Sealed swing hydraulic joint and nuclear industry handling device

Abstract

This invention discloses a sealed swing hydraulic joint, comprising a joint sleeve, a fork, a rotary hydraulic cylinder, a sealing assembly, and a cable passage hole. The joint sleeve is connected to the drive arm tube and has an internal cavity. The sealing assembly can rotate axially around the cavity to dynamically seal the cavity opening, forming a sealed chamber with the joint sleeve that covers the rotary hydraulic cylinder. The rotary hydraulic cylinder is housed within the sealed chamber. The cylinder body and the drive end are respectively fixedly connected to the joint sleeve and the sealing assembly. The fork is connected to the driven arm tube and fixedly connected to the sealing assembly, which serves as the hinge point with the joint sleeve. Driven by the rotary hydraulic cylinder, the driven arm tube swings relative to the drive arm tube. The cable passage hole is a continuous hole formed inside the joint sleeve, sealing assembly, and fork, allowing the cable to pass through the sealed drive arm tube to the driven arm tube. The joint structure of this invention has a reasonable and ingenious layout, excellent sealing performance, and is easy to clean and maintain. This invention also provides an operating device for the nuclear industry.

Description

Technical Field

[0001] This invention specifically relates to a sealed swing hydraulic joint and an operating device for the nuclear industry. Background Technology

[0002] With the continuous development of robotics technology, robots are widely used in industries such as machinery equipment, automobile manufacturing, and medicine. Due to the highly radioactive and polluting nature of the nuclear industry, some operations must be performed remotely. Therefore, various specialized robots have become increasingly common in the nuclear industry in recent years. Currently, the various moving joints of nuclear industry robots generally use motors to drive RV reducers or harmonic reducers to move the robotic arm. This structural form has two main drawbacks: high hardware investment and relatively weak overload capacity. Hydraulic drives, compared to electric drives, have advantages such as simpler structure, stronger output load capacity, and higher power ratio, and are gradually being applied in nuclear industry robots.

[0003] Currently, there are mechanisms that use linkages to drive joint movement, as well as mechanisms that use lead screws and nuts to drive joint movement. However, all of these joint types are open structures, and the robot's cables, pipelines, sensors, and other devices are directly exposed to the environment. Therefore, when used in highly polluted environments with radioactive atmospheres, the internal components of the joints will become contaminated with radioactive substances, making them difficult to clean. This results in problems such as short service life, difficulty in maintenance, and high engineering application costs. Summary of the Invention

[0004] The technical problem to be solved by this invention is to address the aforementioned shortcomings in the prior art by providing a sealed, oscillating hydraulic joint. This joint has a reasonable and ingenious structural layout, excellent sealing performance, and is easy to clean and maintain. This invention also provides an operating device for the nuclear industry.

[0005] This invention provides a sealed swing hydraulic joint, including a joint sleeve, a fork, a rotary hydraulic cylinder, a sealing assembly, and a cable passage hole. The joint sleeve is connected to a drive arm tube and has an internal cavity perpendicular to the axial direction of the drive arm tube. The sealing assembly is rotatably sealed around the cavity opening to form a sealed chamber covering the rotary hydraulic cylinder together with the joint sleeve. The rotary hydraulic cylinder is housed in the sealed chamber. The cylinder body and the drive end are respectively fixedly connected to the joint sleeve and the sealing assembly. The fork is connected to a driven arm tube perpendicular to the axial direction of the cavity and is fixedly connected to the sealing assembly, which serves as a hinge point with the joint sleeve. Driven by the rotary hydraulic cylinder, the driven arm tube swings relative to the drive arm tube. The cable passage hole is a continuous hole formed inside the joint sleeve, the sealing assembly, and the fork, allowing the cable to pass through from the drive arm tube to the driven arm tube.

[0006] Furthermore, the joint sleeve includes a main cylinder and a branch cylinder that branches vertically from the side wall of the main cylinder. The branch cylinder is used to install the drive arm tube. The fork includes a collar and a connecting part. The connecting part is connected to the collar and is used to install the driven arm tube that is axially perpendicular to the collar. The rotary hydraulic cylinder is housed in the internal cavity of the main cylinder. The cylinder body is connected to the main cylinder. The drive end is located at the end of the main cylinder. The sealing assembly dynamically seals the end opening of the main cylinder to form a sealed chamber with the main cylinder. The internal part of the sealing assembly that extends into the end opening of the main cylinder is connected to the drive end. The external part that is outside the end opening is sleeved with the collar to transmit the rotary power of the rotary hydraulic cylinder to the fork to drive the driven arm tube. The cable hole connects from the branch cylinder to the sealed chamber and then from the sealed chamber to the inside of the connecting part via the inner cavity of the sealing assembly.

