CN108189002B - Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions - Google Patents

The invention discloses a piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions, which comprises a base, universal casters, a steel wire rope, a rack, pulleys, a piezoelectric ultrasonic vibrator, a turntable bearing, seven joint arms, an L-shaped frame, an expansion table, a gripper mechanism and cameras, wherein four universal casters are arranged on the lower side of the base, two guide rails are arranged on the rack, the pulleys are rotatably arranged at the top end of a push rod of an oil cylinder, the first joint arm and the rack form a moving pair, the oil cylinder telescopically controls the first joint arm to move up and down, each joint arm and the joint arm connected with the joint arm form a rotating pair, a sixth joint arm and the L-shaped frame form a rotating pair, a seventh joint arm is fixedly connected with the L-shaped frame, the seventh joint arm and the expansion table form a rotating pair, the piezoelectric ultrasonic vibrator arranged in the seventh joint arm drives the expansion table to rotate, the gripper mechanism is arranged on the expansion table, and two cameras are arranged, the operator can observe the operation environment around the mechanical arm, and the expansion platform can be connected with other clamping mechanisms and welding mechanisms according to the actual operation type.

Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions

Technical Field

The invention relates to a maintenance mechanical arm device applied to environments which are not suitable for manual operation, such as a strong magnetic field and strong radiation, in particular to a maintenance mechanical arm device applied to a strong magnetic field and strong radiation working condition.

Background

The inside and outside surface area and the volume of the Tokamak device are large, and the inner wall is generally manufactured in blocks and then is assembled by a process design method. Taking EAST as an example, the size of a unit block constituting the inner wall thereof is generally 0.25 m²About (50cm × 50cm), weighing several tens of kilograms. In order to prevent radiation and leakage accidents, the minimum welding and assembling precision is required to be +/-2 mm. After the ITER is operated, the temperature of the inner wall is up to 120-200 ℃, and the heat energy density can reach 5MW/m when being started²And can reach 0.5MW/m when the device is turned off²Degree of vacuum of 10^-6Pa, the magnetic field intensity can reach 6.2T, and the gamma radiation can reach up to 10 Gy/h. Such high temperature, high vacuum, high magnetic field and high radiation conditions are extremely dangerous. Even if the maintenance and repair work is in a shutdown state, large high-energy radiation and electromagnetic radiation and a strong magnetic field of about 3.5T still remain at the position of the inner wall of the device, and people cannot directly enter the device to work.

Therefore, in severe working conditions such as a tokamak cavity and the like with strong magnetic field and strong radiation, the operations of equipment such as overhaul, assembly, disassembly, welding, transportation and the like must be completed by adopting a mechanical arm device. In the existing mechanical arm, the rotation of the joint is mostly driven by a motor, and under the working conditions of strong magnetic field and strong radiation, the motor is very likely to cause signal loss or interference error, which is very dangerous for expensive equipment to be repaired and mechanical arms with loads, so that the development of a mechanical arm device capable of being applied to the working conditions of strong magnetic field and strong radiation is urgently needed.

Disclosure of Invention

The piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to the severe working conditions is high in automation degree and degree of freedom, the rotation of the joint is driven by a hydraulic motor, the operation is stable, the anti-interference capability is high, and the piezoelectric ultrasonic vibrator driving type maintenance mechanical arm can adapt to the working environment with strong magnetic field and strong radiation.

The technical scheme adopted by the invention is as follows: the utility model provides a be applied to piezoelectricity ultrasonic vibrator driving type maintenance arm of abominable operating mode, includes base, universal caster, wire rope, frame, guide rail, hydro-cylinder, pulley, revolving stage bearing, rotor, piezoelectricity ultrasonic vibrator, sealed lid, slider, first festival arm, second festival arm, third festival arm, fourth festival arm, fifth festival arm, sixth festival arm, seventh festival arm, L shape frame, extension platform, tongs mechanism, left camera, right camera, its characterized in that: the universal caster has self-locking function, and four universal casters are installed in the base downside, make the base can realize omnidirectional movement, and operation handrail and balancing weight are installed in base upside rear end, and frame fixed mounting is in base upside front end, and frame rear side lower extreme is equipped with the wire rope connecting seat, and the vertical direction of frame front side is equipped with two guide rails, and the hydro-cylinder is installed in frame central point and puts, and the pulley rotation is installed on the top of hydro-cylinder push rod, and first festival arm rear end is equipped with four sliders, two liang of installation of four sliders are on two guide rails, make first festival arm and frame constitute the sliding pair, and wire rope one end is connected in the wire rope connecting seat, and the other end.

