Sealed swing hydraulic joint and operation equipment for nuclear industry

Abstract

The sealing swing hydraulic joint comprises a joint sleeve, a fork frame, a rotary hydraulic cylinder, a sealing assembly and a wire passing hole, the joint sleeve is connected with a driving arm pipe, a cavity is formed in the joint sleeve, and the sealing assembly can seal and block an opening of the cavity in a movable and rotary mode in the axial direction of the cavity so that the sealing assembly and the joint sleeve can form a sealing cavity wrapping the rotary hydraulic cylinder. The rotary hydraulic cylinder is contained in the sealing cavity, a cylinder body and a driving end are fixedly connected with the joint sleeve and the sealing assembly respectively, the fork frame is connected with the driven arm pipe and fixedly connected with the sealing assembly, the sealing assembly serves as the hinged position of the fork frame and the joint sleeve, and under driving of the rotary hydraulic cylinder, the driven arm pipe is driven to swing relative to the driving arm pipe. The wire passing hole is an internal continuous hole formed in the joint sleeve, the sealing assembly and the fork frame so that the pipe cable can penetrate from the driving arm pipe to the driven arm pipe in a sealed mode. The joint is reasonable and ingenious in structural layout, excellent in sealing performance and easy to decontaminate and maintain. The invention further provides operation equipment for the nuclear industry.

Description

Technical Field

[0001] The present invention particularly relates to a sealed swing hydraulic joint and operating equipment for the nuclear industry. Background Art

[0002] With the continuous development of robotics technology, robots are widely used in industries such as machinery and equipment, automotive manufacturing, and healthcare. Due to the high levels of radiation and pollution in the nuclear industry, some operations must be performed remotely. Therefore, various specialized robots have also become popular in the nuclear industry in recent years. Currently, the various joints of nuclear industry robots generally use motors to drive RV reducers or harmonic reducers to drive the manipulator arm. This structure requires high hardware investment and relatively weak overload capacity for electric drives. Hydraulic drives, on the other hand, offer advantages over electric drives, such as simpler structure, higher output load capacity, and higher power-to-performance ratio, and are gradually being adopted in nuclear industry robots.

[0003] Currently, there are mechanisms that use connecting rods to drive joint movement, and there are also mechanisms that use screw nuts to drive joint movement. However, these types of joints are all open structures, and the robot's cables, pipelines, sensors and other devices are directly exposed to the environment. Therefore, when used in a highly polluted environment with a radioactive atmosphere, the internal components of the joints will be contaminated with radioactive substances, making it difficult to decontaminate them, resulting in a short service life, difficulty in maintenance, and high engineering application costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art and provide a sealed swing hydraulic joint with a reasonable and ingenious structure, excellent sealing performance and easy decontamination and maintenance. The present invention also provides an operating device for the nuclear industry.

[0005] The present invention provides a sealed swinging hydraulic joint, comprising a joint sleeve, a fork frame, a rotary hydraulic cylinder, a sealing assembly and a wire passing hole. The joint sleeve is connected to a driving arm tube and is provided with a cavity perpendicular to the axial direction of the driving arm tube. The sealing assembly is rotatable around the axial direction of the cavity to dynamically seal and block the cavity opening, so as to form a sealed chamber covering the rotary hydraulic cylinder together with the joint sleeve. The rotary hydraulic cylinder is accommodated in the sealed chamber, and the cylinder body and the driving end are fixedly connected to the joint sleeve and the sealing assembly respectively. The fork frame is connected to a driven arm tube perpendicular to the axial direction of the cavity and is fixedly connected to the sealing assembly. The sealing assembly is used as a hinge with the joint sleeve, and under the drive of the rotary hydraulic cylinder, the driven arm tube is driven to swing relative to the driving arm tube; the wire passing hole is a continuous hole opened inside the joint sleeve, the sealing assembly and the fork frame, so as to allow the pipe cable to pass through the driving arm tube to the driven arm tube in a sealed manner.

[0006] Furthermore, the joint sleeve includes a main tube and a branch tube vertically branched from the side wall of the main tube, the branch tube is used to install the driving arm tube, the fork frame includes a ring and a connecting part, the connecting part is connected to the ring, and is used to install the driven arm tube axially perpendicular to the ring, the rotary hydraulic cylinder is accommodated in the internal cavity of the main tube, the cylinder body is connected to the main tube, the driving end is located at the end of the main tube, the sealing assembly dynamically seals the end opening of the main tube to form a sealed chamber with the main tube, the built-in part of the sealing assembly that penetrates into the end opening of the main tube is connected to the driving end, and the external part outside the end opening is sleeved with the ring to transmit the rotary power of the rotary hydraulic cylinder to the fork frame to drive the driven arm tube, and the wire hole is connected from the branch tube to the sealed chamber, and then from the sealed chamber to the inside of the connecting part through the inner cavity of the sealing assembly.

[0007] Furthermore, both ends of the main cylinder are provided with openings, and two groups of collars and sealing assemblies are provided correspondingly. The two groups of sealing assemblies are respectively a driven assembly and a follower assembly. The driven assembly blocks the opening at one end of the main cylinder, the built-in part is connected to the driving end, and the external part is sleeved with the collar to transmit the rotary power to the fork frame. The follower assembly blocks the opening at the other end of the main cylinder, the built-in part can be rotatably connected to the main cylinder and maintain a gap with the rotary hydraulic cylinder, and the external part is sleeved with the collar to move synchronously with the fork frame. The follower assembly is also provided with a cable cover, and the cable cover sealing cover is sleeved on the outer side of the end of the corresponding follower assembly in the fork frame to form an inner cavity. The follower assembly is provided with a through hole connecting the sealed chamber and the inner cavity to serve as a second hole section from the sealed chamber to the inner cavity as a wire hole.

