CN103568003B - The long-range airborne carrier mechanical arm of vacuum chamber is equipped towards MCF - Google Patents

Abstract

The invention provides a remote carrying manipulator oriented to MCF equipped with a vacuum chamber, which mainly consists of a torque compensation type manipulator joint, a plurality of space bearing component manipulator joints and a height-adjustable teleoperation maintenance manipulator support sequence It is connected together, and the real-time signal transmission and feedback are realized between each joint through the EtherCAT bus. The invention is specially designed for the intelligent maintenance environment of small entrances, long passages and large turning spaces. It has the characteristics of compact structure, light weight, large joint bearing torque, and simple wiring. In particular, the torque compensation type mechanical arm joint uses a pulley block outside the long passage closed system. The torque compensation function is applied to the remote carrying manipulator facing the MCF equipped with a vacuum chamber.

Description

Remote Carrying Manipulator Equipped with Vacuum Chamber for MCF

technical field

The invention relates to the technical field of construction, operation and maintenance of nuclear power plants, in particular to a remote carrying manipulator for MCF equipment vacuum chambers.

Background technique

The "International Thermonuclear Experimental Reactor (ITER) Program" is currently one of the largest international scientific research cooperation projects in the world. Among them, the Tokamak inner vacuum chamber, the core component of magnetic confinement fusion (MCF) equipment, has the characteristics of high shutdown radiation intensity, high operating temperature, narrow and long entrance passage, relatively narrow internal cross-section, and large radius of gyration, which makes intelligent maintenance in the vacuum chamber difficult. great. Currently, the intelligent maintenance equipment for nuclear fusion in the world includes the LORA robot developed by the CEALIST Interactive Robotics Laboratory and the MASCOT servo manipulator developed by the European Nuclear Fusion Organization (EFDA). Relevant experimental research has been done on maintenance operations, and the universal problem is how to meet the requirements of narrow entrance restrictions and large internal swing operation ranges while overcoming its own weight. Through the analysis and research of existing products, it is found that the existing foreign intelligent maintenance manipulators are relatively complicated in structure, the power source needs to be customized, and the control complexity is high.

Contents of the invention

Aiming at the deficiencies in the above-mentioned prior art, the present invention provides a remote carrying manipulator facing MCF equipped with a vacuum chamber. Through modular design of different maintenance tasks in the vacuum chamber, it is possible to smoothly pass through narrow passages and seal them in a large radius of gyration. The function of long-distance transmission and carrying in the container provides a stable and reliable mobile foundation for modular remote maintenance operations, and realizes the componentized design of international nuclear fusion non-standard maintenance operations, effectively saving use costs and increasing intelligent maintenance operations versatility. At the same time, through EtherCAT bus control, while transmitting, feedbacking and controlling real-time signals, it greatly reduces the complexity of wiring in the manipulator and effectively improves the speed of real-time control.

The present invention is achieved through the following technical solutions.

A remote-carrying manipulator for MCF equipped with a vacuum chamber. It is mainly composed of a moment-compensated manipulator joint, multiple space-carrying component manipulator joints and a teleoperation maintenance manipulator support. Real-time signal transmission and feedback are realized through the EtherCAT bus (an open real-time Ethernet communication protocol).

The torque-compensated manipulator joint includes a slide base, a load-bearing connecting pipe, a pulley block, a traction rope, a servo transmission mechanism, a fixed load-bearing mechanism, a torque-bearing bearing, a rotary output mechanism, and a harmonic reducer, wherein the The bearing connecting pipe is installed on the base of the slide table, the servo transmission mechanism and the moment bearing bearing are installed on the fixed bearing mechanism, and the servo transmission mechanism is the main transmission part of the torque compensation mechanical arm joint , the moment carrying bearing is coaxial with the rotary output mechanism, and bears the heavy-duty bending moment M value, and the fixed carrying mechanism pulls the far end of the carrying connecting pipe through the traction rope and the pulley block, reducing the The bending moment M value borne by the base of the slide table effectively compensates the torque generated by the torque compensation type manipulator joint due to the too long load connecting pipe, and the harmonic reducer is located at the end of the servo transmission mechanism , used to bear the heavy-duty torque T value.

