Sealed swing joint, mechanical arm and nuclear industry robot

Abstract

The invention discloses a sealed swing joint, a mechanical arm and a nuclear industrial robot, which can form sealed channels which are communicated with each other in two arm pipes of the swing joint, so that a pipeline is arranged in the sealed channels to prevent the pipeline from being contaminated by radioactive substances to increase the decontamination difficulty. The sealing swing joint comprises a first arm pipe, a driving assembly, a second arm pipe and a sealing cover. The connecting end of the first arm pipe and the second arm pipe is a blind end. The driving assembly is arranged in the first arm pipe, penetrates through the connecting end of the first arm pipe, then is connected with the connecting end of the first arm pipe in a sealed and rotating mode and is connected with the connecting end of the second arm pipe. And the sealing cover covers the connecting end of the second arm pipe and the driving assembly. The driving assembly is provided with a first communicating hole, and the communicating cavity communicates with the interior of the first arm pipe through the first communicating hole. The second arm pipe is provided with a second communicating hole, and the second communicating hole communicates with the communicating cavity and the interior of the second arm pipe so that the interior of the first arm pipe and the interior of the second arm pipe can communicate with each other.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a sealed swing joint, a robotic arm, and a nuclear industry robot. Background Technology

[0002] With the continuous development of robotics technology, robots are widely used in industries such as machinery equipment, automobile manufacturing, and medical care. Due to the high levels of radioactivity and pollution in the nuclear industry, various specialized robots have also become more common in the nuclear industry in recent years. Currently, the various moving joints of nuclear industry robots generally use electric motors to drive RV reducers or harmonic reducers to drive the robotic arm. This structure has two drawbacks: firstly, the hardware cost is relatively high, and secondly, the overload capacity of electric drive is relatively weak.

[0003] Hydraulic drives have advantages over electric drives, including simpler structure, higher output load capacity, and higher power ratio, and are therefore gradually being used in nuclear industry robots.

[0004] However, the hydraulically driven joints of existing nuclear industry robots are usually open structures, and the robot's cables, pipelines, sensors and other devices are directly exposed to the radioactive atmosphere. Therefore, the internal components of the hydraulic joints of nuclear industry robots are easily contaminated with radioactive materials, making decontamination difficult and costly, resulting in high engineering application costs. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the prior art by providing a sealed swing joint, a robotic arm and a nuclear industry robot, which can form an interconnected sealed channel inside the two arm tubes of the swing joint, so that the pipeline is placed in the sealed channel to avoid the pipeline from being contaminated with radioactive materials and increasing the difficulty of decontamination.

[0006] In a first aspect, embodiments of the present invention provide a sealed swing joint, comprising a first arm tube, a drive assembly, a second arm tube, and a sealing cover. The connection end between the first arm tube and the second arm tube is a blind end. The drive assembly is disposed inside the first arm tube, passes through the connection end of the first arm tube, and is sealed and rotatably connected to the connection end of the first arm tube, and is connected to the connection end of the second arm tube, for driving the second arm tube to swing relative to the first arm tube. The sealing cover is disposed on the connection end of the second arm tube and the drive assembly to form a communicating cavity between the sealing cover, the second arm tube, and the drive assembly. The drive assembly has a first communicating hole that connects the communicating cavity and the interior of the first arm tube; the second arm tube has a second communicating hole that connects the communicating cavity and the interior of the second arm tube, so that the interiors of the first arm tube and the interiors of the second arm tube are interconnected.

[0007] In some embodiments, the drive assembly includes a connecting sleeve and a drive member. The connecting sleeve is disposed inside the first arm tube, passing through the connecting end of the first arm tube and rotatably and sealingly connected to the connecting end of the first arm tube, and also connected to the connecting end of the second arm tube; a first communicating hole is disposed on the connecting sleeve. The drive member is disposed inside the first arm tube and is kinetically connected to the connecting sleeve, for driving the connecting sleeve to rotate about its own axis, so that the second arm tube swings relative to the first arm tube. A sealing cover is disposed on the connecting end of the second arm tube and the connecting sleeve, and a communicating cavity is formed between the sealing cover, the second arm tube, and the connecting sleeve.

[0008] In some embodiments, a joint sleeve is sealed to the connecting end of the first arm tube to close the opening of the connecting end of the first arm tube; the interior of the joint sleeve communicates with the interior of the first arm tube. The connecting sleeve includes an upper connecting sleeve and a lower connecting sleeve. The upper connecting sleeve is disposed inside the joint sleeve, passes through the top of the joint sleeve, rotates and is sealed to the joint sleeve, and is connected to the connecting end of the second arm tube; the first communicating hole is disposed inside the upper connecting sleeve and communicates with the interior of the joint sleeve. The lower connecting sleeve is coaxially disposed inside the joint sleeve with the upper connecting sleeve, passes through the bottom of the joint sleeve, rotates and is sealed to the joint sleeve, and is connected to the second arm tube; the driving member is drivenly connected to the lower connecting sleeve to drive the lower connecting sleeve to rotate around the axis of the lower connecting sleeve, so that the second arm tube swings relative to the first arm tube. The sealing cover is disposed on the connecting end of the second arm tube and the upper connecting sleeve, and the communicating cavity is formed between the sealing cover, the second arm tube, and the upper connecting sleeve.