[0008] Furthermore, a radially protruding annular structure is provided on the inner side of the end opening of the main cylinder connected to the follower assembly to form a first step surface and a second step surface at the inner and outer ends of the annular structure respectively. The rotary hydraulic cylinder and the follower assembly abut against the first step surface and the second step surface respectively, so that the layered cavity corresponding to the annular structure serves as a vacant part of the sealed chamber, and the wire hole is radially opened on the annular structure from the support cylinder to the first hole section of the sealed chamber.

[0009] Furthermore, the opening of the first hole section radially penetrates the main tube and is located at the junction of the main tube and the branch tube. A radially penetrating lead hole is also provided on the branch tube corresponding to the opening of the first hole section, and the joint sleeve is provided with a sealable operating window outside the opening of the first hole section and outside the lead hole.

[0010] Furthermore, the follower assembly includes a bearing, a connecting shaft and a first sealing ring. The bearing abuts against the second step surface. The connecting shaft is a hollow shaft with a through hole in the center. One end is rotatably connected to the end opening of the main cylinder through a bearing, and the other end is provided with a folded edge formed by folding radially outward. The folded edge spans the bearing and the edge is connected to the ring. The middle part is dynamically sealed and connected to the edge of the end opening of the main cylinder through the first sealing ring to cover the bearing.

[0011] Furthermore, the connecting portion is parallel to the axial direction of the two sets of rings and is connected between the two sets of rings. An interface for connecting the driven arm tube is provided on the side away from the joint sleeve. A third hole section with a wire hole is provided inside the connecting portion. One port of the third hole section is provided on the inner side of the interface, and the other port is provided on the end face of the connecting portion, which is located inside the cable cover.

[0012] Furthermore, the driven assembly includes a driven sleeve, a pressure cover and a second sealing ring. The end face of the driven sleeve extends into the main cylinder and is connected to the driving end. The segment of the outer surface outside the main cylinder is connected to the collar. The pressure cover has an annular structure, and the outer edge is connected to the end opening edge of the main cylinder, and the inner edge is dynamically sealed and connected to the driven sleeve through the second sealing ring.

[0013] Furthermore, a first transmission wheel is sleeved on the segment on the outer surface of the driven sleeve that is inside the main cylinder, and a mounting hole that passes through the support cylinder is opened on the inner side of the end opening of the main cylinder connected to the driven assembly, and a sensor is embedded in the mounting hole. A second transmission wheel is provided on the input end of the sensor, and the second transmission wheel is connected to the first transmission wheel in transmission so that the sensor can obtain the action position of the driven arm tube relative to the driving arm tube.

[0014] Furthermore, the inner hole of the main cylinder is a stepped hole, and the rotary hydraulic cylinder is a stepped shaft with thin ends and a thick middle. The step at one end is adapted to and fixed after abutting against the stepped hole of the main cylinder, and the step at the other end and the inner surface of the main cylinder are arranged into a groove-like structure, so that fastening and fixation can be achieved by means of a fixing ring embedded in the groove.

[0015] Furthermore, the interior of the branch cylinder passes through a sealed chamber of the main cylinder, and the rotary hydraulic cylinder is installed in the sealed chamber with the cylinder joint being located in a circumferential direction at the point where the branch cylinder passes through.

[0016] Furthermore, a plurality of half pin holes are provided on the outer surface of the external part of the sealing component and the inner surface of the collar. After the sealing component and the collar are sleeved together, the half pin holes are butted against each other to form pin holes, and are fastened and fixed by inserting pins.

[0017] The present invention also provides an operating device for the nuclear industry, comprising a nuclear industry manipulator, wherein the hand and arm of the nuclear industry manipulator and / or the arm rods of the arm are connected by the above-mentioned sealed swing hydraulic joint.

[0018] The sealed swing hydraulic joint of the present invention uses a joint sleeve and a sealing assembly to construct an internal sealed chamber that is completely isolated from the external environment. The sealed chamber also accommodates the rotary hydraulic cylinder and provides a channel for the passage of pipes and cables, effectively isolating the internal key components from the external harmful atmosphere, significantly reducing the risk of device contamination and maintenance costs, and is suitable for use in special scenarios such as nuclear environments. Moreover, the components directly exposed to the environment on the outside of the joint are only simple-structured purely mechanical cover-type components such as the joint sleeve and the fork frame. Therefore, a smoother surface and a simpler form can be used depending on the requirements of the use scenario, which greatly facilitates the decontamination operation. This not only allows the joint to be safely inspected and repaired in the event of a failure, but also significantly reduces the radiation risk that maintenance personnel may face during this process.

[0019] The sealing assembly dynamically seals the joint sleeve opening, providing both a sealing function for the sleeve and a transmission component on the drive end, transferring power to the fork frame. It also serves as the hinge axis between the joint sleeve and fork frame, strictly restricting their relative swinging motion around a set rotational axis to ensure joint action. This clever structural layout allows multiple functions to be achieved within the same component. This ingenious, multifunctional integrated design significantly simplifies the joint structure, significantly reducing the number of components and potential complexity, further enhancing the joint's applicability and reliability in demanding decontamination environments.

