CN108044599A - A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode - Google Patents
A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode Download PDFInfo
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- CN108044599A CN108044599A CN201810061034.XA CN201810061034A CN108044599A CN 108044599 A CN108044599 A CN 108044599A CN 201810061034 A CN201810061034 A CN 201810061034A CN 108044599 A CN108044599 A CN 108044599A
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- Prior art keywords
- joint arm
- joint
- arm
- fastenedly connected
- examining
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode,Including pedestal,Universal caster wheel,Steel wire rope,Rack,Pulley,Hydraulic motor,Turntable bearing,Seven joint arms,L-shaped frame,Expanding table,Handgrip mechanism,Camera,Four universal caster wheels are installed on the downside of pedestal,Rack is equipped with two guide rails,Pulley rotation is installed on the top of cylinder putter,First joint arm forms prismatic pair with rack,The first joint arm of oil cylinder extension and contraction control moves up and down,Each joint arm and the joint arm being attached thereto form revolute pair,6th joint arm forms revolute pair with L-shaped frame,7th joint arm is fastenedly connected with L-shaped frame,7th joint arm forms revolute pair with expanding table,The fluid motor-driven expanding table being installed in the 7th joint arm rotates,Handgrip mechanism is installed on expanding table,Camera there are two being set in handgrip mechanism,The operating environment around mechanical arm is observed for operator,According to actual job type,Expanding table can also connect other clamping devices,Welding mechanism.
Description
Technical field
The present invention relates to the examining and repairing mechanical arms in a kind of environment applied to unsuitable manual works such as high-intensity magnetic field, intense radiations
Device, and in particular to be a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode.
Background technology
Tokamak device surfaces externally and internally accumulates and volume is larger, and inner wall generally reassembles technological design side using piecemeal manufacture
Method.By taking EAST as an example, the unit block size for forming its inner wall is generally 0.25m2(50cm × 50cm) left and right, weigh tens of public affairs
Jin.To prevent from radiating and leakage accident occurring, it is desirable that welding and the minimum ± 2mm of assembly precision.It is interior after ITER gets into smooth
Wall temperature is up to 120-200 DEG C, up to 5MW/m when heat density starts2, also up to 0.5MW/m during shutdown2, vacuum degree 10- 6Pa, magnetic field intensity are up to 10Gy/h up to 6.2T, γ radiation.This high temperature, high vacuum, highfield and the operating mode of high radiation
Exceedingly odious danger.Even if be in shutdown status because of Maintenance and Repair operation, still remaining larger high energy spoke at inner wall position
The relatively high-intensity magnetic field with electromagnetic radiation and about 3.5T is penetrated, the mankind, which can not be directly entered, wherein carries out operation.
Therefore, towards in the operating mode in the high-intensity magnetic fields such as tokamak chamber, intense radiation, maintenance, assembling, dismounting, the weldering of equipment
The operations such as connecing, carry must use robot arm device to complete.In existing mechanical arm, the rotation in joint is mostly driven by motor,
High-intensity magnetic field, intense radiation operating mode in, very likely there is the situation of dropout or interference error in motor, this is for expensive
All it is breakneck by repair apparatus and the mechanical arm of heavy burden, therefore is badly in need of developing strong antijamming capability, can be applied to
The robot arm device of high-intensity magnetic field, intense radiation operating mode.
The content of the invention
It is an object of the invention to provide a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode, automations
Degree is high, and degree of freedom is high, and the rotation in joint is by fluid motor-driven, stable, strong antijamming capability, can adapt in
High-intensity magnetic field, the working environment of intense radiation.