The slide base is not only the torque compensation type manipulator joint bearing base, but also the linear motion input part of the remote carrying manipulator facing the vacuum chamber equipped with the MCF.

Preferably, the servo transmission mechanism includes a servo motor, an encoder, a planetary reducer, and a gear steering mechanism. The servo transmission mechanisms between all joints are controlled and connected through the EtherCAT bus to ensure information and communication between different joint modules. Real-time transmission of signal feedback.

Preferably, the moment-carrying bearing mainly bears the bending moment M value generated by the self-weight of the rotating output mechanism and subsequent joints on the fixed carrying mechanism. The heavy-duty bending moment M value and the torque T value are functionally divided. The heavy-duty bending moment M value is mainly borne by the moment-carrying bearing, and the torque T value is mainly provided by the harmonic reducer. Under the influence of the transmission system, the transmission effect of the transmission mechanism is greatly improved, and finally the stable and smooth rotation of each joint is guaranteed.

Preferably, the support of the remote operation and maintenance manipulator has a height adjustment mechanism, and its height adjustment effectively enlarges the remote maintenance work space in the vacuum chamber, and expands the remote carrying manipulator facing the MCF equipment vacuum chamber. of repeated use.

Compared with prior art, the beneficial effect of the present invention is:

1. The performance of the moment bearing bearing to bear the heavy-duty bending moment M value is far superior to that of the harmonic reducer, which greatly increases the bearing capacity of the joint of the componentized manipulator, and also provides a solid foundation for the long-distance carrying of the manipulator;

2. The servo transmission mechanism in the present invention effectively utilizes the advantages of the length direction of the mechanical arm, greatly reduces the cross-sectional size of the mechanical arm, and facilitates smooth passage through the narrow entrance passage;

3. The harmonic reducer has the characteristics of small size, high reduction ratio, and large torque. By placing the harmonic reducer at the end of the servo transmission mechanism, the mechanical transmission accuracy of the rotary output mechanism is improved;

4. The counterweight for torque compensation uses a pulley block to perform torque compensation on the large torque generated by the slide table base by the remote carrying robot arm equipped with a vacuum chamber facing the MCF, realizing the intracavity mechanical arm outside the entrance of the Tokamak cavity. Efficacy of torque compensation;

5. Through the EtherCAT bus transmission method, the servo transmission mechanism and various sensor feedback signals are effectively fused together, so that only the EtherCAT bus and power lines exist between the componentized manipulator joints, which not only increases the componentized manipulator The real-time control performance between joints simplifies the complexity of wiring between joints to the greatest extent.

The remote carrying manipulator oriented to the MCF equipped with a vacuum chamber provided by the present invention performs real-time feedback control on a moment-compensated manipulator joint, a plurality of space-carrying component manipulator joints, and a remote operation and maintenance manipulator support through the EtherCAT bus , which improves the load-bearing operation stability and real-time operability of the master-slave remote control system in the construction, operation and maintenance of nuclear power plants. The invention not only provides excellent transportation and carrying functions for intelligent maintenance and monitoring of nuclear fusion facilities, but also increases the safety of its intelligent maintenance operations.

The present invention plays a role in transporting and carrying the modularized teleoperation manipulator in the remote maintenance and operation system of the MCF equipment of the ITER project. The teleportation robot arm to undertake. The present invention is especially applicable to the long-distance carrying and preliminary positioning of the remote maintenance manipulator in the MCF (Magnetic Confinement Fusion) equipment remote maintenance system in the ITER (International Thermonuclear Experimental Reactor) project, by installing different types of modularized teleoperation manipulators , to generalize the non-standardized maintenance work in the vacuum chamber of the Tokamak chamber.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

Fig. 1 is a structural layout general diagram of the present invention;

In the figure: 1 is the torque-compensated manipulator joint, 2 is the space-bearing componentized manipulator joint, and 3 is the remote operation and maintenance manipulator support;

Figure 2 is a schematic diagram of the joint layout of the torque-compensated manipulator;

Among the figure: 10 is the sliding table base, 11 is the bearing connecting pipe, 12 is the pulley block, 13 is the traction rope, 14 is the servo drive mechanism, 15 is the fixed bearing mechanism, 16 is the moment load bearing, 17 is the rotary output mechanism, 18 is the harmonic reducer, 19 is the counterweight for torque compensation;

Fig. 3 is a schematic diagram of the joint layout of the space-carrying componentized manipulator.