[0007] Furthermore, both ends of the main cylinder are provided with openings, and two sets of collars and sealing components are provided accordingly. The two sets of sealing components are a driven component and a follower component, respectively. The driven component blocks one end opening of the main cylinder, the internal part is connected to the drive end, and the external part is fitted with a collar to transmit the rotational power to the fork. The follower component blocks the other end opening of the main cylinder, the internal part is rotatably connected to the main cylinder and maintains a gap with the rotational hydraulic cylinder, and the external part is fitted with a collar to move synchronously with the fork. The follower component is also provided with a cable cover, and the cable cover is fitted on the outside of the end of the follower component in the fork to form an inner cavity. The follower component is provided with a through hole connecting the sealed chamber and the inner cavity to serve as the second hole section from the sealed chamber to the inner cavity for the cable.

[0008] Furthermore, the inner side of the end opening of the main cylinder connected to the follower assembly is provided with a radially protruding annular structure, so as 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 the empty part of the sealed chamber. The wire hole is radially opened on the annular structure from the first hole section connecting the support cylinder to the sealed chamber.

[0009] Furthermore, the opening of the first hole section penetrates the main cylinder radially and is located at the junction of the main cylinder and the support cylinder. The support cylinder is also provided with a radially penetrating lead wire hole corresponding to the opening of the first hole section. The joint sleeve is provided with a sealable operation window outside the opening of the first hole section and outside the lead wire 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 the bearing. The other end is provided with a flange formed by folding outward in a radial direction. The flange crosses the bearing and its edge is connected to the collar. The middle part is dynamically sealed to the edge of the end opening of the main cylinder through the first sealing ring to cover the bearing.

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

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

[0013] Furthermore, a first transmission wheel is also fitted on the segment inside the main cylinder on the outer surface of the driven sleeve. An installation hole is opened inside the end opening of the main cylinder connected to the driven component, which extends into the support cylinder. A sensor is embedded in the installation hole. A second transmission wheel is provided on the input end of the sensor. The second transmission wheel is connected to the first transmission wheel so that the sensor can obtain the movement 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 that is thin at both ends and thick in the middle. One end of the step is adapted to and abuts against the stepped hole of the main cylinder and is then fixed. The other end of the step and the inner surface of the main cylinder form a groove-like structure, so as to achieve fastening and fixing by a fixing ring embedded in the groove.

[0015] Furthermore, the support cylinder has a sealed chamber that extends through the main cylinder, and the rotary hydraulic cylinder is installed in the sealed chamber with its cylinder joint positioned circumferentially at the point through which the support cylinder extends.

[0016] Furthermore, the outer surface of the external part of the sealing component and the inner surface of the collar are provided with multiple half pin holes. After the sealing component and the collar are sleeved, the half pin holes are connected to each other to form a pin hole, and the pin is inserted to achieve fastening and fixation.

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

[0018] The sealed swing hydraulic joint of this invention utilizes a joint sleeve and sealing components to construct an internal sealed chamber completely isolated from the external environment. This sealed chamber simultaneously accommodates the rotary hydraulic cylinder and provides a passage for cables, effectively isolating critical internal components from harmful external atmospheres. This significantly reduces the risk of component contamination and maintenance costs, making it suitable for use in special environments such as nuclear facilities. Furthermore, the only external components directly exposed to the environment are simple mechanical enclosures such as the joint sleeve and fork, allowing for smoother surfaces and simpler shapes depending on the application requirements, greatly facilitating decontamination operations. This not only enables safe maintenance and repair of the joint in case of malfunction but also significantly reduces the radiation risk faced by maintenance personnel during the process.

[0019] The sealing component seals the joint sleeve opening through a dynamic seal, providing a sealing cover function, acting as a transmission component at the drive end to connect and transmit power to the fork, and serving as a hinge axis between the joint sleeve and the fork, strictly constraining their relative oscillation movement only around a set rotation axis to ensure joint operation. This ingenious structural layout achieves multiple functions through a single component. This clever multi-functional integrated design significantly simplifies the joint structure, greatly reducing the number of parts and potential complexity, further enhancing the joint's applicability and reliability in demanding cleaning environments.