Further, as shown in fig. 2, the piezoelectric ultrasonic vibrators are provided with driving feet and a mounting seat, as shown in fig. 3, a cylindrical cavity is arranged in the vertical direction of the front end of the first section arm, a turntable bearing is arranged between the first section arm and the second section arm, so that the first section arm and the second section arm form a revolute pair, a rotor is fixedly connected with the second section arm through screws, the mounting seats of the three piezoelectric ultrasonic vibrators are uniformly arranged on the inner wall of the cavity of the first section arm through screws, the driving feet of the three piezoelectric ultrasonic vibrators are in compression contact with the inner wall of the rotor, a sealing cover is arranged on the lower side of the front end of the first section arm, the cavity of the front end of the first section arm is isolated from the outside air, and dust pollution is prevented.

Further, as shown in fig. 4, the front end of the second arm section is vertically provided with a cylindrical cavity, a turntable bearing is installed between the second arm section and the third arm section, so that the first arm section and the third arm section form a revolute pair, a rotor is fixedly connected with the third arm section through a screw, mounting seats of three piezoelectric ultrasonic vibrators are uniformly installed on the inner wall of the cavity of the second arm section through screws, driving feet of the three piezoelectric ultrasonic vibrators are in compression contact with the inner wall of the rotor, a sealing cover is installed on the lower side of the front end of the second arm section, the third arm section, the fourth arm section and the fifth arm section are identical in structure, a connecting structure between the third arm section and the fourth arm section, a connecting structure between the fourth arm section and the fifth arm section, and a connecting structure between the fifth arm section and the sixth arm section are identical to a connecting structure between the second arm section and the third arm section, and therefore description is omitted.

Further, as shown in fig. 5, a cylindrical cavity is horizontally arranged at the front end of the sixth arm, a turntable bearing is installed between the sixth arm and the L-shaped frame, so that the sixth arm and the L-shaped frame form a revolute pair, a rotor is fastened and connected with the L-shaped frame through screws, mounting seats of three piezoelectric ultrasonic vibrators are uniformly installed on the inner wall of the cavity of the sixth arm through screws, driving feet of the three piezoelectric ultrasonic vibrators are in compression contact with the inner wall of the rotor, and a sealing cover is installed at the opening of the cavity at the front end of the sixth arm.

Further, as shown in fig. 5, the seventh arm is fastened and connected to the L-shaped frame by screws, a cylindrical cavity is provided inside the seventh arm, a turntable bearing is installed between the front end of the seventh arm and the expansion platform, so that the seventh arm and the expansion platform constitute a revolute pair, the mounting seats of the three piezoelectric ultrasonic vibrators are uniformly installed on the inner wall of the cavity of the seventh arm by screws, the driving feet of the three piezoelectric ultrasonic vibrators are in compression contact with the inner wall of the rotor, and the rotor is connected to the expansion platform.

Furthermore, the gripper mechanism is fixedly connected with the expansion table through a screw, and two cameras are mounted on the gripper mechanism and used for an operator to observe the operation environment around the mechanical arm.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of a piezoelectric ultrasonic vibrator according to the present invention.

FIG. 3 is a schematic partial sectional view of a connection position of a first arm and a second arm according to the present invention.

Fig. 4 is a schematic view of a partial cross-sectional structure in the vertical center plane of the present invention.

Fig. 5 is a schematic view of a partial cross-sectional structure in the horizontal plane of the present invention.

FIG. 6 is a schematic view of any of the positions of the present invention.

Reference numerals: 0.1 driving foot, 0.2 piezoelectric ceramic piece, 0.3 mounting base, 0.4 metal base body, 1 base, 1.1 universal caster, 1.2 balancing weight, 1.3 operating armrest, 2 steel wire rope, 3 frame, 3.1 steel wire rope connecting base, 3.2 guide rail, 4 oil cylinder, 4.1 pulley, 5 first section arm, 5.1 turntable bearing, 5.2 rotor, 5.3 piezoelectric ultrasonic vibrator, 5.4 sealing cover, 5.5 slider, 6 second section arm, 6.1 turntable bearing, 6.2 rotor, 6.3 piezoelectric ultrasonic vibrator, 6.4 sealing cover, 7 third section arm, 8 fourth section arm, 9 fifth section arm, 9.2 rotor, 9.3 piezoelectric ultrasonic vibrator, 10 sixth section arm, 10.1 bearing, 10.2 rotor, 10.3 piezoelectric ultrasonic vibrator, 10.4 sealing cover, 11L-shaped frame, 12 seventh section arm, 12.1 turntable bearing, 12.2 rotor, 12.3 piezoelectric ultrasonic vibrator, 13.1 ultrasonic vibrator, 13 ultrasonic vibrator, 15.15 camera head, 15.1 camera head and a left hand-expanding camera head.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

The embodiment of the invention comprises the following steps:

According to the actual working condition, the number of the knuckle arms can be increased or reduced, so that the working space of the maintenance mechanical arm (the invention) is increased or reduced.