[0009] In some embodiments, a first bearing and a first sealing assembly are provided between the upper connecting sleeve and the joint sleeve, wherein the first bearing is closer to the interior of the joint sleeve than the first sealing assembly; and / or, a second bearing and a second sealing assembly are provided between the lower connecting sleeve and the joint sleeve, wherein the second bearing is closer to the interior of the joint sleeve than the second sealing assembly.

[0010] In some embodiments, the driving component is a rotary hydraulic cylinder, the axis of the rotating shaft of the rotary hydraulic cylinder is orthogonal to the axis of the lower connecting sleeve, and the rotating shaft of the rotary hydraulic cylinder is engaged with the lower connecting sleeve.

[0011] In some embodiments, a first gear is provided on the outer side of the rotating shaft of the rotary hydraulic cylinder, and a second gear is provided on the outer side of the lower connecting sleeve, wherein the first gear and the second gear are meshed together.

[0012] In some embodiments, the drive assembly further includes a connecting seat fixed to a joint sleeve within the first arm tube. The rotary hydraulic cylinder is fixed to the connecting seat, and the first gear is rotatably mounted on the connecting seat; the first gear passes through the connecting seat, and a third bearing is provided between the first gear and the connecting seat.

[0013] In some embodiments, the sealed swing joint further includes a detection assembly. The detection assembly includes a rotary transformer and a transmission component. The rotary transformer is disposed within the joint sleeve. The transmission component is sleeved on the outside of the detection wheel of the rotary transformer and the second gear, for driving the detection wheel of the rotary transformer to rotate when the second gear rotates, so as to detect the rotation information of the second gear through the rotary transformer.

[0014] Therefore, the sealed swing joint provided in this embodiment of the invention, by making the connection end between the first arm tube and the second arm tube a blind end, and by providing a drive component inside the first arm tube, so that the drive component passes through the connection end of the first arm tube and is sealed and rotatably connected to the connection end of the first arm tube, and is connected to the connection end of the second arm tube, can ensure that when the drive component drives the second arm tube to swing relative to the first arm tube, the interior of the first arm tube remains isolated from the outside of the first arm tube and is in a sealed state. By providing a sealing cover and covering the connection end of the second arm tube and the drive component, a communicating cavity can be formed between the sealing cover, the second arm tube and the drive component, and the communicating cavity remains sealed when the drive component drives the second arm tube to swing relative to the first arm tube. By setting a conductive connecting cavity and a first connecting hole inside the first arm tube on the drive assembly, and setting a conductive connecting cavity and a second connecting hole inside the second arm tube on the second arm tube, the interiors of the first arm tube and the second arm tube can be interconnected, thereby forming a sealed channel inside the sealed swing joint. The first pipeline passing through the sealed swing joint can be placed in this sealed channel, avoiding the pipeline from being contaminated by radioactive materials outside the sealed swing joint, which would increase the difficulty of decontamination. This would reduce the difficulty and cost of decontaminating nuclear industry robots, thereby reducing the engineering application cost of nuclear industry robots.

[0015] In a second aspect, embodiments of the present invention also provide a robotic arm, the robotic arm including a first arm and a second arm, and further including the sealed swing joint of the first aspect; the first arm tube of the sealed swing joint is disposed on the first arm, and the second arm tube of the sealed swing joint is disposed on the second arm.

[0016] Thirdly, embodiments of the present invention also provide a nuclear industry robot, which includes at least one robotic arm as described in the second aspect.

[0017] The robotic arm and nuclear industry robot provided in this embodiment of the invention have the same beneficial effects as the aforementioned sealed swing joint, and will not be described again here. Attached Figure Description

[0018] Figure 1 : A structural diagram of a sealed swing joint provided in an embodiment of the present invention;

[0019] Figure 2 :for Figure 1 A schematic diagram along the AA direction;

[0020] Figure 3 :for Figure 1 A magnified view of a portion of region I;

[0021] Figure 4 :for Figure 1 A magnified view of a portion of region II.

[0022] Wherein, 1-first arm tube; 2-first sealing ring; 3-second pipeline; 4-connecting seat; 5-driving component; 6-sixth screw; 7-key; 8-fifth screw; 9-third bearing; 10-equipped with second adjusting shim; 11-rotary transformer; 12-seventh screw; 13-second sealing gland; 14-third sealing ring; 15-transmission component; 16-eighth screw; 17-lower connecting sleeve; 18-second arm tube; 19-transmission wheel; 20-second gear; 21-joint sleeve; 22-first screw; 23-first sealing gland; 24- 25-Second sealing ring; 26-Ninth screw; 27-Sealing cover; 28-Second connecting pin; 29-First pipeline; 30-First gear; 31-Provided with first adjusting shim; 32-Second bearing; 33-Fourth sealing ring; 34-Second pressure plate; 35-Fourth screw; 36-Third connecting pin; 37-Third screw; 38-First pressure plate; 39-Bearing cover; 40-Second screw; 41-First sealing gasket; 42-First bearing; 43-Fifth sealing ring; 44-Upper connecting sleeve; 45-First connecting pin. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0024] Example 1:

[0025] like Figure 1 As shown, this embodiment of the invention provides a sealed swing joint, which can be applied to the robotic arm of a nuclear industry robot or other robotic arms that need to maintain the seal inside the sealed swing joint, for the purpose of swinging the robotic arm.

[0026] like Figure 1As shown, the sealed swing joint includes a first arm tube 1, a drive assembly, and a second arm tube 18. The connection end between the first arm tube 1 and the second arm tube 18 is a blind end. The drive assembly is disposed inside the first arm tube 1, passes through the connection end of the first arm tube 1, and is sealed and rotatably connected to the connection end of the first arm tube 1. It is also connected to the connection end of the second arm tube 18 to drive the second arm tube 18 to swing relative to the first arm tube 1.