[0020] Most importantly, this joint structure resolves the fundamental contradiction between the motion mode and internal wiring in conventional sealed joints. Traditional sealed joints are limited by the interference between the wiring channel and the motion axis, typically only enabling pivoting (i.e., the boom rotates around the drive shaft), making it difficult to achieve swinging motion between the booms. This joint, however, uses a sealing component to directly and dynamically seal the joint sleeve, while the sealing component itself moves synchronously with the fork. This unique motion correlation makes it possible to create a wiring hole inside the sealing component, thus forming a continuous, sealed cable channel from the drive boom tube on the joint sleeve to the driven boom tube on the fork. The design of this channel cleverly avoids interference paths with the joint's swinging motion, thereby ensuring the feasibility of internal wiring in the swinging joint. This provides a sealed swinging joint, offering crucial technical support for applications in special environments. Attached Figure Description

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

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

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

[0024] Figure 4 This is a schematic diagram of the structure of the fork frame of the sealed swing hydraulic joint in Embodiment 1 of the present invention.

[0025] In the diagram: 1. Joint sleeve; 11. Main cylinder; 111. First stepped surface; 112. Second stepped surface; 113. Mounting hole; 114. Sensing element; 115. Second transmission wheel; 116.

[0026] 1. Fixed ring; 117. Belt; 12. Support cylinder; 121. Lead wire hole; 13. Sealing chamber; 14. Operating window; 141. Sealing gasket; 142. Cable clamping plate; 2. Fork bracket; 21. Collar; 211. Half pin hole; 212. Pin; 22. Connecting part; 23. Interface; 3. Rotary hydraulic cylinder; 31. Cylinder body; 32. Drive end; 33. Cylinder connector; 4. Sealing assembly; 41. Driven assembly; 411. Driven sleeve; 412. Pressure cap; 413. Second sealing ring; 414. First transmission wheel; 415. Pressure cap sealing gasket; 416. Pressure plate; 42. Follower assembly; 421.

[0027] 422. Inner cavity; 423. Cable cover; 424. Through hole; 425. Bearing; 426. Connecting shaft; 427. First sealing ring; 428. Folded edge; 429. Third sealing ring; 420. Adjusting shim; 5. Drive arm tube; 51. Pin; 52. O-ring; 6. Driven arm tube; 61. Fourth sealing ring; 7. Cable hole; 71. First hole section; 72. Second hole section; 73. Third hole section; 8. Cable; 9. Screw. Detailed Implementation

[0028] The technical solutions of the invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without creative effort are within the scope of the invention.

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

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

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "setting," "installation," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] Example 1

[0033] The sealed swing hydraulic joint of this embodiment can be used in the field of remote operation technology in the nuclear industry, 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 2, a rotary hydraulic cylinder 3, a sealing assembly 4, and a cable passage hole 7. The joint sleeve 1 is connected to the drive arm tube 5 and has a cavity inside that is perpendicular to the axis of the drive arm tube 5. The sealing assembly 4 can rotate around the cavity axis to seal 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 housed in the sealed chamber 13. The cylinder body 31 and the drive end 32 are respectively fixedly connected to the joint sleeve 1 and the sealing assembly 4. The fork 2 is connected to the driven arm tube 6 that is perpendicular to the axis of the cavity and is fixedly connected to the sealing assembly 4. The sealing assembly 4 serves as the hinge point with the joint sleeve 1. Under the drive of the rotary hydraulic cylinder 3, the driven arm tube 6 swings relative to the drive arm tube 5. The cable passage hole 7 is a continuous hole opened inside the joint sleeve 1, the sealing assembly 4, and the fork 2, so that the cable 8 can pass through the drive arm tube 5 to the driven arm tube 6.

[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. This sealed chamber 13 simultaneously accommodates the rotary hydraulic cylinder 3 and provides a passage for the cable 8, effectively isolating the internal critical components from the external harmful atmosphere, significantly reducing the risk of component contamination and maintenance costs, and making it suitable for use in special scenarios such as nuclear environments. Furthermore, the components directly exposed to the environment on the outside of the joint are only simple, purely mechanical protective structures such as the joint sleeve 1 and the fork 2. Therefore, smoother surfaces and simpler shapes can be adopted depending on the application scenario, greatly facilitating decontamination operations. This not only allows for safe inspection and maintenance of the joint in case of failure but also significantly reduces the radiation risk that maintenance personnel may face during the process.

[0035] The sealing component 4 seals the opening of the joint sleeve 1 through a dynamic seal, providing both a sealing cover function and serving as a transmission component of the drive end 32 to connect and transmit power to the fork 2. It also acts as a hinge axis between the joint sleeve 1 and the fork 2, strictly constraining their relative oscillation motion only around a set rotation axis to ensure joint movement. This ingenious structural layout achieves multiple functions through a single component. This clever multi-functional integrated design significantly simplifies the joint structure, greatly reducing the number of components and potential complexity, further enhancing the joint's applicability and reliability in demanding cleaning environments.