1. The utility model provides a be applied to piezoelectricity supersound oscillator drive type maintenance arm of abominable operating mode, including base (1), universal caster (1.1), wire rope (2), frame (3), guide rail (3.2), hydro-cylinder (4), pulley (4.1), revolving stage bearing (5.1, 6.1, 10.1, 12.1), rotor (5.2, 6.2, 9.2, 10.2, 12.2), piezoelectricity supersound oscillator (5.3, 6.3, 9.3, 10.3, 12.3), sealed lid (5.4, 6.4, 10.4), slider (5.5), first festival arm (5), second festival arm (6), third festival arm (7), fourth festival arm (8), fifth festival arm (9), sixth festival arm (10), seventh festival arm (12), L shape frame (11), expansion platform (13), tongs mechanism (14), left camera (15.1), right camera (15.2), its characterized in that: four universal casters (1.1) are arranged on the lower side of a base (1), a rack (3) is fixedly arranged at the front end of the upper side of the base (1), a steel wire rope connecting seat (3.1) is arranged at the lower end of the rear side of the rack (3), two guide rails (3.2) are arranged in the vertical direction of the front side of the rack (3), an oil cylinder (4) is arranged at the central position of the rack (3), a pulley (4.1) is rotatably arranged at the top end of a push rod of the oil cylinder (4), four sliding blocks (5.5) are arranged at the rear end of a first section arm (5), the four sliding blocks (5.5) are arranged on the two guide rails (3.2) in pairs, the first section arm (5) and the rack (3) form a moving pair, one end of a steel wire rope (2) is connected to the steel wire rope connecting seat (3.1);

the piezoelectric ultrasonic vibrators (5.3, 6.3, 9.3, 10.3 and 12.3) are provided with driving feet (0.1) and mounting seats (0.3), a cylindrical cavity is arranged in the vertical direction of the front end of the first section arm (5), a turntable bearing (5.1) is mounted between the first section arm (5) and the second section arm (6) to enable the first section arm and the second section arm to form a revolute pair, one rotor (5.2) is fixedly connected with the second section arm (6) through screws, the mounting seats (0.3) of the three piezoelectric ultrasonic vibrators (5.3) are uniformly mounted on the inner wall of the cavity of the first section arm (5) through screws, the driving feet (0.1) of the three piezoelectric ultrasonic vibrators (5.3) are in pressing contact with the inner wall of the rotor (5.2), one sealing cover (5.4) is mounted on the lower side of the front end of the first section arm (5), and the cavity of the front end of the first section arm (5) is isolated from outside air to prevent dust pollution;

a turntable bearing (6.1) is arranged between the second section arm (6) and the third section arm (7), so that the first section arm and the third section arm form a revolute pair, a rotor (6.2) is fixedly connected with the third section arm (7) through screws, mounting seats (0.3) of three piezoelectric ultrasonic vibrators (6.3) are uniformly arranged on the inner wall of a cavity of the second section arm (6) through screws, driving feet (0.1) of the three piezoelectric ultrasonic vibrators (6.3) are in compression contact with the inner wall of the rotor (6.2), and a sealing cover (6.4) is arranged on the lower side of the front end of the second section arm (6);

the structure of the second arm (6), the structure of the third arm (7), the structure of the fourth arm (8) and the structure of the fifth arm (9) are completely the same, and the connecting structure between the third arm (7) and the fourth arm (8), the connecting structure between the fourth arm (8) and the fifth arm (9), and the connecting structure between the fifth arm (9) and the sixth arm (10) are all the same as the connecting structure between the second arm (6) and the third arm (7);

a turntable bearing (10.1) is arranged between the sixth section arm (10) and the L-shaped frame (11), so that the sixth section arm and the L-shaped frame form a revolute pair, a rotor (10.2) is fixedly connected with the L-shaped frame (11) through screws, mounting seats (0.3) of three piezoelectric ultrasonic vibrators (10.3) are uniformly arranged on the inner wall of a cavity of the sixth section arm (10) through screws, driving feet (0.1) of the three piezoelectric ultrasonic vibrators (10.3) are in pressing contact with the inner wall of the rotor (10.2), and a sealing cover (10.4) is arranged at an opening of the cavity at the front end of the sixth section arm (10);

the seventh section arm (12) is fixedly connected with the L-shaped frame (11) through screws, a turntable bearing (12.1) is installed between the front end of the seventh section arm (12) and the expansion platform (13) to enable the front end of the seventh section arm and the expansion platform to form a revolute pair, mounting seats (0.3) of three piezoelectric ultrasonic vibrators (12.3) are uniformly installed on the inner wall of a cavity of the seventh section arm (12) through screws, driving feet (0.1) of the three piezoelectric ultrasonic vibrators (12.3) are in compression contact with the inner wall of a rotor (12.2), and the rotor (12.2) is connected with the expansion platform (13);

the gripper mechanism (14) is fixedly connected with the expansion table (13) through screws, and two cameras (15.1 and 15.2) are mounted on the gripper mechanism (14) and used for an operator to observe the operation environment around the mechanical arm.