CN116985180A - High-irradiation-resistance hydraulic joint - Google Patents
High-irradiation-resistance hydraulic joint Download PDFInfo
- Publication number
- CN116985180A CN116985180A CN202311245610.3A CN202311245610A CN116985180A CN 116985180 A CN116985180 A CN 116985180A CN 202311245610 A CN202311245610 A CN 202311245610A CN 116985180 A CN116985180 A CN 116985180A
- Authority
- CN
- China
- Prior art keywords
- base
- joint
- mounting
- protruding
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims description 52
- 238000007789 sealing Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims 2
- 230000037431 insertion Effects 0.000 claims 2
- 238000005452 bending Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 description 8
- 230000005855 radiation Effects 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Quick-Acting Or Multi-Walled Pipe Joints (AREA)
Abstract
The application relates to the technical field of nuclear industry and intelligent robots, in particular to a high-irradiation-resistance hydraulic joint, which comprises the following components: the shell component comprises a base, a base connecting support, a cover plate gasket, a base cover plate and an aviation plug mounting plate, wherein the base top is detachably connected with the bottom of the base connecting support, the top of the base connecting support is detachably connected with the bottom of the base cover plate, the cover plate gasket is arranged between the top of the base connecting support and the bottom of the base cover plate, the high-irradiation-resistance hydraulic joint meets irradiation-resistance requirements, the structure is compact, the size is small, the weight ratio and the power-volume ratio of the mechanical arm are improved, the joint mounting layout is reasonable, the bending moment resistance capability is enhanced, the joint large-load requirements are met, and positive significance is provided for promoting joint irradiation resistance, large load and large weight ratio.
Description
Technical Field
The application relates to the technical fields of nuclear industry and intelligent robots, in particular to a high-irradiation-resistance hydraulic joint.
Background
In the field of nuclear industry, the joint irradiation resistance determines the service life of intelligent equipment. The irradiation-resistant joint is used for replacing the manual work to finish operations such as intelligent goods identification grabbing, pipeline cutting and the like in the radiation environment, so that the maintenance and the decommissioning of the reactor are realized. In recent years, intelligent robots are rapidly developed, and increasing the load-to-mass ratio of hydraulic joints becomes one of the key technologies of the mechanical arm joints.
The high irradiation resistance hydraulic joint is an important connecting part of the pipeline robot, is used for transmitting moment, torque and force, and provides wiring space inside the joint. The joint is used for a key component for realizing power connection between the manipulator and the power device.
Because the driving joints of the traditional mechanical arm are mostly in a mode of combining a motor and a speed reducer, the weight ratio and the power-volume ratio of the traditional mechanical arm are very small, and the irradiation-resistant joint is generally used in a narrow space and a high-radiation environment, so that the joint is required to be designed on the irradiation-resistant basis, firstly, the joint mechanism is required to be compact and stable in transmission, the functional action can be completed in a limited space, and the feasibility and the safety of operation and maintenance operations of the mechanical arm in an irregular space are improved; secondly, the joint moment arm is required to have good bearing performance aiming at the condition of high joint load. The domestic irradiation-resistant joint is influenced by the high level of environmental radiation, the type selection of the components is limited, the joint configuration is different in size, and meanwhile, the joint serial configuration of the rotary transformer (or encoder), the brake, the motor and the speed reducer leads to overlarge joint axial direction, so that the mechanical arm cannot be operated in a narrow space. Therefore, a high irradiation-resistant hydraulic joint with a more compact structure, a higher weight ratio and a higher power-volume is urgently needed to realize that the mechanical arm can complete various functional actions in a narrow space and a high radiation environment.