The technical solution that the present invention takes is：A kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode, bag
Include pedestal, universal caster wheel, steel wire rope, rack, guide rail, oil cylinder, pulley, hydraulic motor, turntable bearing, bevel gear wheel, small bevel gear
Wheel, sealing cover, sliding block, the first joint arm, the second joint arm, three joint arms, the 4th joint arm, the 5th joint arm, the 6th joint arm, L-shaped frame,
Seven joint arms, gear ring, pinion gear, motor bracket, expanding table, handgrip mechanism, left camera, right camera, it is characterised in that：It is universal
Castor has auto-lock function, and four universal caster wheels are installed on the downside of pedestal, and pedestal is enable to realize Omni-mobile, operation handrail and
Clump weight is installed on rear end on the upside of pedestal, and rack is fixedly installed in pedestal upper front end, and lower end connects equipped with steel wire rope on rear side of rack
Joint chair, rack front side vertical direction are equipped with two guide rails, and oil cylinder is installed on frame central position, and pulley rotation is installed on oil cylinder and pushes away
The top of bar, the first joint arm rear end are set there are four sliding block, and four sliding blocks are installed on two-by-two on two guide rails, make the first joint arm
Prismatic pair is formed with rack, steel wire rope one end is connected to steel wire rope connecting seat, and the other end is connected by pulley with the first joint arm upper end
It connects.
Further, as shown in Fig. 2, the first joint arm front end is equipped with cavity, between the first joint arm and the second joint arm
Turntable bearing is installed, the above two is made to form revolute pair, a bevel gear wheel is fastenedly connected by screw and the second joint arm, one
Hydraulic motor is fastened on by screw inside the first joint arm, and output shaft is fastenedly connected with a bevel pinion, the conelet
Gear and bevel gear wheel engaged transmission form gear teeth meshing relation, and a sealing cover is installed on the downside of the first joint arm front end, by the
The cavity of one joint arm front end completely cuts off with extraneous air, prevents dust pollution.
Further, as shown in Fig. 2, the second joint arm front end is vertically to equipped with cylindrical cavity, the second joint arm and the
Turntable bearing between three joint arms is installed, the above two is made to form revolute pair, a bevel gear wheel is tight by screw and the second joint arm
It is solidly connected, a hydraulic motor is fastened on by screw inside the second joint arm, and output shaft and a bevel pinion fasten
Connection, the bevel pinion and bevel gear wheel engaged transmission, form gear teeth meshing relation, before a sealing cover is installed on the second joint arm
End downside, the second joint arm, three joint arms, the 4th joint arm, the 5th joint arm structure are identical, between three joint arms and the 4th joint arm
Connection structure, the connection structure between the 4th joint arm and the 5th joint arm, the connection structure between the 6th joint arm and the 5th joint arm
Connection structure between the second joint arm and three joint arms is identical, therefore repeats no more.
Further, as shown in figure 3, the 6th joint arm front end horizontal direction is equipped with cylindrical cavity, the 6th joint arm and L-shaped
Turntable bearing between frame is installed, the above two is made to form revolute pair, a bevel gear wheel is fastenedly connected by screw and L-shaped frame,
One hydraulic motor is fastened on by screw inside the 6th joint arm, and output shaft is fastenedly connected with a bevel pinion, should
Bevel pinion and bevel gear wheel engaged transmission, form gear teeth meshing relation, a sealing cover is installed on the 6th joint arm front end cavity
Opening.
Further, as shown in figure 3, the 7th joint arm is fastenedly connected with L-shaped frame by screw, inside the 7th joint arm
Equipped with cylindrical cavity, side be equipped with for hydraulic oil pipe by skylight, be equipped with one between the 7th joint arm front end and expanding table
A turntable bearing makes the above two form revolute pair, and gear ring is fastenedly connected by screw and expanding table, motor bracket by screw and
7th joint arm intracavity sidewall is fastenedly connected, and a hydraulic motor is fastenedly connected by screw and motor bracket, and the hydraulic motor is defeated
Shaft is fastenedly connected with pinion gear, and pinion gear forms gear teeth meshing relation with gear ring.
Further, the handgrip mechanism is fastenedly connected by screw and expanding table, in handgrip mechanism there are two installations
Camera observes the operating environment around mechanical arm for operator, and according to actual job type, expanding table can also connect other
Clamping device, welding mechanism.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the part section structural representation in the vertical median plane of the present invention.
