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A wrist joint of a robotic arm for nuclear environments

A nuclear environment and mechanical technology, applied in the field of robotics, can solve problems such as difficult disassembly and maintenance, affecting transmission accuracy, and weak protection, and achieve the effect of avoiding collision, ensuring transmission accuracy, and eliminating transmission backlash.

Active Publication Date: 2019-12-27
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, the degrees of freedom of the wrist joint are all rotational degrees of freedom, which are prone to collisions when operating in a small unstructured space, and have a certain transmission backlash, which affects the transmission accuracy; in addition, the wrist joint is generally the same as other joints of the mechanical arm Form a whole, not easy to disassemble and maintain, and the motor and reducer are generally exposed, resulting in weak protection

Method used

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  • A wrist joint of a robotic arm for nuclear environments
  • A wrist joint of a robotic arm for nuclear environments
  • A wrist joint of a robotic arm for nuclear environments

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0033] figure 1 It is a schematic diagram of the overall structure of the wrist joint of a robotic arm used in a nuclear environment according to the present invention.

[0034] In this example, if figure 1 As shown, a wrist joint of a manipulator used in a nuclear environment in the present invention mainly includes: a main structure 1, a revolving body 2 and a telescopic body 12;

[0035] The main structure 1 is installed with the rotary body 2, the rotary drive motor 3 and the counter torque motor 7, as well as the inlet flange 39 and the electric slip ring 29; the rotary body 2 is installed coaxially with the main structure 1, and the main The structure 1 is connected so that the rotary body 2 can perform rotary motion relative to the main structure 1; the rotary body 2 is connected with the output shaft of the rotary motor 3 through one or more stages of gear transmission, and is connected with the counter torque motor through one or more stages of gear transmission. Th...

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Abstract

The invention discloses a wrist joint of a mechanical arm used in a nuclear environment. The rotary body rotates relative to the main structure, is driven by a rotary motor through the rotary drive, and provides reverse torque through a counter torque motor to eliminate the transmission backlash; the telescopic body is relatively to the main structure. The telescopic movement is driven by the telescopic drive motor, and then through the transmission of the rack and pinion transmission mechanism, to realize the guidance and the circumferential limit; driven by the rotary body and the telescopic body, the rotation of the main structure is realized, so that the entire wrist joint realizes Backlash-free high-precision motion with two degrees of freedom of rotation and telescopic provides driving force for the end tool to complete the work in the nuclear environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a wrist joint of a mechanical arm used in a nuclear environment. Background technique [0002] The working environment of nuclear facility decommissioning, radioactive waste treatment, nuclear facility maintenance and other operations has the characteristics of strong radioactivity and unstructured (the size of the facility in the environment is variable and unknown), and the robotic arm working in this environment needs to have strong protection performance, operability, easy maintenance and high precision. [0003] The wrist joint is the end joint of the robotic arm, which directly affects the overall performance of the robotic arm. In the prior art, the degrees of freedom of the wrist joint are all rotational degrees of freedom, which are prone to collisions when operating in a small unstructured space, and have a certain transmission backlash, which affects th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 栗园园葛树志
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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