Disclosure of Invention
In order to solve the problem that the joint cannot simultaneously meet the requirements of high irradiation resistance, compact structure and high load bearing, the application provides a high irradiation resistance hydraulic joint, which comprises the following components: the device comprises a shell assembly, a spiral swing oil cylinder, a brushless rotary transmitter, an electro-hydraulic servo valve and a hydraulic joint aviation plug, wherein the shell assembly comprises a base, a base connecting support, a cover plate gasket, a base cover plate and an aviation plug mounting plate, the top of the base is detachably connected with the bottom of the base connecting support, the top of the base connecting support is detachably connected with the bottom of the base cover plate, and the cover plate gasket is arranged between the top of the base connecting support and the bottom of the base cover plate;
the base is provided with a first protruding part extending vertically upwards from the bottom surface of the base, the base cover plate is provided with a second protruding part extending vertically downwards from the top surface of the base cover plate, the right side surface of the first protruding part is provided with a first circumference surface part, the right side surface of the second protruding part is provided with a second circumference surface part, the axes of the first circumference surface part and the second circumference surface part are coaxially arranged, the radiuses are equal, and the first circumference surface part extends downwards from the top of the first protruding part to the second step part;
the left sides of the first protruding part and the second protruding part form a first installation space, and the right sides of the first protruding part and the second protruding part form a second installation space;
the device comprises a first installation space, a first circumference surface part, a second circumference surface part, a spiral swing oil cylinder, a brushless rotary transmitter, an electrohydraulic servo valve, a plane installation part, a first bulge part and a second bulge part, wherein the first installation space is arranged on the left side of the spiral swing oil cylinder;
the hydraulic joint aviation plug is located in the first installation space, and the hydraulic joint aviation plug is installed on the inner side face of the aviation plug installation plate.
In some embodiments, the left side of the base connecting bracket is provided with an opening, a fifth step part is arranged at the lower end part of the opening, the upper end of the aviation plug mounting plate is detachably connected with the fifth step part, and when the aviation plug mounting plate is in a mounting state, the outer side surface of the aviation plug mounting plate is flush with the left side outer side surface of the base connecting bracket.
In some embodiments, a first step is provided at the left upper end of the base, the lower end of the air insert mounting plate is detachably connected to the first step, and when in a mounted state, the air insert mounting plate outer side is flush with the left outer side of the base.
In some embodiments, the spiral swing cylinder is circumferentially provided with a plurality of first mounting through holes, the second step portion is circumferentially provided with a plurality of first mounting threaded holes, and the spiral swing cylinder is detachably connected with the second step portion by penetrating through the first mounting through holes and the first mounting threaded holes through screws.
In some embodiments, the spiral swing cylinder has a hydraulic line, a first oil line connector and a second oil line connector, the hydraulic line, the first oil line connector and the second oil line connector are all located in the first installation space, a first oil line connector and a second oil line connector are arranged at the top of the first protruding portion, the first oil line connector and the first oil line connector are detachably connected in a sealing manner, and the second oil line connector are detachably connected in a sealing manner.
In some embodiments, the first oil passage interface bottom is provided with a first oil passage extending vertically downwards, a second oil passage extending horizontally from the first oil passage bottom to the planar mounting portion is provided with a third oil passage extending vertically downwards, a fourth oil passage extending horizontally from the third oil passage bottom to the planar mounting portion is provided with a fourth oil passage, and the second oil passage is communicated with the fourth oil passage and the electrohydraulic servo valve oil passage.
In some embodiments, the top of the outer side of the circumference of the brushless rotary transformer transmitter is provided with a third protruding part extending outwards in a radial direction, the peripheral surface of the third protruding part is uniformly provided with a plurality of fourth protruding parts in a circumferential direction, the fourth protruding parts are provided with second mounting through holes, and the screw type swing oil cylinder and the fourth protruding parts are detachably connected through screws penetrating through the second mounting through holes.
In some embodiments, a plurality of first groove parts which are vertically opened upwards are arranged between the first mounting through holes adjacent to the second step part, the circumferential width of the first groove parts is larger than that of the fourth protruding parts, the axial depth of the first groove parts is larger than that of the fourth protruding parts, and the number of the first groove parts is equal to that of the fourth protruding parts.
In some embodiments, the base is provided with a third mounting hole extending downward from the top of the second step, the third mounting hole accommodating a portion of the brushless rotary transmitter extending vertically downward from the bottom of the third boss.
In some embodiments, the hydraulic joint socket and the electro-hydraulic servo valve have electrical and signal connections, and the hydraulic joint socket and the brushless rotary transmitter have electrical and signal connections.