[0027] For example, a first arm tube 1 is sealed at the end of the first arm of the robotic arm, and a second arm tube 18 is sealed at the end of the second arm of the robotic arm. The first arm and the second arm are connected by a sealed swing joint.

[0028] Alternatively, the connecting end of the first arm tube 1 can also be the sealed end of the robotic arm.

[0029] For example, both the first arm tube 1 and the second arm tube 18 are made of corrosion-resistant materials, such as stainless steel. The outer surfaces of both the first arm tube 1 and the second arm tube 18 are smooth surfaces to reduce the adsorption of radioactive dust and reduce the difficulty of decontamination of the first arm tube 1 and the second arm tube 18.

[0030] like Figure 1 As shown, the first arm tube 1 is a blind tube structure, which can accommodate drive components or cable harnesses, etc.

[0031] For example, the connecting end of the first arm tube 1 may be provided with an end cap, which closes the connecting end of the first arm tube 1.

[0032] For example, the drive assembly can be an existing electric or hydraulic drive assembly that can drive the second arm tube 18 to swing relative to the first arm tube 1.

[0033] For example, the drive assembly may include a motor fixed inside the first arm tube 1, the axis of the motor's rotation shaft being orthogonal to the axis of the first arm tube 1, the motor's rotation shaft passing through the first arm tube 1 and connected to the second arm tube 18, which can drive the second arm tube 18 to swing relative to the first arm tube 1 around the motor's rotation shaft.

[0034] Combination Figure 1 By setting the drive assembly inside the first arm tube 1, and sealing and rotating it after passing through the connection end of the first arm tube 1, and connecting it to the connection end of the second arm tube 18, the drive assembly can make the second arm tube 18 swing relative to the first arm tube 1 while the inside of the first arm tube 1 remains isolated from the outside of the first arm tube 1 and is in a sealed state.

[0035] like Figure 1As shown, the sealed swing joint also includes a sealing cover 27. The sealing cover 27 covers the connecting end of the second arm tube 18 and the drive assembly to form a communicating cavity Q between the sealing cover 27, the second arm tube 18, and the drive assembly. The drive assembly has a first communicating hole that connects the communicating cavity Q and the interior of the first arm tube 18; the second arm tube 18 has a second communicating hole that connects the communicating cavity Q and the interior of the second arm tube 18, so that the interior of the first arm tube 1 and the interior of the second arm tube 18 are interconnected.

[0036] For example, the sealing cover 27 is made of stainless steel.

[0037] For example, such as Figure 1 As shown, the sealing cover 27 can be fixed to the upper surface of the connecting end of the second arm tube 18 by multiple ninth screws 26. A second sealing gasket 25 is provided between the sealing cover 27 and the upper surface of the connecting end of the second arm tube 18 to ensure the sealing of the connecting cavity Q.

[0038] Combination Figure 1 By covering the connection end of the second arm tube 18 and the drive assembly with the sealing cover 27, and forming the connecting cavity Q between the sealing cover 27, the second arm tube 18 and the drive assembly, the connecting cavity Q can remain sealed when the drive assembly drives the second arm tube 18 to swing relative to the first arm tube 1.

[0039] like Figure 1 As shown, after the first arm tube 1 and the second arm tube 18 are interconnected, a sealed channel can be formed inside the sealed swing joint. The first pipeline 29 (including cables, pipes, etc.) of the nuclear industry robot can be set in the sealed channel to prevent the pipeline from being contaminated by radioactive materials outside the sealed swing joint. This can reduce the difficulty and cost of decontaminating the nuclear industry robot and reduce the engineering application cost of the nuclear industry robot.

[0040] For example, such as Figure 1 As shown, the first pipeline 29 enters the first arm pipe 1 through the second arm pipe 18 and is connected to the second pipeline 3 (including cables, pipes, etc.) inside the first arm pipe 1 through a quick connector (pipe connector or aviation plug).

[0041] Therefore, the sealed swing joint provided in this embodiment of the invention, by making the connection end between the first arm tube 1 and the second arm tube a blind end, and by setting a drive component inside the first arm tube 1, so that the drive component passes through the connection end of the first arm tube 1 and is sealed and rotatably connected to the connection end of the first arm tube 1, and is connected to the connection end of the second arm tube 18, allows the drive component to drive the second arm tube 18 to swing relative to the first arm tube 1, while the interior of the first arm tube 1 remains isolated from the exterior, and is in a sealed state. By setting a sealing cover 27 and covering the connection end of the second arm tube 18 and the drive component, a communicating cavity Q can be formed between the sealing cover 27, the second arm tube 18 and the drive component, and the communicating cavity Q remains sealed when the drive component drives the second arm tube 18 to swing relative to the first arm tube 1. By setting a conductive connecting cavity Q and a first connecting hole inside the first arm tube 1 on the drive assembly, and setting a conductive connecting cavity Q and a second connecting hole inside the second arm tube 18 on the second arm tube 18, the interiors of the first arm tube 1 and the second arm tube 18 can be interconnected, thereby forming a sealed channel inside the sealed swing joint. The first pipeline 29 passing through the sealed swing joint can be set in this sealed channel, avoiding the pipeline from being contaminated by radioactive materials outside the sealed swing joint, which would increase the difficulty of decontamination. This would also reduce the difficulty and cost of decontaminating nuclear industry robots, thereby reducing the engineering application cost of nuclear industry robots.