Fig. 3 is the part section structural representation in horizontal plane of the present invention.
Fig. 4 is any posture schematic diagram of the present invention.
Drawing reference numeral：1 pedestal, 1.1 universal caster wheels, 1.2 clump weights, 1.3 operation handrails, 2 steel wire ropes, 3 racks, 3.1 steel
Cord connecting seat, 3.2 guide rails, 4 oil cylinders, 4.1 pulleys, 5 first joint arms, 5.1 hydraulic motors, 5.2 turntable bearings, 5.3 auger teeth
Wheel, 5.4 bevel pinions, 5.5 sealing covers, 5.6 sliding blocks, 6 second joint arms, 6.1 hydraulic motors, 6.2 turntable bearings, 6.3 auger teeth
It is wheel, 6.4 bevel pinions, 6.5 sealing covers, 7 three joint arms, 7.1 hydraulic motors, 7.2 turntable bearings, 7.3 bevel gear wheels, 7.4 small
Bevel gear, 7.5 sealing covers, 8 the 4th joint arms, 9 the 5th joint arms, 10 the 6th joint arms, 10.1 hydraulic motors, 10.2 turntable bearings,
10.3 bevel gear wheels, 10.4 bevel pinions, 10.5 sealing covers, 11L shapes frame, 12 the 7th joint arms, 12.1 hydraulic motors, 12.2 turntables
Bearing, 12.3 gear rings, 12.4 pinion gears, 12.5 skylights, 12.6 motor brackets, 13 expanding tables, 14 handgrip mechanisms, 15.1 left camera shootings
Head, 15.2 right cameras.
Specific embodiment
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode, including pedestal 1, multi-axis foot
Wheel 1.1, steel wire rope 2, rack 3, guide rail 3.2, oil cylinder 4, pulley 4.1, hydraulic motor (5.1,6.1,7.1,10.1,12.1), turn
Platform bearing (5.2,6.2,7.2,10.2,12.2), bevel gear wheel (5.3,6.3,7.3,10.3), bevel pinion (5.4,6.4,
7.4th, 10.4), sealing cover (5.5,6.5,7.5,10.5), sliding block 5.6, the first joint arm 5, the second joint arm 6, three joint arms the 7, the 4th
Joint arm 8, the 5th joint arm 9, the 6th joint arm 10, L-shaped frame 11, the 7th joint arm 12, gear ring 12.3, pinion gear 12.4, motor bracket
12.6th, expanding table 13, handgrip mechanism 14, left camera 15.1, right camera 15.2, it is characterised in that：Universal caster wheel 1.1 has
Auto-lock function, four universal caster wheels 1.1 are installed on 1 downside of pedestal, pedestal 1 are enable to realize Omni-mobile, operates 1.3 He of handrail
Clump weight 1.2 is installed on 1 upside rear end of pedestal, and rack 3 is fixedly installed in 1 upper front end of pedestal, and 3 rear side lower end of rack is equipped with steel
Cord connecting seat 3.1,3 front side vertical direction of rack are equipped with two guide rails 3.2, and oil cylinder 4 is installed on frame central position, pulley
4.1 rotational installations are in the top of 4 push rod of oil cylinder, and 5 rear end of the first joint arm is set there are four sliding block 5.6, and four sliding blocks 5.6 are two-by-two
It is installed on two guide rails 3.2, the first joint arm 5 is made to form prismatic pair with rack 3,2 one end of steel wire rope is connected to steel wire rope connection
Seat 3.1, the other end is connected by pulley 4.1 with 5 upper end of the first joint arm.