In order to solve the problem that the joint cannot simultaneously meet the requirements of high irradiation resistance, compact structure and high load bearing, the application provides a high irradiation resistance hydraulic joint, which comprises the following components: the shell assembly comprises a base, a base connecting bracket, a cover plate gasket, a base cover plate and an aviation plug mounting plate, wherein the top of the base is detachably connected with the bottom of the base connecting bracket, the top of the base connecting bracket is detachably connected with the bottom of the base cover plate, and the cover plate gasket is arranged between the top of the base connecting bracket and the bottom of the base cover plate; the base is provided with a first protruding part which extends vertically upwards from the bottom surface of the base, the base cover plate is provided with a second protruding part which extends vertically downwards from the top surface of the base cover plate, the right side surface of the first protruding part is provided with a first circumference surface part, the right side surface of the second protruding part is provided with a second circumference surface part, the axes of the first circumference surface part and the second circumference surface part are coaxially arranged, the radiuses are equal, and the first circumference surface part extends downwards from the top of the first protruding part to the second step part; the left sides of the first protruding part and the second protruding part form a first installation space, and the right sides of the first protruding part and the second protruding part form a second installation space; the spiral swing oil cylinder part is arranged in a second installation space, the lower part of the left side of the spiral swing oil cylinder is in butt joint with the first circumference face part, the upper part of the left side of the spiral swing oil cylinder is in butt joint with the second circumference face part, the brushless rotary transmitter is arranged in the second installation space, the bottom of the spiral swing oil cylinder is detachably connected with the brushless rotary transmitter, the left side of the first bulge part is a plane installation part, the electrohydraulic servo valve is arranged in the first installation space, and the electrohydraulic servo valve and the plane installation part are detachably connected, so that the application has the following advantages: the high irradiation-resistant hydraulic joints all adopt parts with irradiation resistance, so that the irradiation-resistant requirements are met, the structure is compact, the volume is small, and the weight ratio and the power-volume ratio of the mechanical arm are improved; the joint is reasonable in installation layout, the bending moment resistance is enhanced, the joint high-load requirement is met, and the operations of clamping/carrying of heavy objects, detection of parts, cutting in a pipeline and the like can be completed in a narrow space and a high-radiation environment through the joint.
Drawings
FIG. 1 shows a cross-sectional view of a high irradiation tolerance hydraulic joint;
FIG. 2 shows a schematic diagram of an exploded construction of a high irradiation tolerance hydraulic joint;
FIG. 3 shows an enlarged partial view of a cross-sectional view of a high irradiation tolerance hydraulic joint;
fig. 4 shows a schematic view of a rear view of a high irradiation tolerance hydraulic joint (the aerial insert mounting plate is not shown).
Reference numerals illustrate: 11 base, 111 first boss, 1111 planar mounting portion, 1112 first oil path interface, 1113 second oil path interface, 1114 first oil path, 1115 second oil path, 1116 third oil path, 1117 fourth oil path, 113 second step portion, 1131 first mounting threaded hole, 1132 first groove portion, 1133 third mounting hole, 114 first step portion, 12 base connection bracket, 1211 fifth step portion, 13 cover plate gasket, 14 base cover plate, 141 second boss, 15 aviation plug mounting plate, 02 spiral swing cylinder, 21 first mounting through hole, 23 first oil path joint, 24 second oil path joint, 03 brushless rotary transmitter, 31 third boss, 32 fourth boss, 04 electrohydraulic servo valve, 05 hydraulic joint plug, 121 opening.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "transverse", "longitudinal", etc. refer to an orientation or positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment discloses a high irradiation-resistant hydraulic joint, as shown in fig. 1, the high irradiation-resistant hydraulic joint includes: the shell assembly (not shown), the spiral swing cylinder 02, the brushless rotary transmitter 03, the electrohydraulic servo valve 04 and the hydraulic joint aviation plug 05 comprises a base 11, a base connecting bracket 12, a cover plate gasket 13, a base cover plate 14 and an aviation plug mounting plate 15, wherein the top of the base 11 is detachably connected with the bottom of the base connecting bracket 12, the top of the base connecting bracket 12 is detachably connected with the bottom of the base cover plate 14, and the cover plate gasket 13 is arranged between the top of the base connecting bracket 12 and the bottom of the base cover plate 14;
the base 11 has a first protruding portion 111 extending vertically upwards from the bottom surface of the base 11, the base cover 14 has a second protruding portion 141 extending vertically downwards from the top surface of the base cover 14, the right side surface of the first protruding portion 111 has a first circumferential surface portion (not shown), the right side surface of the second protruding portion 141 has a second circumferential surface portion (not shown), the axes of the first circumferential surface portion and the second circumferential surface portion are coaxially arranged, the radii are equal, and the first circumferential surface portion extends downwards from the top of the first protruding portion 111 to the second step portion 113;
the left sides of the first and second bosses 111 and 141 form a first installation space, and the right sides of the first and second bosses 111 and 141 form a second installation space;
the spiral swing oil cylinder 02 is partially arranged in a second installation space, the lower part of the left side of the spiral swing oil cylinder 02 is in butt joint with the first circumferential surface part, the upper part of the left side of the spiral swing oil cylinder 02 is in butt joint with the second circumferential surface part, the brushless rotary transmitter 03 is arranged in the second installation space, the bottom of the spiral swing oil cylinder 02 is detachably connected with the brushless rotary transmitter 03, the left side of the first bulge part 111 is a plane installation part 1111, the electro-hydraulic servo valve 04 is arranged in the first installation space, and the electro-hydraulic servo valve 04 and the plane installation part 1111 are detachably connected;
the hydraulic joint aviation plug 05 is located in the first installation space, and the hydraulic joint aviation plug 05 is installed on the inner side face of the aviation plug installation plate 15.