[0042] In some embodiments, such as Figure 1 As shown, the drive assembly includes a connecting sleeve and a drive component 5. The connecting sleeve is disposed inside the first arm tube 1, passing through the connecting end of the first arm tube 1 and rotating and sealingly connecting with the connecting end of the first arm tube 1, and connecting with the connecting end of the second arm tube 18; a first communicating hole is disposed on the connecting sleeve. The drive component 5 is disposed inside the first arm tube 1 and is drively connected to the connecting sleeve, used to drive the connecting sleeve to rotate around its own axis, so that the second arm tube 18 swings relative to the first arm tube 1. A sealing cover 27 is disposed on the connecting end of the second arm tube 18 and the connecting sleeve, and a communicating cavity Q is formed between the sealing cover 27, the second arm tube 18 and the connecting sleeve.

[0043] For example, the connecting sleeve is tubular in shape, and the space inside the connecting sleeve forms a first connecting hole.

[0044] like Figure 1 As shown, the top end of the connecting sleeve passes through the connecting end of the first arm tube 1 and connects to the connecting end of the second arm tube 18.

[0045] The sealing cover 27 is placed on the top of the connecting sleeve and covers the first connecting hole, thereby connecting the first connecting hole with the connecting cavity Q, and isolating the first connecting hole from the outside through the sealing cover 27, maintaining the sealing state of the first connecting hole.

[0046] For example, the axis of the first arm tube 1 and the axis of the second arm tube 18 are orthogonal, and the axis of the connecting sleeve is perpendicular to both the axis of the first arm tube 1 and the axis of the second arm tube 18, so that when the connecting sleeve rotates around its own axis, it drives the second arm tube 18 to swing relative to the first arm tube 1.

[0047] For example, such as Figure 1 As shown, the axis OO of the connecting sleeve is in the vertical direction, while the axes of the first arm tube 1 and the second arm tube 18 are both in the horizontal direction.

[0048] For example, the driving component 5 is fixed inside the first arm tube 1. The driving component 5 can be an existing motor or hydraulic motor, etc. The driving component 5 can be connected to the connecting sleeve through transmission components such as gears and belts, and can drive the connecting sleeve to rotate around its own axis.

[0049] In some embodiments, such as Figure 1 and Figure 2 As shown, a joint sleeve 21 is sealed to the connecting end of the first arm tube 1 to close the opening of the connecting end of the first arm tube 1; the interior of the joint sleeve 21 is in communication with the interior of the first arm tube 1.

[0050] For example, the joint sleeve 21 is hollow cylindrical in shape; a first circular hole is provided on the side wall of the joint sleeve 21.

[0051] Combination Figure 1 and Figure 2 The wall of the hole at the first circular hole of the joint sleeve 21 extends into the first arm tube 1 and is sealed to the side wall of the first arm tube 1 through the first connecting pin 45, thus sealing the opening at the connecting end of the first arm tube 1. The interior of the first arm tube 1 communicates with the interior of the joint sleeve 21 through the first circular hole on the side wall of the joint sleeve 21.

[0052] like Figure 2 As shown, a first sealing ring 2 is provided between the first arm tube 1 and the joint sleeve 21 to seal the first arm tube 1 and the joint sleeve 21, thereby isolating the inside of the joint sleeve 21 and the inside of the first arm tube 1 from the outside and maintaining the sealed state of the inside of the joint sleeve 21 and the inside of the first arm tube 1.

[0053] like Figure 1 As shown, a second round hole is provided on the side of the joint sleeve 21 opposite to the first round hole. A first sealing cap 23 is provided at the second round hole. The first sealing cap 23 is fixed to the joint sleeve 21 by a first screw 22. A second sealing ring 24 is also provided between the first sealing cap 23 and the joint sleeve 21 to maintain the seal between the first sealing cap 23 and the joint sleeve 21.

[0054] With the above settings, the first sealing gland 23 can be disassembled. After disassembling the first sealing gland 23, wiring can be carried out on the first pipeline 29 and the second pipeline 3 through the second round hole, and components inside the joint sleeve 21 can be installed.

[0055] As Figure 1 shown, the connecting sleeve includes an upper connecting sleeve 44 and a lower connecting sleeve 17. The upper connecting sleeve 44 is arranged inside the joint sleeve 21. The upper connecting sleeve 44 penetrates through the top of the joint sleeve 21 and is rotatably and sealingly connected to the joint sleeve 21, and is connected to the connecting end of the second arm tube 18. The first communication hole is arranged inside the upper connecting sleeve 44, and the first communication hole is communicated with the inside of the joint sleeve 21. The lower connecting sleeve 17 is coaxially arranged with the upper connecting sleeve 44 inside the joint sleeve 21. The lower connecting sleeve 17 penetrates through the bottom of the joint sleeve 21 and is rotatably and sealingly connected to the joint sleeve 21, and is connected to the second arm tube 18; the driving member 5 is in transmission connection with the lower connecting sleeve 17 and is used to drive the lower connecting sleeve 17 to rotate around the axis of the lower connecting sleeve 17, so that the second arm tube 18 swings relative to the first arm tube 1. The sealing cover 27 covers the connecting end of the second arm tube 18 and the upper connecting sleeve 44, and the communication cavity Q is formed between the sealing cover 27, the second arm tube 18 and the upper connecting sleeve 44.