As shown in Fig. 2, 5 front end of the first joint arm is equipped with cavity, it is equipped between the first joint arm 5 and the second joint arm 6
Turntable bearing 5.2 makes the above two form revolute pair, and a bevel gear wheel 5.3 is fastenedly connected by screw and the second joint arm 6, and one
A hydraulic motor 5.1 is fastened on by screw inside the first joint arm 5, and output shaft and a fastening of bevel pinion 5.4 connect
It connects, 5.3 engaged transmission of the bevel pinion 5.4 and bevel gear wheel, forms gear teeth meshing relation, a sealing cover 5.5 is installed on the
On the downside of one joint arm, 5 front end, the cavity of 5 front end of the first joint arm and extraneous air are completely cut off, prevent dust pollution.
As shown in Fig. 2, the 6 front end vertical direction of the second joint arm is equipped with cylindrical cavity, the second joint arm 6 and Section 37
Turntable bearing 6.2 between arm is installed, the above two is made to form revolute pair, a bevel gear wheel 6.3 passes through screw and the second joint arm 6
It is fastenedly connected, a hydraulic motor 6.1 is fastened on by screw inside the second joint arm 6, output shaft and a small bevel gear
Wheel 6.4 is fastenedly connected, and the bevel pinion 6.4 and 6.3 engaged transmission of bevel gear wheel form gear teeth meshing relation, a sealing cover
6.5 are installed on the downside of 6 front end of the second joint arm, the second joint arm 6, three joint arms 7, the 4th joint arm 8, the complete phase of 9 structure of the 5th joint arm
Together, the connection structure between the connection structure between 7 and the 4th joint arm 8 of three joint arms, the 4th joint arm 8 and the 5th joint arm 9, the 6th
Connection structure of the connection structure between the second joint arm 6 and three joint arms 7 between joint arm 10 and the 5th joint arm 9 is identical, because
This is repeated no more.
As shown in figure 3, the 10 front end horizontal direction of the 6th joint arm is equipped with cylindrical cavity, the 6th joint arm 10 and L-shaped frame
Turntable bearing 10.2 between 11 is installed, the above two is made to form revolute pair, a bevel gear wheel 10.3 passes through screw and L-shaped frame 11
It is fastenedly connected, a hydraulic motor 10.1 is fastened on by screw inside the 6th joint arm 10, output shaft and a conelet
Gear 10.4 is fastenedly connected, and the bevel pinion 10.4 and 10.3 engaged transmission of bevel gear wheel form gear teeth meshing relation, one close
Capping 10.5 is installed at 10 front end cavities open of the 6th joint arm.
As shown in figure 3, the 7th joint arm 12 is fastenedly connected with L-shaped frame 11 by screw, set inside the 7th joint arm 12
Have a cylindrical cavity, side be equipped with for hydraulic oil pipe by skylight 12.5, pacify between 12 front end of the 7th joint arm and expanding table 13
Dress makes the above two form revolute pair, gear ring 12.3 is fastenedly connected by screw and expanding table 13, horse there are one turntable bearing 12.2
It is fastenedly connected up to stent 12.6 by screw and 12 intracavity sidewall of the 7th joint arm, a hydraulic motor 12.1 passes through screw and motor
Stent 12.6 is fastenedly connected, which is fastenedly connected with pinion gear 12.4, pinion gear 12.4 and gear ring
12.3 form gear teeth meshing relation.
The handgrip mechanism 14 is fastenedly connected by screw and expanding table 13, and there are two camera shootings for installation in handgrip mechanism 14
Head (15.1,15.2) observes the operating environment around mechanical arm for operator, and according to actual job type, expanding table 13 also may be used
With the other clamping devices of connection, welding mechanism.
The embodiment of the present invention：
As shown in figure 4, operation handrail 1.3 can manipulate examining and repairing mechanical arm device (present invention) on the ground arbitrarily it is mobile with
Rotation, oil cylinder 4 it is flexible, can realize the raising and lowering of each joint arm, two set cameras in handgrip mechanism 14
(15.1,15.2) can timely feedback the picture taken to operator, under the cooperation driving of oil cylinder 4 and each hydraulic motor,
Expanding table 13 can realize six-freedom degree, so that the handgrip mechanism 14 being installed on expanding table 13 can be in severe work condition environment
In, neatly complete maintenance task.