In this embodiment, the brushless rotary transmitter 03 may be used as feedback of the joint speed, and the rotation shaft of the spiral swinging oil cylinder 02 drives the rotary rotor of the brushless rotary transmitter 03, and the output speed of the brushless rotary transmitter 03 is fed back to the joint, so as to implement joint control feedback.
In this embodiment, the bottom of the spiral swing cylinder 02 is detachably connected to the brushless rotary transformer transmitter 03, the brushless rotary transformer transmitter 03 may be mounted and fixed on the spiral swing cylinder 02 by a screw, and specifically, an output shaft of the brushless rotary transformer transmitter 03 may be fixed on a rotating shaft of the spiral swing cylinder 02 by a screw.
In the present embodiment, the electro-hydraulic servo valve 04 may be fixed to the flat mounting portion 1111 of the base 11 by screws.
In the present embodiment, the base connection bracket 12 may be connected to the base 11 by a screw.
In the present embodiment, the base cover 14 and the cover gasket 13 may be coupled to the base connection bracket 12 by screws.
In this embodiment, the base 11 may provide a mechanical mounting interface for components such as the electrohydraulic servo valve 04 and the spiral swing cylinder 02, and provide a preset space for the cable harness.
In this embodiment, the spiral swing cylinder 02 adopting the irradiation-resistant reinforcement design can be designed as follows: + -90 deg..
In this embodiment, a first boss 111 and a second boss 141 may be disposed on the base 11, and the space in the base 11 may be divided into two installation working spaces, where the left sides of the first boss 111 and the second boss 141 are first installation spaces, and the right sides of the first boss 111 and the second boss 141 form second installation spaces, where the first installation spaces are used for positioning and installing the electrohydraulic servo valve 04, and the second installation spaces are used for positioning and installing the spiral swing cylinder 02 and the brushless rotary transmitter 03. Through setting up electrohydraulic servo valve 04 in left side installation space, set up spiral swing hydro-cylinder 02 and brushless rotary transformer transmitter 03 combination in right side installation space, realize the partition combined utilization of high irradiation-resistant hydraulic intra-articular space, space layout is compact, space utilization is high.
In this embodiment, the housing assembly is divided into a plurality of independent components from bottom to top, including the base 11, the base connecting bracket 12, the cover plate gasket 13, the base cover plate 14 and the aviation plug mounting plate 15 are sequentially fixed, so as to realize convenient installation and stable connection of the spiral swing oil cylinder 02 and the brushless rotary transformer transmitter 03.
In the embodiment, the joint is connected with an external oil source through an oil pipe, a moment coil of the electrohydraulic servo valve 04 is driven, the opening degree and the direction of the valve are adjusted, the spiral swing oil cylinder 02 is controlled to move at a certain rotation speed and a certain rotation direction, and an output shaft of the spiral swing oil cylinder 02 drags the hydraulic joint to realize rotation.
In some embodiments, as shown in fig. 1, the hydraulic joint insert 05 is located in the first mounting space and the hydraulic joint insert 05 is mounted on the inside of the insert mounting plate 15.
In the embodiment, the hydraulic joint navigation plug 05 is arranged in the first installation space, so that the first space on the left side is fully utilized.
In some embodiments, as shown in fig. 1 and 4, the left side of the base connecting bracket 12 has an opening 121, a fifth step 1211 is provided at the lower end of the opening 121, and the upper end of the navigation mounting plate 15 is detachably connected to the fifth step 1211, and when in the mounted state, the outer side surface of the navigation mounting plate 15 is flush with the left outer side surface of the base connecting bracket 12.