[0056] Exemplarily, as Figure 1 shown, the structure of the connecting end of the second arm tube 18 is a fork structure (the shape is "匚" shaped), and the joint sleeve 21 is located inside the fork structure of the connecting end of the second arm tube 18.

[0057] Exemplarily, as Figure 1 shown, the shape of the upper connecting sleeve 44 is tubular, and the upper connecting sleeve 44 also penetrates through the upper part of the connecting end of the second arm tube 18. The lower part of the upper connecting sleeve 44 is rotatably and sealingly connected to the joint sleeve 21. After the upper part of the upper connecting sleeve 44 penetrates through the upper part of the connecting end of the second arm tube 18, it is fixedly connected to the upper part of the connecting end of the second arm tube 18 through the second connecting pin 28, so that the connecting end of the second arm tube 18 can rotate relative to the joint sleeve 21.

[0058] Exemplarily, as Figure 1 and Figure 3 shown, the shape of the lower connecting sleeve 17 is a solid column or a hollow blind column. After the bottom of the lower connecting sleeve 17 penetrates through the bottom of the joint sleeve 21, it is fixedly connected to the lower part of the connecting end of the second arm tube 18 through the third connecting pin 36, and similarly, the connecting end of the second arm tube 18 can rotate relative to the joint sleeve 21.

[0059] As Figure 1 shown, the sealing cover 27 completely covers the upper connecting sleeve 44 to maintain the seal between the communication cavity Q and the first communication hole inside the upper connecting sleeve 44.

[0060] By dividing the connecting sleeve into an upper connecting sleeve 44 and a lower connecting sleeve 17, it is easier to assemble and connect the connecting sleeve, and the upper connecting sleeve 44 and the lower connecting sleeve 17 can be connected to the connecting end of the second arm tube 18 at the same time, thereby improving the connection strength with the connecting end of the second arm tube 18.

[0061] In some embodiments, combined with Figure 1 and Figure 4 A first bearing 42 and a first sealing assembly are provided between the upper connecting sleeve 44 and the joint sleeve 21. Compared with the first sealing assembly, the first bearing 42 is closer to the inside of the joint sleeve 21.

[0062] For example, the first bearing 42 can be a general rolling bearing.

[0063] For example, such as Figure 4 As shown, a stepped platform is provided on the joint sleeve 21 at the position corresponding to the first bearing 42. The outer side of the first bearing 42 is fixed on the stepped platform of the joint sleeve 21, and the inner side of the first bearing 42 is fixed on the outer side of the bottom of the upper connecting sleeve 44.

[0064] For example, such as Figure 4 As shown, the first sealing assembly includes a bearing cap 39, a fifth sealing ring 43, and a first pressure plate 38. The bearing cap 39 is disposed on the outside of the first bearing 42 and is fixed to the joint sleeve 21 by a second screw 40, covering and abutting against the first bearing 42 to press against the upper surface of the first bearing 42 in the vertical direction. A first sealing gasket 41 is also provided between the bearing cap 39 and the joint sleeve 21 to seal the gap between them. The fifth sealing ring 43 is disposed in the horizontal gap between the upper connecting sleeve 44 and the bearing cap 39 to seal the gap between them. The first pressure plate 38 is located outside the fifth sealing ring 43 and is fixed to the bearing cap 39 by a third screw 37 to press against the fifth sealing ring 43.

[0065] The fifth sealing ring 43 can be a lip seal or other seals suitable for rotating shafts. The material of the fifth sealing ring 43 is acid and alkali resistant and radiation resistant (such as polytetrafluoroethylene).

[0066] With the above settings, a rotatable and sealed connection can be achieved between the upper connecting sleeve 44 and the joint sleeve 21.

[0067] In some embodiments, such as Figure 3 As shown, a second bearing 32 and a second sealing assembly are provided between the lower connecting sleeve 17 and the joint sleeve 21. Compared with the second sealing assembly, the second bearing 32 is closer to the inside of the joint sleeve 21.

[0068] For example, the second bearing 32 can be a general rolling bearing.

[0069] For example, such as Figure 3 As shown, a stepped platform is provided on the joint sleeve 21 at the position corresponding to the second bearing 32. In the horizontal direction, the inner side of the second bearing 32 is fixed on the stepped platform of the joint sleeve 21, and the outer side of the second bearing 32 is fixed on the outer side of the bottom of the lower connecting sleeve 17.

[0070] In some examples, combined Figure 1 and Figure 3 A second gear 20 is provided on the outer side of the lower connecting sleeve 17, and the second gear 20 extends to the position where the second bearing 32 is located. At this time, if Figure 3 As shown, in the horizontal direction, the outer side of the second bearing 32 is fixed to the outer side of the bottom of the second gear 20. In the vertical direction, a first adjusting shim 31 is provided between the second bearing 32 and the upper surface of the second gear 20. The first adjusting shim 31 is used to adjust and limit the position of the second bearing 32 in the vertical direction to prevent the second bearing 32 from shaking in the vertical direction.

[0071] For example, such as Figure 3 As shown, the second sealing assembly includes a fourth sealing ring 33 and a second pressure plate 34. The second pressure plate 34 is located outside the fourth sealing ring 33 and is fixed to the joint sleeve 21 by a fourth screw 35, for pressing the fourth sealing ring 33.

[0072] The fourth sealing ring 33 can be a lip seal or other seals suitable for rotating shafts. The material of the fourth sealing ring 33 is acid and alkali resistant and radiation resistant (such as polytetrafluoroethylene).