[0036] Most importantly, this joint structure resolves the fundamental contradiction between the motion mode and the internal wiring in conventional sealed joints. Traditional sealed joints are limited by the interference between the wiring channel and the motion axis, typically only achieving pivot connection (i.e., the arm rotates around the drive shaft), making it difficult to achieve swinging motion between the arms. This joint, however, uses a sealing component 4 to directly and dynamically seal the joint sleeve 1, while the sealing component 4 itself moves synchronously with the fork 2. This unique motion correlation makes it possible to create a wiring hole inside the sealing component 4, thus forming a continuous, sealed cable channel 8 from the drive arm tube 5 on the joint sleeve 1 to the driven arm tube 6 on the fork 2. The design of this channel cleverly avoids interference paths with the joint's swinging motion, thus ensuring the feasibility of internal wiring in the swinging joint. This provides a sealed swinging joint, offering crucial technical support for applications in special environments.

[0037] In this embodiment, to facilitate the cleaning of the outer surface of the equipment in a radioactive environment, the parts that come into contact with the external atmosphere, such as the drive arm tube 5, driven arm tube 6, fork 2, and joint sleeve 1, are all smooth-surfaced and are generally made of stainless steel or other corrosion-resistant materials. Except for exposed parts which are made of corrosion-resistant materials, other metal parts that do not come into contact with the radioactive atmosphere can be made of ordinary materials, thereby reducing the equipment manufacturing cost.

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

[0039] like Figure 4As shown, the fork 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 boom tube 6, which is perpendicular to the axis of the collar 21. The connecting portion 22 may be a plate-like member parallel to the axis of the collar 21 to provide a mounting mating surface for the driven boom tube 6. Holes may be opened in the connecting portion 22 for fixing by screws 9 passing through the connecting portion 22 and tightening the driven boom tube 6.

[0040] The internal cavity of the main cylinder 11 is designed as a cylindrical structure. This not only utilizes the cylindrical shape of the rotary hydraulic cylinder 3, but also allows the sealing assembly 4 to rotate at the circular opening at the end of the cylindrical structure. The rotary hydraulic cylinder 3 is placed inside the main cylinder 11 of the joint sleeve 1. The cylinder body 31 is connected to the main cylinder 11, and the drive 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 inner part of the sealing assembly 4, which extends into the end opening of the main cylinder 11, is connected to the drive end 32. The outer part outside the end opening is fitted with a collar 21 to transmit the rotational power of the rotary hydraulic cylinder 3 to the fork 2 to drive the driven boom tube 6. The cable hole 7 connects from the support cylinder 12 to the sealed chamber 13, and then from the sealed chamber 13 through the inner cavity 421 of the sealing assembly 4 to the inside of the connecting part 22.

[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 sets. The two sets of sealing assemblies 4 are respectively the driven assembly 41 and the follower assembly 42. The driven assembly 41 blocks one end opening of the main cylinder 11. The internal part is connected to the drive end 32, and the external part is sleeved with the collar 21 to transmit the rotational power to the fork 2. The follower assembly 42 blocks the other end opening of the main cylinder 11. The internal part is rotatably connected to the main cylinder 11 and maintains a gap with the rotational hydraulic cylinder 3. The external part is sleeved with the collar 21 to move synchronously with the fork 2. The follower assembly 42 is also provided with a cable cover 422. The cable cover 422 is sealed and sleeved on the outside of the end of the follower assembly 42 in the fork 2 to form an inner cavity 421. The follower assembly 42 is provided with a through hole 423 that connects the sealed chamber 13 and the inner cavity 421, which serves as the second hole section 72 of the cable hole 7 from the sealed chamber 13 to the inner cavity 421.

[0042] By setting two sets of sealing components 4, the driven component 41 can focus on core power transmission, serving as a force transmission component that directly connects the drive end 32 to the fork 2, thus avoiding complex intermediaries or potential energy losses in the power transmission path. The follower component 42 not only undertakes key support functions, but also, because it is not involved in power transmission, its part protruding into the sealed chamber 13 remains in a non-contact state with the rotary hydraulic cylinder 3 fixed in the main cylinder 11. The gap naturally formed between the two provides space for the cable 8 to move through the main cylinder 11. The structure of the follower component 42 itself (especially the through hole 423) directly constitutes the key channel section for the cable 8 to pass through the sealed chamber 13 to the inner cavity 421 of its outer cable cover 422. This design decouples power transmission from cable 8 in terms of physical space and function. This not only completely eliminates the interference risk and reliability issues caused by the complex requirements of force, vibration or sealing at the transmission end of cable 8, 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 wiring is in an independent channel that is protected and not disturbed by transmission throughout the swing process, which significantly improves the overall performance and reliability of the joint in terms of sealing, swing and built-in integrated wiring.