In this embodiment, set up the opening at base linking bridge 12, the connection can be dismantled to the upper end and the fifth step 1211 of aviation plug mounting panel 15 simultaneously, realize the location installation to aviation plug mounting panel 15 and to the convenient installation of spare part in the first installation space, conveniently overhaul high resistant irradiation hydraulic joint, the lateral surface of aviation plug mounting panel 15 and the left side lateral surface parallel and level of base linking bridge 12 simultaneously, promote high resistant irradiation hydraulic joint's roughness, prevent that the arm during operation from damaging other spare part.
In some embodiments, as shown in fig. 1, the upper left end of the base 11 is provided with a first step 114, and the lower end of the socket mounting plate 15 is detachably connected to the first step 114, and when in the mounted state, the outer side of the socket mounting plate 15 is flush with the outer left side of the base 11.
In this embodiment, the lower extreme and the first step 114 of aviation plug mounting panel 15 can dismantle the connection, realize the location installation to aviation plug mounting panel 15 and to the convenient installation of spare part in the first installation space, conveniently overhaul high resistant irradiation hydraulic joint, aviation plug mounting panel 15 lateral surface and the left side lateral surface parallel and level of base 11 simultaneously realize that aviation plug mounting panel 15, base 11 and the lateral surface of base linking bridge 12 are all parallel and level, promote the roughness of high resistant irradiation hydraulic joint, prevent that the arm during operation from damaging other spare part.
In this embodiment, the air insert mounting plate 15 may be mounted on the base connection bracket 12 and the base 11 by screws.
In some embodiments, as shown in fig. 2, the spiral swing cylinder 02 is circumferentially provided with a plurality of first mounting through holes 21, the second stepped portion 113 is circumferentially provided with a plurality of first mounting screw holes 1131, and the spiral swing cylinder 02 is detachably connected with the second stepped portion 113 by passing screws through the first mounting through holes 21 and the first mounting screw holes 1131.
In the present embodiment, the first mounting through hole 21 and the first mounting screw hole 1131 realize convenient disassembly and assembly of the spiral swing cylinder 02 and the base 11.
In the present embodiment, the screw type swing cylinder 02 may be fixed to the second stepped portion 113 of the base 11 by a screw.
In some embodiments, as shown in fig. 1 and 3, the spiral swing cylinder 02 has a hydraulic line (not shown), a first oil line connector 23 and a second oil line connector 24, where the hydraulic line, the first oil line connector 23 and the second oil line connector 24 are all located in the first installation space, a first oil line connector 1112 and a second oil line connector 1113 are disposed on top of the first protrusion 111, the first oil line connector 23 and the first oil line connector 1112 are detachably connected in a sealing manner, and the second oil line connector 24 and the second oil line connector 1113 are detachably connected in a sealing manner.
In this embodiment, the hydraulic pipeline and the oil path connector are arranged in the first installation space in a centralized manner, and meanwhile, the oil path connector is integrally arranged on the first protruding portion 111, so that the first installation space on the left side is fully utilized, and the oil path integration level is high.
In some embodiments, as shown in fig. 1 and 3, a first oil passage 1114 extending vertically downward is provided at the bottom of the first oil passage 1112, a second oil passage 1115 extending horizontally to the planar mount 1111 is provided from the bottom of the first oil passage 1114, a third oil passage 1116 extending vertically downward is provided at the bottom of the second oil passage 1113, a fourth oil passage 1117 extending horizontally to the planar mount 1111 is provided from the bottom of the third oil passage 1116, and the second and fourth oil passages 1117 are in oil communication with the electrohydraulic servo valve 04.
In the present embodiment, the oil passage between the electrohydraulic servo valve 04 and the oil passage interface is integrated inside the first boss 111, and the oil passage integration is high.
In this embodiment, in order to make the joint structure more compact, the entire base 11 is designed with a cavity having a large wall thickness, and the high-low pressure oil paths of the hydraulic system are integrated inside without requiring connection of additional hydraulic pipelines.
In some embodiments, as shown in fig. 2, the top of the outer side of the circumference of the brushless rotary transformer transmitter 03 is provided with a third protruding portion 31 extending radially outwards, a plurality of fourth protruding portions 32 are uniformly distributed on the circumference of the outer circumference of the third protruding portion 31, the fourth protruding portions 32 are provided with second mounting through holes (not shown), and the screw type swing cylinder 02 and the fourth protruding portions 32 are detachably connected through screws penetrating through the second mounting through holes.