[0073] With the above settings, a rotational and sealed connection can be achieved between the lower connecting sleeve 17 (second gear 20) and the joint sleeve 21.

[0074] In some embodiments, such as Figure 1 As shown, the driving component 5 is a rotary hydraulic cylinder. The axis of the rotating shaft of the rotary hydraulic cylinder is orthogonal to the axis of the lower connecting sleeve 17, and the rotating shaft of the rotary hydraulic cylinder is meshed with the lower connecting sleeve 17.

[0075] The rotary hydraulic cylinder is hydraulically driven and can output large torque and power.

[0076] like Figure 1 As shown, when the rotating shaft of the rotary hydraulic cylinder rotates, it drives the lower connecting sleeve 17 to rotate, thereby causing the second arm tube 18 to swing relative to the first arm tube 1.

[0077] Meshing connections are characterized by high strength and the ability to output large torque and power.

[0078] With the above settings, the sealed swing joint can have the advantages of strong output load capacity and high power ratio.

[0079] In some embodiments, such as Figure 1 As shown, a first gear 30 is provided on the outer side of the rotating shaft of the rotary hydraulic cylinder, and a second gear 20 is provided on the outer side of the lower connecting sleeve 17. The first gear 30 and the second gear 20 are meshed together.

[0080] like Figure 1 As shown, the first gear 30 is sleeved on the outside of the rotating shaft of the rotary hydraulic cylinder, and the first gear 30 is connected to the rotating shaft of the rotary hydraulic cylinder by a key 7. The second gear 20 is sleeved on the outside of the lower connecting sleeve 17, and the second gear 20 can also be connected to the lower connecting sleeve 17 by a spline or a flat key.

[0081] The transmission ratio of the first gear 30 and the second gear 20 can be set according to the rotation stroke of the rotary hydraulic cylinder. In this embodiment, the transmission ratio of the first gear 30 and the second gear 20 is 1:1.

[0082] In some examples, the rotary hydraulic cylinder is positioned along the extension direction of the first arm tube 1.

[0083] That is, Figure 1 In the middle, the first arm tube 1 is set horizontally, and the axis of the rotary hydraulic cylinder is also set horizontally. At this time, as... Figure 1 As shown, when the rotating shaft of the rotary hydraulic cylinder drives the first gear 30 to rotate around its horizontal axis, the first gear 30 drives the second gear 20 to rotate, and the second gear 20 drives the lower connecting sleeve 17 to rotate around its vertical axis, thereby driving the second arm tube 18 to rotate around the vertical axis of the lower connecting sleeve 17.

[0084] In this case, the first arm tube 1 can be designed to closely follow the shape of the rotary hydraulic cylinder, taking advantage of its slender cylindrical structure, to improve the space utilization within the first arm tube 1. This design also allows for a compact structural arrangement within the first arm tube 1, optimizes the inertia distribution by reducing the shape of the sealed swing joint, and enhances the rigidity of the first arm tube 1 by utilizing the support of the rotary hydraulic cylinder within it. When the sealed swing joint is applied in a robot, it can improve the robot's dynamic characteristics.

[0085] In some embodiments, such as Figure 1 As shown, the drive assembly also includes a connecting seat 4, which is fixed to the joint sleeve 21 inside the first arm tube 1. The rotary hydraulic cylinder is fixed to the connecting seat 4, and the first gear 30 is rotatably mounted on the connecting seat 4; the first gear 30 passes through the connecting seat 4, and a third bearing 9 is provided between the first gear 30 and the connecting seat 4.

[0086] like Figure 1As shown, the connecting seat 4 is annular and is fixed to the joint sleeve 21 inside the first arm tube 1 by multiple fifth screws 8. The housing of the rotary hydraulic cylinder is fixed to the connecting seat 4 by multiple sixth screws 6, and the rotating shaft of the rotary hydraulic cylinder passes through the connecting seat 4.

[0087] For example, the third bearing 9 can be a general rolling bearing.

[0088] like Figure 1 As shown, the outer ring of the third bearing 9 is fixed to the inner side of the connecting seat 4, and the inner ring of the third bearing 9 is fixed to the outer side of the first gear 30. Figure 1 In the middle, a second adjusting shim 10 is also provided in the horizontal gap between the third bearing 9 and the first gear 30 to adjust and limit the horizontal position of the third bearing 9 and prevent the third bearing 9 from wobbling horizontally.

[0089] With the above settings, the first gear 30 and the rotary hydraulic cylinder can be positioned by the connecting seat 4, so that the power output by the rotary hydraulic cylinder can be stably output through the first gear 30.

[0090] In some embodiments, such as Figure 1 As shown, the sealed swing joint also includes a detection assembly. The detection assembly includes a rotary transformer 11 and a transmission component 15. The rotary transformer 11 is disposed within the joint sleeve 21. The transmission component 15 is sleeved on the outside of the detection wheel of the rotary transformer 11 and the second gear 20, and is used to drive the detection wheel of the rotary transformer 11 to rotate when the second gear 20 rotates, so as to detect the rotation information of the second gear 20 through the rotary transformer 11.

[0091] Rotary transformer 11 is an existing rotary transformer used to measure the angular displacement and angular velocity of the rotating shaft of a rotating object. The rotation information of the second gear 20 includes the angular displacement and angular velocity of the second gear 20 shaft.

