the end of the second shell, a first side of the tool quick-change device is detachably mounted on the second shell via a quick-change connector, and a second end of the tool quick-change device is connected to an external execution tool.

8. The end effector joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 1, characterized in that: The first shell is provided with a maintenance hole for facilitating maintenance of internal facilities, and the maintenance hole is detachably provided with a disassembly cover plate.

9. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 5, characterized in that: A placement hole for placing the control circuit board is provided on the surface of the first shell, and a protective cover is detachably mounted on the outer circle of the placement hole.

10. The end effector joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 5, characterized in that: The reducer comprises an RV reducer, a first transmission part and a second transmission part, wherein: The driving end of the driving motor is connected to the first end of the RV reducer, the second end of the RV reducer is connected to the first end of the first transmission part, the second end of the first transmission part is transmission-connected to the first end of the second transmission part, and the second end of the second transmission part is transmission-connected to the rotating bracket.

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