In the present embodiment, the third boss 31, the fourth boss 32, and the second mounting through hole are provided in the brushless rotary transmitter 03, and positioning and detachable mounting of the brushless rotary transmitter 03 are achieved.
In some embodiments, as shown in fig. 2, a plurality of first groove portions 1132 that are vertically opened upward are provided between the first mounting through holes 21 adjacent to the second step portion 113, the circumferential width of the first groove portions 1132 is larger than the circumferential width of the fourth protruding portion 32, the axial depth of the first groove portions 1132 is larger than the axial thickness of the fourth protruding portion 32, and the number of the first groove portions 1132 is equal to the number of the fourth protruding portions 32.
In the present embodiment, by providing the first groove portion 1132 to accommodate the fourth protrusion portion 32, it is achieved that not only the weight of the high irradiation resistance hydraulic joint is reduced, but also the space inside the joint is fully utilized.
In some embodiments, as shown in fig. 1, the base 11 is provided with a third mounting hole 1133 extending downward from the top of the second step 113, and the third mounting hole 1133 accommodates a portion of the brushless rotary transmitter 03 extending vertically downward from the bottom of the third boss 31.
In this embodiment, through the third mounting hole 1133, the base 11 is realized to accommodate the brushless rotary transformer transmitter 03, the thickness of the high irradiation-resistant hydraulic joint is reduced, the volume of the high irradiation-resistant hydraulic joint is reduced, the weight of the high irradiation-resistant hydraulic joint is further reduced, and the space inside the joint is fully utilized.
In some embodiments, the hydraulic joint insert 05 and the electro-hydraulic servo valve 04 have electrical and signal connections, and the hydraulic joint insert 05 and the brushless rotary transmitter 03 have electrical and signal connections.
In the embodiment, through electric connection and signal connection, the hydraulic joint avionics insert 05, the electrohydraulic servo valve 04, the hydraulic joint avionics insert 05 and the brushless rotary transmitter 03 are in feedback control, so that the electric control rotation of the high irradiation resistance hydraulic joint is realized.
In the embodiment, the joint is connected with an external oil source through an oil pipe, the hydraulic joint on the aviation plug mounting plate 15 is used for transmitting power and control signals to the electro-hydraulic servo valve 04 and the brushless rotary transformer transmitter 03, a moment coil of the electro-hydraulic servo valve 04 is driven, the opening size and direction of the valve are adjusted, the spiral type swing oil cylinder 02 is controlled to move at a certain rotation speed and rotation direction, and an output shaft of the spiral type swing oil cylinder 02 drags the hydraulic joint to realize rotation.
In other embodiments, the spiral swing cylinder 02, the brushless rotary transmitter 03, the electrohydraulic servo valve 04, the gasket, the wire harness and other auxiliary materials are made of products with high radiation resistance, and a metal sealing structural design is adopted between the base 11 and the base cover plate 14, and between the base cover plate 14 and the spiral swing cylinder 02, so that the physical shielding performance of components inside the joint is enhanced, and the radiation environment requirement is met.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure.
Claims (10)
1. A high irradiation resistance hydraulic joint, the high irradiation resistance hydraulic joint comprising: the device comprises a shell assembly, a spiral swing oil cylinder, a brushless rotary transmitter, an electro-hydraulic servo valve and a hydraulic joint aviation plug, wherein the shell assembly comprises a base, a base connecting support, a cover plate gasket, a base cover plate and an aviation plug mounting plate, the top of the base is detachably connected with the bottom of the base connecting support, the top of the base connecting support is detachably connected with the bottom of the base cover plate, and the cover plate gasket is arranged between the top of the base connecting support and the bottom of the base cover plate;
the base is provided with a first protruding part extending vertically upwards from the bottom surface of the base, the base cover plate is provided with a second protruding part extending vertically downwards from the top surface of the base cover plate, the right side surface of the first protruding part is provided with a first circumference surface part, the right side surface of the second protruding part is provided with a second circumference surface part, the axes of the first circumference surface part and the second circumference surface part are coaxially arranged, the radiuses are equal, and the first circumference surface part extends downwards from the top of the first protruding part to the second step part;
the left sides of the first protruding part and the second protruding part form a first installation space, and the right sides of the first protruding part and the second protruding part form a second installation space;
the device comprises a first installation space, a first circumference surface part, a second circumference surface part, a spiral swing oil cylinder, a brushless rotary transmitter, an electrohydraulic servo valve, a plane installation part, a first bulge part and a second bulge part, wherein the first installation space is arranged on the left side of the spiral swing oil cylinder;
the hydraulic joint aviation plug is located in the first installation space, and the hydraulic joint aviation plug is installed on the inner side face of the aviation plug installation plate.