[0020] More importantly, this joint structure solves the fundamental contradiction between the movement form and the built-in wiring of conventional sealed joints. Traditional sealed joints are limited by the interference between the wiring channel and the movement axis, and can usually only achieve pivotal connection (that is, the arm rotates around the drive shaft), making it difficult to achieve swinging movement between the arms. This joint uses a sealing component to directly seal the joint sleeve, and the sealing component itself moves synchronously with the fork frame. This unique movement correlation makes it possible to open a wire hole inside the sealing component body, thereby forming a continuous, sealed pipe and cable channel from the driving arm tube on the joint sleeve to the driven arm tube on the fork frame. The design of this channel cleverly avoids the interference path with the swinging movement of the joint, thereby ensuring the feasibility of built-in wiring of the swinging joint, providing a sealed swing joint, and providing key technical support for special environment applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 1 is a schematic structural diagram of a sealed swing hydraulic joint in Example 1 of the present invention;

[0022] Figure 2 1 is a schematic diagram of the three-dimensional structure of the joint sleeve of the sealed swing hydraulic joint in Example 1 of the present invention;

[0023] Figure 3 1 is a schematic cross-sectional view of the joint sleeve of the sealed swing hydraulic joint in Example 1 of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the fork frame of the sealed swing hydraulic joint in Example 1 of the present invention.

[0025] In the figure: 1, joint sleeve; 11, main cylinder; 111, first step surface; 112, second step surface; 113, mounting hole; 114, sensor; 115, second transmission wheel; 116,

[0026] Fixed ring; 117, belt; 12, support tube; 121, lead hole; 13, sealing chamber; 14, operating window; 141, sealing gasket; 142, cable pressure plate; 2, fork frame; 21, collar; 211, half pin hole; 212, pin; 22, connecting part; 23, interface; 3, rotary hydraulic cylinder; 31, cylinder body; 32, driving end; 33, cylinder joint; 4, sealing assembly; 41, driven assembly; 411, driven sleeve; 412, gland; 413, second sealing ring; 414, first transmission wheel; 415, gland gasket; 416, pressure plate; 42, follower assembly; 421,

[0027] Inner cavity; 422, cable cover; 423, through hole; 424, bearing; 425, connecting shaft; 426, first sealing ring; 427, folded edge; 428, third sealing ring; 429, adjustment pad; 5, driving arm tube; 51, pin shaft; 52, O-ring; 6, driven arm tube; 61, fourth sealing ring; 7, wire hole; 71, first hole section; 72, second hole section; 73, third hole section; 8, cable; 9, screw. DETAILED DESCRIPTION

[0028] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "upper" and "lower" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0030] In the description of the present invention, the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connect," "dispose," "install," "fix," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; they may refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] Example 1

[0033] The sealed swing hydraulic joint of this embodiment can be used in the field of nuclear industry remote operation technology, specifically in the field of nuclear industry robots, such as Figures 1 to 4 As shown, the joint includes a joint sleeve 1, a fork frame 2, a rotary hydraulic cylinder 3, a sealing assembly 4 and a wire hole 7. The joint sleeve 1 is connected to the driving arm tube 5, and a cavity is provided inside the joint sleeve which is axially perpendicular to the driving arm tube 5. The sealing assembly 4 can rotatably seal the cavity opening around the axial direction of the cavity to form a sealed chamber 13 covering the rotary hydraulic cylinder 3 together with the joint sleeve 1. The rotary hydraulic cylinder 3 is accommodated in the sealed chamber 13, and the cylinder body 31 and the driving end 32 are fixedly connected to the joint sleeve 1 and the sealing assembly 4 respectively. The fork frame 2 is connected to the driven arm tube 6 which is axially perpendicular to the cavity, and is fixedly connected to the sealing assembly 4, and the sealing assembly 4 is used as the hinge with the joint sleeve 1. Under the drive of the rotary hydraulic cylinder 3, the driven arm tube 6 is driven to swing relative to the driving arm tube 5; the wire hole 7 is an internal continuous hole opened in the joint sleeve 1, the sealing assembly 4 and the fork frame 2, for the cable 8 to pass through the driving arm tube 5 to the driven arm tube 6 in a sealed manner.

[0034] This embodiment uses the joint sleeve 1 and the sealing assembly 4 to construct an internal sealed chamber 13 that is completely isolated from the external environment. The sealed chamber 13 also accommodates the rotary hydraulic cylinder 3 and provides a passage for the pipe and cable 8 to pass through, effectively isolating the internal key components from the external harmful atmosphere, significantly reducing the risk of device contamination and maintenance costs, and is suitable for use in special scenarios such as nuclear environments. Moreover, the components directly exposed to the environment on the outside of the joint are only simple-structured purely mechanical cover-type components such as the joint sleeve 1 and the fork frame 2. Therefore, a smoother surface and a simpler form can be used depending on the requirements of the use scenario, which greatly facilitates the decontamination operation. This not only allows the joint to be safely inspected and repaired in the event of a failure, but also significantly reduces the radiation risk that maintenance personnel may face during this process.

[0035] The seal assembly 4 dynamically seals the opening of the joint sleeve 1, providing both a sealing function and serving as a transmission component for the drive end 32, transferring power to the fork frame 2. It also acts as the hinge between the joint sleeve 1 and the fork frame 2, strictly restricting their relative swinging motion around a predetermined axis of rotation to ensure joint motion. This clever structural layout allows the same component to achieve multiple functions. This ingenious, multifunctional integrated design significantly simplifies the joint structure, significantly reducing the number of components and potential complexity, further enhancing the joint's suitability and reliability in demanding decontamination environments.