[0043] In this embodiment, as Figure 3 As shown, the inner side of the end opening of the main cylinder 11 connected to the follower component 42 is provided with a radially protruding annular structure, or in other words, the main cylinder 11 has a stepped hole with large diameters at both ends and a small diameter in the middle at this end. This annular structure is a natural stepped 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 component 42 abut against the first step surface 111 and the second step surface 112, respectively. Not only are the step surfaces used as the axial positioning basis for fixing, but the annular structure also separates the rotary hydraulic cylinder 3 and the follower component 42. The corresponding layered cavity serves as the empty part of the sealed chamber 13. 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 can be entered from the support cylinder 12 into the empty part.

[0044] In this embodiment, to achieve joint swing stability, the fork 2 is rotatably connected to the joint sleeve 1 from both sides, which is an interference-free collar 21. The support cylinder 12 is located in the middle of the main cylinder 11. When the diameter of the drive arm tube 5 is large, the opening of the first hole section 71 can be directly released into the support cylinder 12 after radially penetrating the main cylinder 11. However, when the diameter of the drive arm tube 5 is small, the cable 8 may need to be routed through the middle support cylinder 12 to the end cavity in a zigzag manner. However, the flexibility of the cable 8 itself makes it difficult to achieve directional control. Therefore, this embodiment proposes the following specific structure:

[0045] The opening of the first hole section 71 radially penetrates the main cylinder 11 and is located at the junction of the main cylinder 11 and the support cylinder 12. The support cylinder 12 is also provided with a radially penetrating lead wire hole 121 corresponding to the opening of the first hole section 71. The joint sleeve 1 is provided with a sealable operation window 14 outside the opening of the first hole section 71 and outside the lead wire hole 121. That is, the internal hole, which should conventionally be set as a zigzag structure, is "broken" to form two straight holes. The openings of the two holes are sealed by the window. This not only allows the cable 8 to be led out from the lead wire hole 121 to the first hole section 71 through the operation window 14, but also ensures the sealing of the cable passage.

[0046] In this embodiment, the operation window 14 is provided with a sealing gasket 141 and a cable clamping plate 142. The sealing gasket 141 is placed between the edge of the opening of the operation window 14 and the cable clamping plate 142. The cable clamping 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 stepped surface 112, and an adjusting shim 429 can be placed between the bearing 424 and the second stepped surface 112. The connecting shaft 425 is a hollow shaft with a through hole 423 in the center (the two ends of the through hole 423 are rounded). 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 formed by folding outwards radially. Edge 427 spans 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 (the edge of the end opening of the main cylinder 11 has an annular groove for embedding the first sealing ring 426) to cover the bearing 424. That is, this connecting shaft 425 with folded edge 427 can realize rotational connection, seal and cover the bearing, seal and press the first sealing ring 426, and connect the fork 2 at the same time. Through ingenious structural design, it achieves multiple uses in one piece.

[0048] In this embodiment, as Figure 4 As shown, the connecting part 22 is parallel to the axial direction of the two sets of collars 21 and connects between the two sets of collars 21. Viewed from one side, it makes the fork form a "U"-shaped structure that semi-encloses the joint sleeve 1. This structure not only meets the requirements of the appropriate swing range of the swing joint, but also ensures the stability of the rotational motion. In this embodiment, the connecting part 22 is plate-shaped. On the side away from the joint sleeve 1 (on the plane), there is an interface 23 for connecting the driven boom tube 6. The connecting part 22 has a third hole section 73 with a wire passage hole 7 inside. One end of the third hole section 73 is opened inside the interface 23, and the other end is opened on the end face of the connecting part 22, located inside the cable cover 422, realizing the sealed wire passage of the cable 8 from the inner cavity 421 to the driven boom tube 6. The driven boom tube 6 is sleeved on the outside of the interface 23 and can be fitted by concentric steps. The connection interface 23 is sealed by screws 9 and the fourth sealing ring 61.