[0092] For example, such as Figure 1 As shown, the rotary transformer 11 extends into the joint sleeve 21 after passing through the bottom wall of the joint sleeve 21. A second sealing cover 13 is also provided on the joint sleeve 21. The second sealing cover 13 covers the rotary transformer 11 and is fixed to the joint sleeve 21 by a seventh screw 12. A third sealing ring 14 is also provided between the second sealing cover 13 and the joint sleeve 21 to ensure the seal between the second sealing cover 13 and the joint sleeve 21 and to maintain the seal inside the joint sleeve 21.

[0093] For example, the transmission component 15 can be a transmission belt or a transmission chain.

[0094] For example, a transmission wheel 19 is provided on the outer side of the second gear 20, and the transmission wheel 19 is fixed to the outer side of the second gear 20 (at the back of the teeth of the second gear 20) by an eighth screw 16. At this time, the transmission component 15 is sleeved on the outer side of the detection wheel of the rotary transformer 11 and the transmission wheel 19.

[0095] When the second gear 20 rotates, it drives the transmission wheel 19 to rotate. The transmission wheel 19 drives the detection wheel of the rotary transformer 11 to rotate through the transmission component 15, so that the rotation angle of the second gear 20 can be detected by the rotary transformer 11. It can be understood that when the second gear 20 rotates, it will synchronously drive the lower connecting sleeve 17 and the second arm tube 18 to rotate, so that the rotation angle and rotation speed of the second arm tube 18 relative to the first arm tube 1 can be detected, that is, the swing angle and swing speed of the second arm tube 18 relative to the first arm tube 1.

[0096] Understandably, when the second gear 20 rotates by the same angle, the radius of the transmission wheel 19 is larger, and the linear velocity of the outer ring of the transmission wheel 19 is greater than the linear velocity of the second gear 20 at the corresponding position. Thus, the transmission component 15 can drive the detection wheel of the rotary transformer 11 to rotate by more angles, thereby improving the detection accuracy of the rotary transformer 11.

[0097] In the above embodiments, the first sealing gasket 41, the second sealing gasket 25, and the third sealing ring 14 are flat gaskets or O-rings, and their materials are acid and alkali resistant and radiation resistant (such as polytetrafluoroethylene).

[0098] As will be understood by those skilled in the art, the swing angle of the second arm tube 18 relative to the first arm tube 1 is usually small (less than 90°). Therefore, the first pipeline 29 and the second pipeline 3 within the sealed swing joint can freely twist within their own flexibility limits to realize the transmission of hydraulic and / or electrical signals in the first pipeline 29 and the second pipeline 3.

[0099] like Figure 1 As shown, in this embodiment, during the swinging process, except for the first arm tube 1, the second arm tube 18, the joint sleeve 21, and the lower connecting sleeve 17, all other components (driving component 5, upper connecting sleeve 44, connecting seat 4, etc.) are protected inside the sealed swinging joint, which can prevent contamination with reflective substances. Therefore, it can reduce the overall difficulty of cleaning the sealed swinging joint and reduce the cost of using the equipment.

[0100] In this embodiment, the outer surfaces of components exposed to the radioactive environment, such as the first arm tube 1, the second arm tube 18, the joint sleeve 21, and the lower connecting sleeve 17, are smooth and made of corrosion-resistant materials (e.g., stainless steel). Other components (such as the drive component 5, the upper connecting sleeve 44, and the connecting seat 4) can be made of ordinary materials (e.g., ordinary steel) to reduce the overall manufacturing cost of the sealed swing joint.

[0101] Example 2:

[0102] This invention also provides a robotic arm for use in nuclear industry robots. The robotic arm includes a first arm and a second arm, and also includes the sealed swing joint of embodiment 1. The first arm tube 1 of the sealed swing joint is disposed on the first arm, and the second arm tube 18 of the sealed swing joint is disposed on the second arm.

[0103] For example, the robotic arm can be a bionic arm, with the first arm being the hind arm of the bionic arm and the second arm being the forearm of the bionic arm.

[0104] For example, the first arm tube 1 of the sealed swing joint is fixed to the first arm and is sealed to the first arm to maintain a seal within the first arm tube 1. The second arm tube 18 is fixed to the second arm and is sealed to the second arm to maintain a seal within the second arm tube 18. This allows the first and second arms to be connected together, enabling the sealed swing joint to drive the second arm to swing relative to the first arm.

[0105] Furthermore, in this case, the pipeline connecting the first and second arms can be placed in the internal channel of the sealed swing joint, avoiding the pipeline from being exposed to the external radioactive environment and contaminated with radioactive materials. When decontaminating the robotic arm, only the surface of its exposed parts needs to be decontaminated, which reduces the difficulty of decontaminating the robotic arm and thus reduces the operating cost during the use of the robotic arm.

[0106] Example 3:

[0107] This invention also provides a nuclear industry robot, such as a spent fuel assembly gripping robot, which can be used in the fuel building of a nuclear power plant. The nuclear industry robot includes at least one robotic arm as described in Embodiment 2.

[0108] For example, the grasping robot also includes a controller. The controller can be a general-purpose microprocessor, and can store preset control programs. The controller is electrically connected to the drive assembly of the sealed swing joint in the robotic arm, and is used to control the drive assembly to control the swing of the second arm tube 18 relative to the first arm tube 1, that is, to control the swing of the second arm relative to the first arm.

[0109] In nuclear industry robots, pipelines can be housed within the sealed swing joints of the robotic arm, thus preventing them from being exposed to the outside and contaminated with radioactive materials. When decontaminating nuclear industry robots, only the outer surface needs to be decontaminated, reducing the difficulty of decontamination and consequently lowering the operating costs during their use.