[0036] More importantly, this joint structure solves the fundamental contradiction between the movement form and the built-in wiring of conventional sealed joints. Traditional sealed joints are limited by the interference between the wiring channel and the movement axis, and can usually only achieve pivotal connection (that is, the arm rotates around the drive shaft), making it difficult to achieve swinging movement between the arms. This joint directly seals the joint sleeve 1 with the sealing component 4, and at the same time, the sealing component 4 itself moves synchronously with the fork frame 2. This unique movement correlation makes it possible to open a wire hole inside the sealing component 4 body, thereby forming a continuous, sealed pipe and cable 8 channel from the driving arm tube 5 on the joint sleeve 1 to the driven arm tube 6 on the fork frame 2. The design of this channel cleverly avoids the interference path with the swinging movement of the joint, thereby ensuring the feasibility of the built-in wiring of the swinging joint, providing a sealed swinging joint, and providing key technical support for special environment applications.

[0037] In this embodiment, in order to facilitate the decontamination of the outer surface of the equipment in a radioactive environment, the driving arm tube 5, the driven arm tube 6, the fork frame 2, the joint sleeve 1 and other parts that come into contact with the external atmosphere are all smooth-surfaced structures, generally made of stainless steel or other corrosion-resistant materials; except for exposed parts that are made of corrosion-resistant materials, other metal parts that are not in contact with the radioactive atmosphere can be made of ordinary materials to reduce the manufacturing cost of the equipment.

[0038] In this embodiment, Figure 2 As shown, the joint sleeve 1 includes a main tube 11 and a branch tube 12 vertically branched from the side wall of the main tube 11. Specifically, it has a T-shaped structure, that is, there are two axes and the axes are orthogonal to each other (and the driving arm tube 5 can be provided with a joint to realize a double rotation axis as needed). The branch tube 12 is used to install the driving arm tube 5. Specifically, the driving arm tube 5 with a smooth and corrosion-resistant tubular structure is sleeved in the inner hole of the branch tube 12, sealed by an O-ring 52, and then fastened to the joint sleeve 1 with a T-shaped structure by fasteners such as a pin 51.

[0039] like Figure 4As shown, the fork frame 2 includes a collar 21 and a connecting portion 22. The connecting portion 22 is connected to the collar 21 and is used to mount the driven arm tube 6 axially perpendicular to the collar 21. The connecting portion 22 can be a plate-shaped member axially parallel to the collar 21 to provide a mounting docking surface for the driven arm tube 6. The connecting portion 22 can have a hole, and the screw 9 that passes through the connecting portion 22 and tightens the driven arm tube 6 is fixed to achieve fixation.

[0040] The internal cavity of the main tube 11 is set to a cylindrical structure, which not only utilizes the cylindrical shape of the rotary hydraulic cylinder 3, but also enables the sealing component 4 to realize rotary motion at the circular opening at the end of the cylindrical structure. The rotary hydraulic cylinder 3 is placed in the main tube 11 of the joint sleeve 1, the cylinder body 31 is connected to the main tube 11, the driving end 32 is located at the end of the main tube 11, and the sealing component 4 dynamically seals the end opening of the main tube 11 to form a sealed chamber 13 with the main tube 11. The built-in part of the sealing component 4 that penetrates into the end opening of the main tube 11 is connected to the driving end 32, and the external part outside the end opening is sleeved with the ring 21 to transmit the rotary power of the rotary hydraulic cylinder 3 to the fork frame 2 to drive the driven arm tube 6. The wire hole 7 is connected from the support tube 12 to the sealed chamber 13, and then from the sealed chamber 13 to the inside of the connecting part 22 through the inner cavity 421 of the sealing component 4.

[0041] In this embodiment, both ends of the main cylinder 11 are provided with openings. The collar 21 and the sealing assembly 4 are each provided with two corresponding groups, namely a driven assembly 41 and a follower assembly 42. The driven assembly 41 blocks one end opening of the main cylinder 11. Its internal portion is connected to the driving end 32, and its external portion is sleeved with the collar 21 to transmit the rotational force to the fork frame 2. The follower assembly 42 blocks the other end opening of the main cylinder 11. Its internal portion is rotatably connected to the main cylinder 11 and maintains a gap with the rotary hydraulic cylinder 3. Its external portion is sleeved with the collar 21 to move synchronously with the fork frame 2. The follower assembly 42 is further provided with a cable cover 422. The cable cover 422 is sealed and fits over the outer side of the corresponding end of the follower assembly 42 in the fork frame 2 to form an inner cavity 421. The follower assembly 42 is provided with a through hole 423 connecting the sealed chamber 13 and the inner cavity 421, serving as the second hole section 72 of the wire hole 7 from the sealed chamber 13 to the inner cavity 421.

[0042] Specifically, by providing two sets of sealing assemblies 4, the driven assembly 41 can focus on core power transmission, acting as a force-transmitting component directly connecting the drive end 32 to the fork frame 2, avoiding complex intermediaries or potential energy loss along the power transmission path. The follower assembly 42 not only performs a critical support function, but because it is not involved in power transmission, the portion of the follower assembly 42 that extends into the sealed chamber 13 maintains a non-contact state with the rotary hydraulic cylinder 3 fixed to the main barrel 11. The naturally formed gap between the two provides space for the duct 8 to pass through the main barrel 11. The follower assembly 42's own structure (particularly the through-hole 423) directly forms the key passageway for the duct 8 to pass through the sealed chamber 13 to the inner cavity 421 of the external duct cover 422. This design decouples power transmission and the routing of the cable tube 8 in terms of physical space and function. This not only completely eliminates the interference risk and reliability hidden dangers caused by the force, vibration or complicated sealing requirements of the cable tube 8 at the transmission end, but also simplifies the structure of the transmission end to the greatest extent to optimize performance. At the same time, it ensures that the built-in routing is in an independent channel that is protected and not subject to transmission disturbances throughout the swing process, significantly improving the overall performance and reliability of the joint in terms of sealing, swinging and built-in integrated wiring.

