Hinge type double-degree-of-freedom modular mechanical arm for EAST device

Abstract

The invention discloses a hinge type double-degree-of-freedom modular mechanical arm for an EAST device. The hinge type double-degree-of-freedom modular mechanical arm comprises a parallelogram connecting rod mechanism consisting of two U-shaped clamp joint ends, double horizontal connecting rods and a mechanical arm barrel, and a pitching driving rod, a yawing driver and a yawing driving pulley which are matched with the parallelogram connecting rod mechanism, wherein a pitching driver along diagonal lines of the parallelogram connecting rod mechanism is arranged in the mechanical arm barrel; one end of the pitching driver is hinged together with an upper hinge hole of one of the U-shaped clamp joint ends and the double horizontal connecting rods; the yawing driver is arranged in the mechanical arm barrel below the pitching driver; the yawing driver is connected with the yawing driving pulley through a steel wire rope; the other end of the pitching driver is hinged together with a lower hinge hole of the other U-shaped clamp joint end and the mechanical arm barrel. The overall size of the hinge type double-degree-of-freedom modular mechanical arm is reduced greatly; the hinge type double-degree-of-freedom modular mechanical arm is compact in structure, and can run conveniently in an EAST assembly internal complicated geometric environment; meanwhile, the driver is sealed in a sealing cavity, so that the running requirement in a high-temperature and high-vacuum severe environment can be met.

Description

[0001] Technical field: [0002] The invention relates to the field of special manipulators for nuclear fusion devices, and mainly relates to a hinged dual-degree-of-freedom modular manipulator for EAST devices. [0003] Background technique: [0004] The EAST tokamak experimental device is the world's first non-circular cross-section full superconducting magnetic confinement nuclear fusion device. During operation, MA-level long-pulse plasma discharges will be generated inside the annular vacuum chamber of EAST, so that the inner wall of the vacuum chamber is in a complex environment of high temperature and high vacuum for a long time, and the first wall parts of the vacuum chamber are easily damaged. The first wall parts are mainly formed by splicing heat-resistant materials such as block graphite tiles and molybdenum tiles. In order to ensure the smooth progress of the device experiment, it is necessary to carry out regular damage detection and necessary repairs on the inter...

AI Technical Summary

Problems solved by technology

However, many of the existing manipulator design schemes do not fully consider the limited space size and the limitations of the special environmental conditions in the fusion device. They often only focus on the structure of the manipulator itself or the design of the control system, and do not take into account the strictness of high temperature and high vacuum. harsh operating environment

In the existing domestic robotics research field, it is difficult to find a design scheme for a multi-joint flexible maintenance manipulator that can be used in the target environment of the fusion experimental reactor

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