2. The high irradiation resistance hydraulic joint according to claim 1, wherein the left side of the base connecting bracket is provided with an opening, a fifth step part is arranged at the lower end part of the opening, the upper end of the aviation plug mounting plate is detachably connected with the fifth step part, and when the aviation plug mounting plate is in a mounting state, the outer side surface of the aviation plug mounting plate is flush with the left side outer side surface of the base connecting bracket.
3. The high irradiation tolerance hydraulic joint according to claim 1, wherein a first step portion is provided at an upper left end portion of the base, the lower end of the aerial insertion mounting plate is detachably connected to the first step portion, and when in an installation state, an outer side surface of the aerial insertion mounting plate is flush with an outer side surface of the left side of the base.
4. The high irradiation resistance hydraulic joint according to claim 1, wherein the spiral swing cylinder is circumferentially provided with a plurality of first mounting through holes, the second step portion is circumferentially provided with a plurality of first mounting threaded holes, and the spiral swing cylinder is detachably connected with the second step portion by passing screws through the first mounting through holes and the first mounting threaded holes.
5. The high irradiation resistance hydraulic joint according to claim 4, wherein the spiral swing cylinder is provided with a hydraulic pipeline, a first oil way joint and a second oil way joint, the hydraulic pipeline, the first oil way joint and the second oil way joint are all located in the first installation space, a first oil way joint and a second oil way joint are arranged at the top of the first protruding part, the first oil way joint and the first oil way joint are detachably connected in a sealing manner, and the second oil way joint are detachably connected in a sealing manner.
6. The high irradiation tolerance hydraulic joint according to claim 5, wherein the first oil passage interface bottom is provided with a first oil passage extending vertically downward, the first oil passage bottom is provided with a second oil passage extending horizontally to the planar mounting portion, the second oil passage interface bottom is provided with a third oil passage extending vertically downward, the third oil passage bottom is provided with a fourth oil passage extending horizontally to the planar mounting portion, and the second oil passage and the fourth oil passage are in oil communication with the electrohydraulic servo valve.
7. The high irradiation resistance hydraulic joint according to claim 4, wherein a third protruding portion extending radially outwards is arranged at the top of the outer side of the circumference of the brushless rotary transformer transmitter, a plurality of fourth protruding portions are uniformly distributed on the outer circumferential surface of the third protruding portion in the circumferential direction, second mounting through holes are formed in the fourth protruding portions, and screws penetrate through the second mounting through holes to detachably connect the spiral swing cylinder with the fourth protruding portions.
8. The high irradiation resistance hydraulic joint according to claim 7, wherein a plurality of first groove parts which are vertically opened upwards are arranged between the first mounting through holes adjacent to the second step part, the circumferential width of the first groove parts is larger than that of the fourth protruding parts, the axial depth of the first groove parts is larger than that of the fourth protruding parts, and the number of the first groove parts is equal to that of the fourth protruding parts.
9. The high irradiation tolerance hydraulic joint according to claim 7, wherein the base is provided with a third mounting hole extending downward from a top of the second step portion, the third mounting hole accommodating a portion of the brushless rotary transmitter extending vertically downward from a bottom of the third boss portion.