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

[0050] Specifically, the drive end 32 has a step on its end face, and the driven sleeve 411 has a blind hole structure. The inner hole is fitted with the step of the drive end 32 to ensure its coaxiality through concentric step connection. It is fixed by a screw 9 that passes through the driven sleeve 411 axially and tightens the drive end 32. The main cylinder 11 has a screw hole on its end face. The pressure cover 412 and a pressure cover sealing gasket 415 are fixed to the main cylinder 11 by the screw 9. At the same time, a lip seal ring is installed between the pressure cover 412 and the driven sleeve 411 as a second sealing ring 413. The lip seal ring is fixed to the pressure cover 412 by an active through-cap screw 9 and a pressure plate 416 located at the end of the pressure cover 412 facing the collar 21, so as to achieve radial sealing.

[0051] In this embodiment, a first transmission wheel 414 is also sleeved on the segment inside the main cylinder 11 on the outer surface of the driven sleeve 411. The inner side of the end opening of the main cylinder 11 connected to the driven component 41 is provided with a mounting hole 113 that extends into the support cylinder 12. A sensor 114 is embedded in the mounting hole 113. The sensor 114 is a rotary transformer. A second transmission wheel 115 is provided on the input end of the sensor 114. The second transmission wheel 115 is connected to the first transmission wheel 414 so that the sensor 114 can obtain the movement 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 installed on the concentric mating step on the outer surface of the driven sleeve 411 by screws 9. A rotary transformer with a second transmission wheel 115, or small wheel, is installed in a hole on the side of the main cylinder 11 near the drive arm tube 5. The large wheel and the small wheel of the rotary transformer are connected by a chain or belt 117 to achieve accurate measurement of the rotation angle. Compared with the traditional detection structure that uses brushes and other components to obtain the cylinder rotation angle at the cylinder axis, this embodiment uses an offset detection structure, which can indirectly improve the position detection accuracy of the hydraulic cylinder, achieve high-precision control of the joint position, and does not interfere with the swing motion. Furthermore, the rotary transformer is positioned both inside the joint and connected to the inside of the support cylinder 12, allowing the detection signal to be output externally or power to be drawn from the outside by a wire passing through the inside of the drive arm tube 5.

[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 that is thinner at both ends and thicker in the middle. The outer diameter of the main body of the rotary hydraulic cylinder 3 is the same as the inner diameter of the main cylinder 11. One end of the step is adapted to and abuts against the stepped hole (first step surface 111) of the main cylinder 11 and is fixed by screws 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 achieves axial and circumferential concentric positioning. The step at the other end and the inner surface of the main cylinder 11 form a groove structure, which is fastened by the fixing ring 116 embedded in the groove and the screws 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 support cylinder 12 is connected to the sealed chamber 13 of the main cylinder 11. The rotary hydraulic cylinder 3 is an oil cylinder, and the oil cylinder connector 33 is installed in the sealed chamber 13 with the circumferential position of the oil cylinder connector 33 at the point through which the support cylinder 12 passes. This allows the cable connected to the outside of the oil cylinder connector 33 to pass through the drive arm tube 5.

[0055] In this embodiment, multiple half-pin holes 211 are provided on the outer surface of the external part of the sealing component 4 and the inner surface of the collar 21. After the sealing component 4 and the collar 21 are sleeved, the half-pin holes 211 are connected to each other to form a pin hole, and the pin 212 is inserted to achieve fastening. Specifically, the collar 21 can be fixed with the driven sleeve 411 and the connecting shaft 425 by using an active pin, which can achieve circumferential fixation and facilitate installation and disassembly.

[0056] In this embodiment, the atmosphere-isolated gland gasket 415, gasket 141, cable cover 422 and fork 2, the third sealing ring 428, and the fourth sealing ring 61 between the driven boom tube 6 and fork 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. The second sealing ring 413 is a lip sealing ring or other rotating shaft sealing ring. The aforementioned sealing rings, gaskets, etc. are generally made of materials that are resistant to acids and alkalis and have a certain radiation resistance.

[0057] Overall, 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 robotic arms, and to provide a hydraulically driven, compact, sealed swing motion joint, and in embodiment 2, to provide a robot or robotic arm that includes this joint.