[0043] In this embodiment, Figure 3 As shown, a radially protruding annular structure is provided on the inner side of the end opening of the main cylinder 11 connected to the follower assembly 42, or in other words, the main cylinder 11 is a stepped hole with large diameters at both ends and a small diameter in the middle at this end. The annular structure is a natural step structure formed by the small diameter section in the middle, so that a first step surface 111 and a second step surface 112 are formed at the inner and outer ends of the annular structure respectively. The rotary hydraulic cylinder 3 and the follower assembly 42 are respectively abutted on the first step surface 111 and the second step surface 112, not only using each step surface as an axial positioning basis to achieve fixation, but also separating the rotary hydraulic cylinder 3 and the follower assembly 42. The corresponding layered cavity serves as a vacant part of the sealed chamber 13, and the wire hole 7 is connected from the support cylinder 12 to the first hole section 71 of the sealed chamber 13 and is radially opened on the annular structure, so that the cable is connected from the support cylinder 12 to the vacant part.

[0044] In this embodiment, to ensure stable joint swing, the fork frame 2 pivots to connect to the joint sleeve 1 from both sides. To prevent interference with the collar 21, the branch tube 12 is positioned centrally within the main tube 11. When the drive arm tube 5 has a larger diameter, the opening of the first hole section 71 radially penetrates the main tube 11 and can be released directly into the branch tube 12. However, when the drive arm tube 5 has a smaller diameter, the umbilical cable 8 may need to be routed in a zigzag pattern to exit from the central branch tube 12 to the end cavity. However, the inherent flexibility of the umbilical cable 8 makes directional control difficult. Therefore, this embodiment proposes the following specific structure:

[0045] The opening of the first hole section 71 penetrates the main cylinder 11 radially and is located at the connection between the main cylinder 11 and the support cylinder 12. A radially penetrating lead hole 121 is provided on the support cylinder 12 corresponding to the opening of the first hole section 71. An operable window 14 that can be sealed is provided outside the opening of the first hole section 71 and outside the lead hole 121 of the joint sleeve 1. That is, the internal hole that should be set as a zigzag structure conventionally is "broken" to form two straight holes, and the openings of the two are sealed through the window. Not only can the cable 8 be led out from the lead hole 121 to the first hole section 71 through the operation of the operation window 14, but also the sealing of the wire passing can be ensured.

[0046] In this embodiment, a gasket 141 and a cable pressing plate 142 are provided at the operation window 14. The gasket 141 is padded between the opening edge of the operation window 14 and the cable pressing plate 142. The cable pressing plate 142 presses the operation window 14 and is fastened by screws 9.

[0047] In this embodiment, the follower assembly 42 includes a bearing 424, a connecting shaft 425, and a first sealing ring 426. The bearing 424 abuts against the second step surface 112. An adjusting pad 429 can be padded between the bearing 424 and the second step surface 112. The connecting shaft 425 is a hollow shaft with a through hole 423 in the center (both ends of the through hole 423 have rounded corners). One end is rotatably connected to the end opening of the main cylinder 11 through the bearing 424, and the other end is provided with a folded edge 427 that is folded outward radially. The folded edge 427 straddles the bearing 424 and its edge is connected to the collar 21. The middle part is dynamically sealed to the edge of the end opening of the main cylinder 11 through the first sealing ring 426 (an annular groove for embedding the first sealing ring 426 is provided at the edge of the end opening of the main cylinder 11) to cover the bearing 424. That is, the connecting shaft 425 with the folded edge 427 can not only achieve the rotary connection, but also seal and cover the bearing, and seal and press the first sealing ring 426, and at the same time connect the fork 2, achieving multiple functions with a clever structural design.

[0048] In this embodiment, as Figure 4 shown, the connecting part 22 is parallel to the axial directions of the two groups of collars 21 and is connected between the two groups of collars 21. Looking from a certain side, the fork forms a "U" - shaped structure that semi - surrounds the joint sleeve 1. This structure not only meets the requirements of the appropriate swinging range of the swing joint but also ensures the stability of the rotary motion. The connecting part 22 of this embodiment is in a plate shape. On the side away from the joint sleeve 1 (in the plane), an interface 23 for connecting the driven arm tube 6 is provided. A third hole section 73 of the wire - passing hole 7 is opened inside the connecting part 22. One port of the third hole section 73 is opened inside the interface 23, and the other port is opened on the end face of the connecting part 22 and is located inside the cable cover 422, realizing the sealed wire - passing of the cable 8 from the inner cavity 421 to the driven arm tube 6. The driven arm tube 6 is sleeved outside the interface 23, and can be connected to the interface 23 through concentric step cooperation and sealed by screws 9 and the fourth sealing ring 61.

[0049] In this embodiment, the driven assembly 41 includes a driven sleeve 411, a pressure cover 412 and a second sealing ring 413. The end face of the driven sleeve 411 extends into the main cylinder 11 and is connected to the driving end 32. The segment of the outer surface outside the main cylinder 11 is connected to the collar 21. The pressure cover 412 has an annular structure, and the outer edge is connected to the end opening edge of the main cylinder 11, and the inner edge is dynamically sealed and connected to the driven sleeve 411 through the second sealing ring 413.

[0050] Specifically, a step is provided on the end surface of the driving end 32, and the driven sleeve 411 has a blind hole structure. The step of the driving end 32 is clamped on the inner hole, and the concentric step connection ensures its coaxiality. The screw 9 that axially penetrates the driven sleeve 411 and tightens the driving end 32 is used to achieve fixation. The main cylinder 11 has a screw hole on the end surface, and the screw 9 is used to fix the gland 412 and a gland gasket 415 to the main cylinder 11. At the same time, a lip seal ring is installed between the gland 412 and the driven sleeve 411 as a second seal ring 413. The lip seal ring is fixed to the gland 412 by the active cover screw 9 and the pressure plate 416 set on the end of the gland 412 facing the collar 21, achieving radial sealing.