According to actual condition, examining and repairing mechanical arm device (present invention) can also increase or reduce joint arm quantity, with increase or
Reduce the working space of examining and repairing mechanical arm device (present invention).
Claims (7)
1. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode, including pedestal (1), universal caster wheel (1.1), steel
Cord (2), rack (3), guide rail (3.2), oil cylinder (4), pulley (4.1), hydraulic motor (5.1,6.1,7.1,10.1,12.1),
Turntable bearing (5.2,6.2,7.2,10.2,12.2), bevel gear wheel (5.3,6.3,7.3,10.3), bevel pinion (5.4,6.4,
7.4th, 10.4), sealing cover (5.5,6.5,7.5,10.5), sliding block (5.6), the first joint arm (5), the second joint arm (6), three joint arms
(7), the 4th joint arm (8), the 5th joint arm (9), the 6th joint arm (10), L-shaped frame (11), the 7th joint arm (12), gear ring (12.3), small
Gear (12.4), motor bracket (12.6), expanding table (13), handgrip mechanism (14), left camera (15.1), right camera
(15.2), it is characterised in that：Four universal caster wheels (1.1) are installed on the downside of pedestal (1), make pedestal (1) that can realize that omnidirectional moves
Dynamic, operation handrail (1.3) and clump weight (1.2) are installed on rear end on the upside of pedestal (1), and rack (3) is fixedly installed on pedestal (1)
Side front end, rack (3) rear side lower end are equipped with steel wire rope connecting seat (3.1), and rack (3) front side vertical direction is equipped with two guide rails
(3.2), oil cylinder (4) is installed on frame central position, and pulley (4.1) is rotatablely installed in the top of oil cylinder (4) push rod, the first joint arm
(5) rear end is set there are four sliding block (5.6), and four sliding blocks (5.6) are installed on two-by-two on two guide rails (3.2), make first segment
Arm (5) forms prismatic pair with rack (3), and steel wire rope (2) one end is connected to steel wire rope connecting seat (3.1), and the other end passes through pulley
(4.1), it is connected with the first joint arm (5) upper end.
2. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode as described in claim 1, it is characterised in that：
Turntable bearing (5.2), a bevel gear wheel (5.3) and the second joint arm are installed between the first joint arm (5) and the second joint arm (6)
(6) it is fastenedly connected, a hydraulic motor (5.1) is fastened on the first joint arm (5) inside, output shaft and a bevel pinion
(5.4) it is fastenedly connected, bevel pinion (5.4) and bevel gear wheel (5.3) engaged transmission, sealing cover (5.5) will be before the first joint arm (5)
The cavity at end completely cuts off with extraneous air, prevents dust pollution.
3. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode as described in claim 1, it is characterised in that：
Turntable bearing (6.2) is installed between second joint arm (6) and Section of three (7) arm, the above two is made to form revolute pair, bevel gear wheel
(6.3) be fastenedly connected with the second joint arm (6), it is internal that hydraulic motor (6.1) is fastened on the second joint arm (6), output shaft with
Bevel pinion (6.4) is fastenedly connected, bevel pinion (6.4) and bevel gear wheel (6.3) engaged transmission, sealing cover (6.5) peace
Loaded on the downside of the second joint arm (6) front end.
4. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode as described in claim 1, it is characterised in that：
Second joint arm (6), three joint arms (7), the 4th joint arm (8), the 5th joint arm (9) structure are identical, three joint arms (7) and the 4th
The connection structure between connection structure, the 4th joint arm (8) and the 5th joint arm (9), the 6th joint arm (10) between joint arm (8) and the
Connection structure of the connection structure between the second joint arm (6) and three joint arms (7) between five joint arms (9) is identical.
5. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode as described in claim 1, it is characterised in that：
6th joint arm (10) front end horizontal direction is equipped with cylindrical cavity, and turntable axis is equipped between the 6th joint arm (10) and L-shaped frame (11)
It holds (10.2), a bevel gear wheel (10.3) is fastenedly connected by screw and L-shaped frame (11), and a hydraulic motor (10.1) passes through
Screw is fastened on the 6th joint arm (10) inside, and output shaft is fastenedly connected with a bevel pinion (10.4), the small bevel gear
(10.4) and bevel gear wheel (10.3) engaged transmission are taken turns, a sealing cover (10.5) is installed on the 6th joint arm (10) front end cavity and opens
At mouthful.
6. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode as described in claim 1, it is characterised in that：
7th joint arm (12) is fastenedly connected with L-shaped frame (11) by screw, and the 7th joint arm (12) is internally provided with cylindrical cavity, cavity side
Wall be equipped with for hydraulic oil pipe by skylight (12.5), between the 7th joint arm (12) front end and expanding table (13) installation there are one turn
Platform bearing (12.2), gear ring (12.3) are fastenedly connected with expanding table (13), and motor bracket (12.6) passes through screw and the 7th joint arm
(12) intracavity sidewall is fastenedly connected, and hydraulic motor (12.1) is fastenedly connected by screw and motor bracket (12.6), hydraulic motor
(12.1) output shaft is fastenedly connected with pinion gear (12.4), and pinion gear (12.4) forms gear teeth meshing relation with gear ring (12.3).
7. a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode as described in claim 1, it is characterised in that：
Handgrip mechanism (14) is fastenedly connected by screw and expanding table (13), in handgrip mechanism (14) installation there are two camera (15.1,
15.2), for the operating environment around operator's observation mechanical arm, according to actual job type, expanding table (13) can also connect
Other clamping devices, welding mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810061034.XA CN108044599B (en) | 2018-01-23 | 2018-01-23 | Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810061034.XA CN108044599B (en) | 2018-01-23 | 2018-01-23 | Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108044599A true CN108044599A (en) | 2018-05-18 |
| CN108044599B CN108044599B (en) | 2020-12-15 |
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| CN201810061034.XA Active CN108044599B (en) | 2018-01-23 | 2018-01-23 | Be applied to maintenance robotic arm device of strong magnetic field strong radiation operating mode |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818521A (en) * | 2018-06-11 | 2018-11-16 | 南京航空航天大学 | A kind of flexible robot system towards the detection of underwater narrow space |
| CN110640785A (en) * | 2018-06-26 | 2020-01-03 | 田国富 | Multi-degree-of-freedom combined mechanical arm |
| CN111993431A (en) * | 2020-07-23 | 2020-11-27 | 南京航空航天大学 | Line drive continuous type inspection robot with visual feedback function |
| CN114770596A (en) * | 2022-04-28 | 2022-07-22 | 东南大学 | Medical behavior acquisition robot based on active vision and hearing and control method |
| EP4321305A1 (en) * | 2022-08-12 | 2024-02-14 | Rolls-Royce plc | Sensing in continuum robots |
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| CN106737627A (en) * | 2017-01-12 | 2017-05-31 | 河海大学常州校区 | A kind of imitative trunk mechanical arm |
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| CN108818521B (en) * | 2018-06-11 | 2022-02-01 | 南京航空航天大学 | Flexible robot system for underwater narrow space detection |
| CN110640785A (en) * | 2018-06-26 | 2020-01-03 | 田国富 | Multi-degree-of-freedom combined mechanical arm |
| CN111993431A (en) * | 2020-07-23 | 2020-11-27 | 南京航空航天大学 | Line drive continuous type inspection robot with visual feedback function |
| CN114770596A (en) * | 2022-04-28 | 2022-07-22 | 东南大学 | Medical behavior acquisition robot based on active vision and hearing and control method |
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| EP4321305A1 (en) * | 2022-08-12 | 2024-02-14 | Rolls-Royce plc | Sensing in continuum robots |
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