[0058] The joint primarily connects the smooth, corrosion-resistant drive arm tube 5 and the smooth, corrosion-resistant driven arm tube 6. The joint includes a smooth, corrosion-resistant joint sleeve 1 and a fork 2. A hollow hydraulic cylinder is installed inside the joint sleeve 1, and a driven sleeve 411 is connected to the output end of the hydraulic cylinder via screws 9. The driven sleeve 411 and the driven arm tube 6 are connected via the fork 2, enabling the driven arm tube 6 to swing around the axis of the joint sleeve 1. The flexibility of the channels in the driven arm tube 6 and the hydraulic oil pipes and cables facilitates the transmission of hydraulic oil and cables during the swinging process. Specifically, the hydraulic pipes and cables from the drive arm tube 5 utilize their flexibility to pass through the channels in the joint sleeve 1 and the connecting shaft 425, and then enter the driven arm tube 6 through the channels on the outside of the fork 2. A cable cover 422 is installed on the outside of the connecting shaft 425 via screws 9 and a third sealing ring 428 to seal the hydraulic pipes and cables inside the joint.

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

[0060] In use, the drive arm tube 5 and the joint sleeve 1 remain relatively stationary. When hydraulic oil is supplied to the hydraulic cylinder, the hydraulic cylinder, along with the driven sleeve 411, rotates relative to each other. Since one end of the fork 2 is connected to the driven sleeve 411 via a driving pin, the hydraulic cylinder, along with the driven sleeve 411, the fork 2, and the driven arm tube 6, rotates relative to each other. The other end of the fork 2 is connected to the connecting shaft 425 via a pin. Supported by the bearing 424, the connecting shaft 425, along with the cable cover 422, rotates together. The rotational sealing of the joint during the swinging process is achieved through the first sealing ring 426 and the second sealing ring 413. Due to the limited relative swing angle, the cable 8, during the relative swinging process of the drive arm tube 5 and the driven arm tube 6, freely twists within the joint sleeve 1 under its flexible action, realizing the transmission of hydraulic and electrical power during the relative movement. Therefore, with this structure, during the relative swinging process, except for the exposed parts such as the drive arm tube 5, the driven arm tube 6, the fork 2, and the joint sleeve 1, the cable 8 and other components are all protected inside the joint, avoiding surface contamination that is difficult to remove in a nuclear environment.

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

[0062] Example 2

[0063] The nuclear industry operating equipment of this embodiment includes a nuclear industry robot, wherein the hand and arm of the nuclear industry robot and / or the arm lever of the arm are connected by a sealed swing hydraulic joint as described in Embodiment 1.

[0064] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these 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 includes a joint sleeve (1), a fork (2), a rotary hydraulic cylinder (3), a sealing assembly (4), and a cable hole (7). The joint sleeve (1) is connected to the drive arm tube (5), and has an internal cavity perpendicular to the axis of the drive arm tube (5). The sealing assembly (4) rotates axially around the cavity to seal the cavity opening, forming a sealed chamber (13) that covers the rotary hydraulic cylinder (3) together with the joint sleeve (1). The rotary hydraulic cylinder (3) is housed in a sealed chamber (13), and the cylinder body (31) and the drive end (32) are respectively fixedly connected to the joint sleeve (1) and the sealing assembly (4). The fork (2) is connected to the driven arm tube (6) which is perpendicular to the cavity axis and is fixedly connected to the sealing assembly (4). The sealing assembly (4) serves as the hinge point with the joint sleeve (1). Under the drive of the rotary hydraulic cylinder (3), the driven arm tube (6) swings relative to the drive arm tube (5). The cable passage (7) is a continuous hole opened inside the joint sleeve (1), sealing assembly (4) and fork (2) to allow the cable (8) to pass through the drive arm tube (5) to the driven arm tube (6). The joint sleeve (1) includes a main sleeve (11) and a branch sleeve (12) that branches vertically from the side wall of the main sleeve (11). The branch sleeve (12) is used to install the drive arm tube (5). The fork (2) includes a collar (21) and a connecting part (22), which is connected to the collar (21) and is used to install a driven boom tube (6) that is perpendicular to the axial direction of the collar (21). The rotary hydraulic cylinder (3) is housed in the internal cavity of the main cylinder (11), the cylinder body (31) is connected to the main cylinder (11), and the drive 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 inner part of the sealing assembly (4) extends into the end opening of the main cylinder (11) and connects to the drive end (32). The outer part outside the end opening is fitted with a collar (21) to transmit the rotational power of the rotary hydraulic cylinder (3) to the fork (2) to drive the driven boom tube (6). The wire hole (7) connects from the support cylinder (12) to the sealing chamber (13), and then from the sealing chamber (13) to the inside of the connecting part (22) via the inner cavity (421) of the sealing assembly (4); Both ends of the main cylinder (11) are provided with openings, and the collar (21) and sealing assembly (4) are provided with two sets respectively. The two sets of sealing assemblies (4) are the driven assembly (41) and the follower assembly (42). The driven component (41) blocks one end opening of the main cylinder (11), the internal part is connected to the drive end (32), and the external part is fitted with a collar (21) to transmit the rotational power to the fork (2). The follower component (42) blocks the opening at the other end of the main cylinder (11). The built-in part is rotatably connected to the main cylinder (11) and maintains a gap with the rotary hydraulic cylinder (3). The external part is fitted with a collar (21) to move synchronously with the fork (2). The follower assembly (42) is also provided with a cable cover (422). The cable cover (422) is sealed and fitted on the outer side of the end of the follower assembly (42) in the fork (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) as a second hole section (72) of the cable passage (7) from the sealed chamber (13) to the inner cavity (421). The main cylinder (11) is connected to the follower assembly (42) with a radially protruding annular structure inside the end opening, 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) abut against the first step surface (111) and the second step surface (112) respectively, thereby making the layered cavity corresponding to the annular structure an empty part of the sealed chamber (13). The first hole (71) of the wire hole (7) connecting the support cylinder (12) to the sealing chamber (13) is radially opened on the annular structure.