[0051] In this embodiment, a first transmission wheel 414 is further sleeved on the segment on the outer surface of the driven sleeve 411 that is located inside the main cylinder 11. A mounting hole 113 that passes through to the support cylinder 12 is opened on the inner side of the end opening of the main cylinder 11 connected to the driven assembly 41. A sensor 114 is embedded in the mounting hole 113. The sensor 114 adopts a rotary transformer. A second transmission wheel 115 is provided on the input end of the sensor 114. The second transmission wheel 115 is transmission-connected to the first transmission wheel 414 so that the sensor 114 can obtain the action position of the driven arm tube 6 relative to the driving arm tube 5.

[0052] Specifically, a first transmission wheel 414, or large wheel, is mounted on a concentrically mating step on the outer surface of the driven sleeve 411 via screws 9. A rotary transformer with a second transmission wheel 115, or small wheel, is mounted in a hole in the main cylinder 11 near the drive arm tube 5. A chain or belt 117 transmits power between the large wheel and the small wheel of the rotary transformer to accurately measure the rotation angle. Compared to conventional detection structures that are installed on the cylinder axis and use brushes and other components to obtain a 1:1 ratio of cylinder rotation angle, this embodiment uses an offset detection structure, which can indirectly improve the position detection accuracy of the hydraulic cylinder and achieve high-precision control of the joint position while not interfering with the swinging motion. Furthermore, the rotary transformer is positioned so that it is both inside the joint and connected to the interior of the support cylinder 12, enabling wiring from the interior of the drive arm tube 5 to output the detection signal or draw power from the outside.

[0053] In this embodiment, the inner hole of the main cylinder 11 is a stepped hole, and the rotary hydraulic cylinder 3 is a stepped shaft with thin ends and a thick middle. The outer diameter of the main body of the rotary hydraulic cylinder 3 in the middle is consistent with the inner diameter of the main cylinder 11 in the middle. The step at one end is adapted to and abuts against the stepped hole (first step surface 111) of the main cylinder 11 and is fixed by screw 9 (a countersunk hole is provided on the step of the stepped hole of the main cylinder 11, or on the annular structure forming the first step surface 111, to accommodate the head of the screw 9). The step is used to achieve axial and circumferential concentric limiting; the step at the other end and the inner surface of the main cylinder 11 are arranged into a groove-like structure, which is fastened and fixed by a fixing ring 116 embedded in the groove and screw 9. This structure makes it easy to install and fix the rotary hydraulic cylinder 3 along the axial direction of the main cylinder 11.

[0054] In this embodiment, the interior of the support tube 12 extends through the sealed chamber 13 of the main tube 11. The rotary hydraulic cylinder 3 is an oil cylinder, and is installed in the sealed chamber 13 with the oil cylinder joint 33 positioned circumferentially at the point where the support tube 12 extends. This allows cables connecting the oil cylinder joint 33 to the outside to pass through the drive arm tube 5.

[0055] In this embodiment, a plurality of half pin holes 211 are provided on the outer surface of the external portion of the seal assembly 4 and the inner surface of the collar 21. When the seal assembly 4 and collar 21 are sleeved together, the half pin holes 211 abut against each other to form pin holes, which are then secured by inserting pins 212. Specifically, the collar 21 can be secured to the driven sleeve 411 and the connecting shaft 425 using active pins, which achieves circumferential fixation and facilitates installation and removal.

[0056] In this embodiment, the atmosphere-isolating gland gasket 415, the gasket 141, the third sealing ring 428 between the duct cover 422 and the fork frame 2, and the fourth sealing ring 61 between the driven arm tube 6 and the fork frame 2 are flat gaskets or O-rings, the first sealing ring 426 is a C-shaped sealing ring or other rotating end face sealing ring, and the second sealing ring 413 is a lip sealing ring or other sealing ring for a rotating shaft. The above-mentioned sealing rings, gaskets, etc. are generally made of acid and alkali resistant materials with a certain degree of radiation resistance.

[0057] In general, the purpose of this embodiment is to solve the problem of high operating costs in the nuclear industry caused by the open structure of existing hydraulic manipulators, provide a swing motion sealing joint with a compact hydraulic drive structure, and provide a robot and manipulator including the joint in Example 2.

[0058] The joint mainly connects the driving arm tube 5 with a smooth and corrosion-resistant surface and the driven arm tube 6 with a smooth and corrosion-resistant surface. The joint includes a joint sleeve 1 with a smooth and corrosion-resistant surface and a fork frame 2. A hollow hydraulic cylinder is installed in the joint sleeve 1. The driven sleeve 411 is connected to the output end of the hydraulic cylinder by a screw 9. The driven sleeve 411 is connected to the driven arm tube 6 by the fork frame 2, so that the driven arm tube 6 can swing around the axis of the joint sleeve 1. The flexibility of the driven arm tube 6 channel, hydraulic oil pipe and cable is utilized to realize the transmission of hydraulic oil pipe and cable during the swinging process. Specifically, the hydraulic pipe and cable coming from the driving arm tube 5 use their flexibility to pass through the channel of the joint sleeve 1 and the connecting shaft 425, and enter the driven arm tube 6 along the outside of the fork frame 2 through the channel of the fork frame 2. A pipe and cable cover 422 is installed on the outside of the connecting shaft 425 by screws 9 and a third sealing ring 428 to seal the hydraulic pipe and cable inside the joint.