[0110] 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 joint, characterized in that, include: The first arm tube (1) has a blind end at the connection point with the second arm tube (18); The drive assembly is located inside the first arm tube (1), passes through the connection end of the first arm tube (1), and is sealed and rotatably connected to the connection end of the first arm tube (1), and is connected to the connection end of the second arm tube (18) to drive the second arm tube (18) to swing relative to the first arm tube (1). Second arm tube (18); and, A sealing cover (27) is provided on the connecting end of the second arm tube (18) and the drive assembly to form a communicating cavity (Q) between the sealing cover (27), the second arm tube (18) and the drive assembly; The drive assembly has a first connecting hole that connects the connecting cavity (Q) and the interior of the first arm tube (1); the second arm tube (18) has a second connecting hole that connects the connecting cavity (Q) and the interior of the second arm tube (18) so that the interior of the first arm tube (1) and the interior of the second arm tube (18) are interconnected.

2. The sealed swing joint according to claim 1, characterized in that, The driving component includes: A connecting sleeve is disposed inside the first arm tube (1). The connecting sleeve passes through the connecting end of the first arm tube (1) and rotates and seals with the connecting end of the first arm tube (1), and is connected to the connecting end of the second arm tube (18); the first communicating hole is disposed on the connecting sleeve; and, The driving component (5) is disposed inside the first arm tube (1) and is connected to the connecting sleeve in a transmission manner. It is used to drive the connecting sleeve to rotate around its own axis so that the second arm tube (18) swings relative to the first arm tube (1). The sealing cover (27) is placed over the connecting end of the second arm tube (18) and the connecting sleeve, and the communicating cavity (Q) is formed between the sealing cover (27), the second arm tube (18) and the connecting sleeve.

3. The sealed swing joint according to claim 2, characterized in that, A joint sleeve (21) is sealed to the connecting end of the first arm tube (1) to close the opening of the connecting end of the first arm tube (1); the inside of the joint sleeve (21) is in communication with the inside of the first arm tube (1). The connecting sleeve includes: An upper connecting sleeve (44) is disposed inside the joint sleeve (21). The upper connecting sleeve (44) passes through the top of the joint sleeve (21) and is rotatably and sealingly connected to the joint sleeve (21), and is connected to the connecting end of the second arm tube (18); a first communicating hole is disposed inside the upper connecting sleeve (44) and communicates with the interior of the joint sleeve (21); and, The lower connecting sleeve (17) is coaxially disposed inside the joint sleeve (21) with the upper connecting sleeve (44). The lower connecting sleeve (17) passes through the bottom of the joint sleeve (21) and rotates and is sealed to the joint sleeve (21), and is connected to the second arm tube (18). The driving member (5) is connected to the lower connecting sleeve (17) for driving the lower connecting sleeve (17) to rotate around the axis of the lower connecting sleeve (17), so that the second arm tube (18) swings relative to the first arm tube (1). The sealing cover (27) is placed on the connecting end of the second arm tube (18) and the upper connecting sleeve (44), and the communicating cavity (Q) is formed between the sealing cover (27), the second arm tube (18) and the upper connecting sleeve (44).

4. The sealed swing joint according to claim 3, characterized in that, A first bearing (42) and a first sealing assembly are provided between the upper connecting sleeve (44) and the joint sleeve (21). Compared with the first sealing assembly, the first bearing (42) is closer to the interior of the joint sleeve (21); and / or, A second bearing (32) and a second sealing assembly are provided between the lower connecting sleeve (17) and the joint sleeve (21). Compared with the second sealing assembly, the second bearing (32) is closer to the interior of the joint sleeve (21).

5. The sealed swing joint according to claim 3, characterized in that, The driving component (5) is a rotary hydraulic cylinder. The axis of the rotating shaft of the rotary hydraulic cylinder is orthogonal to the axis of the lower connecting sleeve (17). The rotating shaft of the rotary hydraulic cylinder is meshed with the lower connecting sleeve (17).

6. The sealed swing joint according to claim 5, characterized in that, A first gear (30) is provided on the outer side of the rotating shaft of the rotary hydraulic cylinder, and a second gear (20) is provided on the outer side of the lower connecting sleeve (17). The first gear (30) and the second gear (20) are meshed together.

7. The sealed swing joint according to claim 6, characterized in that, The drive assembly also includes a connecting seat (4), which is fixed to the joint sleeve (21) inside the first arm tube (1); The rotary hydraulic cylinder is fixed on the connecting seat (4), and the first gear (30) is rotatably mounted on the connecting seat (4); the first gear (30) passes through the connecting seat (4), and a third bearing (9) is provided between the first gear (30) and the connecting seat (4).

8. The sealed swing joint according to claim 6, characterized in that, It also includes detection components; The detection component includes: Rotary transformer (11), disposed within the joint sleeve (21); and, The transmission component (15) is sleeved on the outside of the detection wheel of the rotary transformer (11) and the second gear (20), and is used to drive the detection wheel of the rotary transformer (11) to rotate when the second gear (20) rotates, so as to detect the rotation information of the second gear (20) through the rotary transformer (11).

9. A robotic arm, comprising a first arm and a second arm, characterized in that, It also includes the sealed swing joint according to any one of claims 1-8; The first arm tube (1) of the sealed swing joint is disposed on the first arm, and the second arm tube (18) of the sealed swing joint is disposed on the second arm.

10. A nuclear industry robot, characterized in that, It includes at least one robotic arm as described in claim 9.

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