2. The sealed swing hydraulic joint according to claim 1, characterized in that: The opening of the first hole section (71) extends radially through the main cylinder (11) and is located at the junction of the main cylinder (11) and the support cylinder (12). The support cylinder (12) is also provided with a radially penetrating lead hole (121) at the opening of the first hole section (71). The joint sleeve (1) has a sealable operating window (14) outside the opening of the first hole section (71) and outside the lead wire hole (121).

3. The sealed swing hydraulic joint according to claim 1, 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) in the center. One end is rotatably connected to the end opening of the main cylinder (11) through a bearing (424), and the other end is provided with a flange (427) formed by folding outward in the radial direction. The flange (427) crosses 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) to cover the bearing (424).

4. The sealed swing hydraulic joint according to claim 1, characterized in that: The connecting part (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 the driven boom tube (6) is provided on the side away from the joint sleeve (1). The connecting part (22) has a third hole section (73) with a wire hole (7) inside. One end of the third hole section (73) is opened inside the interface (23), and the other end is opened on the end face of the connecting part (22), located inside the cable cover (422).

5. The sealed swing hydraulic joint according to claim 1, characterized in that: The driven assembly (41) includes a driven sleeve (411), a gland (412), and a second sealing ring (413). The driven sleeve (411) extends into the main cylinder (11) from its end face and connects to the drive end (32). The segment on the outer surface outside the main cylinder (11) is connected to the collar (21). The gland (412) has an annular structure, and its outer edge is connected to the end opening edge of the main cylinder (11), while its inner edge is dynamically sealed to the driven sleeve (411) through the second sealing ring (413).

6. The sealed swing hydraulic joint according to claim 5, characterized in that: A first transmission wheel (414) is also fitted on the segment inside the main cylinder (11) on the outer surface of the driven sleeve (411). The main cylinder (11) is connected to the driven assembly (41) at the end of which an installation hole (113) is provided inside, which leads to the support cylinder (12). A sensor (114) is embedded in the installation hole (113). A second transmission wheel (115) is provided on the input end of the sensor (114). The second transmission wheel (115) is connected to the first transmission wheel (414) so ​​that the sensor (114) can obtain the position of the driven arm tube (6) relative to the driving arm tube (5).

7. The sealed swing hydraulic joint according to any one of claims 1-6, characterized in that: The inner hole of the main cylinder (11) is a stepped hole. The rotary hydraulic cylinder (3) is a stepped shaft that is thin at both ends and thick in the middle. One end of the step is adapted to and abuts against the stepped hole of the main cylinder (11) and then fixed. The other end of the step and the inner surface of the main cylinder (11) form a groove structure so as to achieve fastening and fixing by the fixing ring (116) embedded in the groove.

8. The sealed swing hydraulic joint according to any one of claims 1-6, characterized in that: The support cylinder (12) has a sealed chamber (13) that runs through 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 orientation of the support cylinder (12).

9. The sealed swing hydraulic joint according to any one of claims 1-6, characterized in that: The outer surface of the external part of the sealing assembly (4) and the inner surface of the collar (21) are provided with a plurality of half pin holes (211). After the sealing assembly (4) and the collar (21) are fitted together, the half pin holes (211) of each half are connected to form a pin hole, and the pin (212) is inserted to achieve fastening and fixation.

10. An operating device for the nuclear industry, characterized in that: The invention includes a nuclear industry robot, wherein the hand and arm of the nuclear industry robot are connected by a sealed swing hydraulic joint as described in any one of claims 1 to 9.

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