[0059] The outer shape utilizes the cylindrical structure characteristics of the hydraulic cylinder to directly install it in the joint sleeve 1, directly driving to improve the transmission efficiency, and can be applied to various types of robotic arms; the flexibility of the cable 8 is utilized to lay the cable 8 from the driving arm tube 5 to the driven arm tube 6, thereby improving the utilization rate of the structural space in the arm tube, simplifying the joint structure and making the outer shape more compact.

[0060] During use, the driving arm tube 5 and the joint sleeve 1 remain relatively stationary. When hydraulic oil is passed through the hydraulic cylinder, the hydraulic cylinder and the driven sleeve 411 rotate relative to each other. Since one end of the fork frame 2 is connected to the driven sleeve 411 via a driving pin, the hydraulic cylinder, the driven sleeve 411, the fork frame 2, and the driven arm tube 6 rotate relative to each other. The other end of the fork frame 2 is connected to the connecting shaft 425 via a pin. Supported by the bearing 424, the connecting shaft 425 rotates together with the umbilical cable cover 422. The rotational seal of the joint during the swinging process is achieved by the first sealing ring 426 and the second sealing ring 413. Due to the limited relative swing angle, the umbilical cable 8 can freely twist within the joint sleeve 1 due to its flexibility during the relative swinging of the driving arm tube 5 and the driven arm tube 6, thus achieving the transmission of hydraulic pressure and electrical power during the relative motion. Therefore, with this structure, during the relative swinging process, except for the exposed parts such as the driving arm tube 5, the driven arm tube 6, the fork frame 2, and the joint sleeve 1, the umbilical cable 8 and other components are protected inside the joint to prevent surface contamination and difficult removal in nuclear environments.

[0061] The swing joint features a smooth, rotating cylindrical structure. During relative swinging, a combination of lip seals, O-rings, and flat washers isolates internal transmission components from the external atmosphere. This allows the smooth, corrosion-resistant exterior components to come into contact with the radioactive atmosphere, making them easier to clean and reducing equipment costs. To accurately detect the hydraulic cylinder's rotational angle in a radioactive environment, a rotary transformer is placed between the relatively rotating components. The hydraulic cylinder's rotational angle is transmitted to the rotary transformer via a chain or belt 117. The rotary transformer is then offset using a belt or chain drive. The large wheel and the rotary transformer's small wheel increase the speed of the transmission, indirectly improving the position detection accuracy of the hollow rotary hydraulic cylinder and achieving precise control of the joint's position.

[0062] Example 2

[0063] The nuclear industry operating equipment of this embodiment includes a nuclear industry manipulator, and the hand and arm of the nuclear industry manipulator and / or the arm rods of the arm are connected by the sealed swing hydraulic joint in Example 1.

[0064] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A sealed swing hydraulic joint, characterized in that: It comprises a joint sleeve (1), a fork frame (2), a rotary hydraulic cylinder (3), a sealing component (4) and a wire hole (7). The joint sleeve (1) is connected to the drive arm tube (5) and has a cavity inside that is perpendicular to the axial direction of the drive arm tube (5). The sealing component (4) is rotatable around the axial direction of the cavity to dynamically seal and block the cavity opening, so as to form a sealed chamber (13) covering the rotary hydraulic cylinder (3) together with the joint sleeve (1). The rotary hydraulic cylinder (3) is accommodated in the sealed chamber (13), and the cylinder body (31) and the driving end (32) are fixedly connected to the joint sleeve (1) and the sealing assembly (4) respectively. The fork frame (2) is connected to a driven arm tube (6) perpendicular to the cavity axis and fixedly connected to a sealing assembly (4). The sealing assembly (4) serves as a hinge point with the joint sleeve (1). Under the drive of the rotary hydraulic cylinder (3), the driven arm tube (6) is driven to swing relative to the driving arm tube (5); The wire hole (7) is an internal continuous hole opened in the joint sleeve (1), the sealing component (4) and the fork frame (2) for allowing the cable (8) to pass through the driving arm tube (5) to the driven arm tube (6) in a sealed manner.

2. The sealed swing hydraulic joint according to claim 1, characterized in that: The joint sleeve (1) comprises a main tube (11) and a branch tube (12) vertically branched from the side wall of the main tube (11), and the branch tube (12) is used to install the drive arm tube (5). The fork frame (2) comprises a collar (21) and a connecting portion (22). The connecting portion (22) is connected to the collar (21) and is used to install a driven arm tube (6) axially perpendicular to the collar (21). The rotary hydraulic cylinder (3) is accommodated in the inner cavity of the main cylinder (11), the cylinder body (31) is connected to the main cylinder (11), and the driving end (32) is located at the end of the main cylinder (11). The sealing assembly (4) dynamically seals the end opening of the main cylinder (11) to form a sealed chamber (13) with the main cylinder (11). The sealing assembly (4) extends into the internal portion of the end opening of the main cylinder (11) to connect with the driving end (32), and the external portion outside the end opening is sleeved with the collar (21) to transmit the rotary power of the rotary hydraulic cylinder (3) to the fork frame (2) to drive the driven arm tube (6). The wire hole (7) is connected from the support tube (12) to the sealed chamber (13), and then connected from the sealed chamber (13) to the interior of the connecting portion (22) via the inner cavity (421) of the sealing component (4).