10. The high irradiation tolerance hydraulic joint according to claim 1, wherein the hydraulic joint socket and the electro-hydraulic servo valve have electrical and signal connections, and the hydraulic joint socket and the brushless rotary transformer transmitter have electrical and signal connections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311245610.3A CN116985180A (en) | 2023-09-26 | 2023-09-26 | High-irradiation-resistance hydraulic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311245610.3A CN116985180A (en) | 2023-09-26 | 2023-09-26 | High-irradiation-resistance hydraulic joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116985180A true CN116985180A (en) | 2023-11-03 |
Family
ID=88526879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311245610.3A Pending CN116985180A (en) | 2023-09-26 | 2023-09-26 | High-irradiation-resistance hydraulic joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116985180A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012005646A (en) * | 2010-06-24 | 2012-01-12 | Natl Inst Of Radiological Sciences | Arm device |
| JP2013221458A (en) * | 2012-04-17 | 2013-10-28 | Kanzaki Kokyukoki Manufacturing Co Ltd | Hydraulic pressure rotary machine |
| CN207387662U (en) * | 2017-11-08 | 2018-05-22 | 山东优宝特智能机器人有限公司 | A kind of multi-joint hydraulic manipulator |
| CN113334423A (en) * | 2021-06-07 | 2021-09-03 | 核工业西南物理研究院 | Long-arm unfolding mechanical arm joint in large-magnetic-field high-vacuum strong-radiation environment |
| CN115106739A (en) * | 2022-07-12 | 2022-09-27 | 核工业西南物理研究院 | Electro-hydraulic cooperative operation arm resistant to high-dose gamma irradiation |
| CN115648280A (en) * | 2022-10-27 | 2023-01-31 | 中广核研究院有限公司 | Hydraulic mechanical arm system of nuclear power station |
| CN116330350A (en) * | 2023-03-20 | 2023-06-27 | 湖南大学 | Modularized quick assembly disassembly irradiation-resistant joint module and mechanical arm |
-
2023
- 2023-09-26 CN CN202311245610.3A patent/CN116985180A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012005646A (en) * | 2010-06-24 | 2012-01-12 | Natl Inst Of Radiological Sciences | Arm device |
| JP2013221458A (en) * | 2012-04-17 | 2013-10-28 | Kanzaki Kokyukoki Manufacturing Co Ltd | Hydraulic pressure rotary machine |
| CN207387662U (en) * | 2017-11-08 | 2018-05-22 | 山东优宝特智能机器人有限公司 | A kind of multi-joint hydraulic manipulator |
| CN113334423A (en) * | 2021-06-07 | 2021-09-03 | 核工业西南物理研究院 | Long-arm unfolding mechanical arm joint in large-magnetic-field high-vacuum strong-radiation environment |
| CN115106739A (en) * | 2022-07-12 | 2022-09-27 | 核工业西南物理研究院 | Electro-hydraulic cooperative operation arm resistant to high-dose gamma irradiation |
| CN115648280A (en) * | 2022-10-27 | 2023-01-31 | 中广核研究院有限公司 | Hydraulic mechanical arm system of nuclear power station |
| CN116330350A (en) * | 2023-03-20 | 2023-06-27 | 湖南大学 | Modularized quick assembly disassembly irradiation-resistant joint module and mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 徐景慧: "新能源汽车驱动电机***检测维修", 北京理工大学出版社, pages: 27 - 30 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107498580B (en) | Drive integrative two encoder structure modularization joints of accuse | |
| US20190106855A1 (en) | Excavation tool for making diaphragms and related excavation equipment | |
| CN101410623A (en) | Compressor unit | |
| WO2019154155A1 (en) | Electric assembly and vehicle having same | |
| CN116985180A (en) | High-irradiation-resistance hydraulic joint | |
| CN115045870A (en) | Hydraulic pump system | |
| CN213332270U (en) | Harmonic speed reducer | |
| CN110978061A (en) | Joint heat abstractor and cooperation robot | |
| CN216056647U (en) | Special explosion-proof high-efficient motor of closed-loop control vibration-proof type hoist | |
| CN1636122A (en) | Electric insulating device of air conditioner, and air conditioner with the device | |
| CN211615666U (en) | Modular underwater electric mechanical wrist structure | |
| CN211778886U (en) | Gear box sinking type mounting device of large-scale drilling machine | |
| CN212287708U (en) | Joint heat abstractor and cooperation robot | |
| CN210335989U (en) | Valve box separated type full-sea-depth seven-function proportional hydraulic manipulator complete machine system | |
| CN216833189U (en) | Engine assembly and engineering machinery vehicle | |
| CN220150413U (en) | Electromagnetic chuck for excavator | |
| CN215709355U (en) | Explosion-proof electric drum | |
| JP7478206B2 (en) | Power module and power equipment | |
| CN213971274U (en) | Compact integrated robot joint module | |
| CN117001713A (en) | High-irradiation-resistance and high-load integrated joint device | |
| CN221095248U (en) | Quick-change connector with rotating structure | |
| CN219772504U (en) | Drainage motor and washing machine using same | |
| CN220637967U (en) | Robot joint structure and robot | |
| CN219213194U (en) | Industrial robot joint mechanism | |
| CN212115057U (en) | Integrated oil pump structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20231103 |