3. The sealed swing hydraulic joint according to claim 2, characterized in that: Both ends of the main cylinder (11) are provided with openings, and the collar (21) and the sealing assembly (4) are provided with two groups respectively, and the two groups of sealing assemblies (4) are respectively a driven assembly (41) and a follower assembly (42). The driven component (41) blocks one end opening of the main cylinder (11), the internal part is connected to the driving end (32), and the external part is sleeved with the collar (21) to transmit the rotary power to the fork frame (2). The follower assembly (42) blocks the other end opening of the main cylinder (11), the internal part can be rotatably connected to the main cylinder (11) and maintains a gap with the rotary hydraulic cylinder (3), and the external part is sleeved with the collar (21) to move synchronously with the fork frame (2). The follower assembly (42) is further provided with a cable cover (422). The cable cover (422) is sealed and sleeved on the outer side of the end portion corresponding to the follower assembly (42) in the fork frame (2) to form an inner cavity (421). The follower assembly (42) is provided with a through hole (423) communicating with the sealed chamber (13) and the inner cavity (421), serving as a second hole section (72) of the wire hole (7) from the sealed chamber (13) to the inner cavity (421).

4. The sealed swing hydraulic joint according to claim 3, characterized in that: The main cylinder (11) is connected to the follower assembly (42) at the inner side of the end opening thereof, and a radially protruding annular structure is provided, so as to form a first step surface (111) and a second step surface (112) at the inner and outer ends of the annular structure respectively. The rotary hydraulic cylinder (3) and the follower assembly (42) are respectively in contact with the first step surface (111) and the second step surface (112), so that the layered cavity corresponding to the annular structure serves as an empty part of the sealed chamber (13). The first hole section (71) of the wire hole (7) connecting from the support tube (12) to the sealing chamber (13) is radially opened on the annular structure.

5. The sealed swing hydraulic joint according to claim 4, characterized in that: The opening of the first hole section (71) radially penetrates the main tube (11) and is located at the junction of the main tube (11) and the branch tube (12). A radially penetrating lead hole (121) is further provided on the support tube (12) at the opening corresponding to the first hole section (71). The joint sleeve (1) is provided with a blockable operation window (14) outside the opening of the first hole section (71) and outside the lead hole (121).

6. The sealed swing hydraulic joint according to claim 4, characterized in that: The follower assembly (42) includes a bearing (424), a connecting shaft (425) and a first sealing ring (426). The bearing (424) abuts against the second step surface (112). The connecting shaft (425) is a hollow shaft with a through hole (423) at the center. One end is rotatably connected to the end opening of the main cylinder (11) through a bearing (424). The other end is provided with a folded edge (427) formed by folding radially outward. The folded edge (427) spans the bearing (424) and the edge is connected to the collar (21). The middle part is dynamically sealed and connected to the edge of the end opening of the main cylinder (11) through a first sealing ring (426) to cover the bearing (424).

7. The sealed swing hydraulic joint according to claim 3, characterized in that: The connecting portion (22) is parallel to the axial direction of the two sets of collars (21) and is connected between the two sets of collars (21). An interface (23) for connecting to the driven arm tube (6) is provided on the side away from the joint sleeve (1). A third hole section (73) for a wire hole (7) is provided inside the connecting portion (22). One end of the third hole section (73) is provided inside the interface (23), and the other end is provided on the end surface of the connecting portion (22) and is located inside the cable cover (422).

8. The sealed swing hydraulic joint according to claim 3, characterized in that: The driven assembly (41) includes a driven sleeve (411), a gland (412) and a second sealing ring (413). The end face of the driven sleeve (411) is inserted into the main cylinder (11) and connected to the driving end (32), and the segment outside the main cylinder (11) in the outer surface is connected to the collar (21). The gland (412) is an annular structure, and its outer edge is connected to the end opening edge of the main cylinder (11), and its inner edge is dynamically sealed to the driven sleeve (411) via a second sealing ring (413).

9. The sealed swing hydraulic joint according to claim 8, characterized in that: A first transmission wheel (414) is also sleeved on the segment of the outer surface of the driven sleeve (411) located inside the main cylinder (11). A mounting hole (113) is provided on the inner side of an opening of the end portion of the main cylinder (11) connected to the driven assembly (41) and penetrating into the support cylinder (12). A sensor (114) is embedded in the mounting hole (113). A second transmission wheel (115) is provided on the input end of the sensor (114). The second transmission wheel (115) is transmission-connected to the first transmission wheel (414) so that the sensor (114) can obtain the action position of the driven arm tube (6) relative to the driving arm tube (5).

10. The sealed swing hydraulic joint according to claim 2, characterized in that: The inner hole of the main cylinder (11) is a stepped hole. The rotary hydraulic cylinder (3) is a stepped shaft with thin ends and a thick middle, and the step at one end is adapted to and abuts against the stepped hole of the main cylinder (11) and is fixed thereto, while the step at the other end and the inner surface of the main cylinder (11) are arranged to form a groove structure, so as to achieve fastening and fixation through a fixing ring (116) embedded in the groove.

11. The sealed swing hydraulic joint according to claim 2, characterized in that: The interior of the branch cylinder (12) passes through the sealed chamber (13) of the main cylinder (11). The rotary hydraulic cylinder (3) is installed in the sealed chamber (13) with the cylinder joint (33) located in the circumferential direction of the through-hole of the support cylinder (12).

12. The sealed swing hydraulic joint according to claim 2, characterized in that: A plurality of half pin holes (211) are provided on the outer surface of the outer portion of the sealing assembly (4) and the inner surface of the collar (21). After the sealing assembly (4) and the collar (21) are sleeved together, the half pin holes (211) are butted against each other to form a pin hole, and are fastened and fixed by inserting a pin (212).

13. An operating device for the nuclear industry, characterized in that: The invention comprises a nuclear industry manipulator, wherein the hand and arm of the nuclear industry manipulator and / or the arm rods of the arm are connected by a sealed swing hydraulic joint according to any one of claims 1 to 12.

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