In the figure: 201 is load connection; 202 is incremental encoder; 203 is servo motor; 204 is planetary reduction; 205 is bevel gear; 206 is absolute encoder; 207 is cross roller bearing; 208 is output shaft; 209 210 is the rotating bearing; 211 is the fixed bearing; 212 is the EtherCAT bus driver.

detailed description

The embodiments of the present invention are described in detail below: this embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

As shown in Figure 1, this embodiment provides a remote carrier manipulator for MCF equipped with a vacuum chamber, including a torque compensation type manipulator joint 1, a plurality of space bearing component manipulator joints 2, a remote operation maintenance Arm support 3. All the joints are connected through the EtherCAT bus, and the transmission mechanism of each space-bearing componentized manipulator joint is similar to the torque-compensated manipulator joint.

As shown in Figure 2, the moment compensation type mechanical arm joint provided in this embodiment includes a slide table base 10, a bearing connecting pipe 11, a pulley block 12, a traction rope 13, a servo transmission mechanism 14, a fixed bearing mechanism 15, Moment load bearing 16, rotary output mechanism 17, harmonic speed reducer 18, counterweight 19 for moment compensation.

The slide table base 10 is not only the bearing base of the torque compensation type manipulator joint 1, but also the linear motion input part of the long-distance carrying manipulator facing the vacuum chamber equipped with the MCF. The load-bearing connecting pipe 11 is installed on the slide base 10, and the fixed load-bearing mechanism 15 pulls the load-bearing connecting tube 11 from the far end through the pulley block 12 by the traction rope 13, so as to compensate the moment generated by gravity, and reduce the load of the slide base 10. The value of the bending moment M can effectively compensate the moment generated by the moment-compensating manipulator joint 1 due to the too long load-bearing connecting pipe 11, and the compensation effect depends on the connection mode, connection position and setting of the pulley block 12. The moment compensation of traction rope 13 one ends influences with factors such as counterweight 19.

The servo transmission mechanism 14 includes a servo motor, an encoder, a planetary reducer, and a gear steering mechanism. The transmission mechanisms between all joints are controlled and connected with feedback through the EtherCAT bus to ensure real-time transmission of information and signal feedback between different joint modules.

There are two moment bearings 16, which mainly bear the bending moment M value generated by the rotary output mechanism 17 and subsequent joints on the fixed bearing mechanism 15 due to their own weight. In the present invention, the transmission layout effectively divides the heavy-load bending moment M value and the torque T value into functional divisions. The heavy-load bending moment M value is mainly borne by the moment bearing bearing 16, and the torque T value is mainly provided by the harmonic reducer 18. In the case of reducing the influence of gravity on the transmission system, the transmission effect of the servo transmission mechanism 14 is greatly improved, and finally the stable and smooth rotation of each joint is guaranteed.

As shown in Figure 3, the space-bearing componentized manipulator joint provided in this embodiment includes a load-bearing connection 201; an incremental encoder 202; a servo motor 203; a planetary reduction gear 204; a bevel gear 205; and an absolute encoder 206 ; cross roller bearing 207; output shaft 208; harmonic deceleration 209; rotating bearing 210; fixed bearing 211;

The load-bearing connection 201 is an inter-joint connection, used to bear the self-weight load of the joint. The incremental encoder 202, the servo motor 203, the planetary reduction gear 204, the bevel gear 205, and the harmonic reduction gear 209 are sequentially connected to form a space-bearing componentized manipulator joint transmission mechanism. The harmonic deceleration 209 is located at the end of the transmission mechanism, which not only ensures the rotation accuracy of the joint, but also increases the bending moment exerted by the rotating load 210 on the fixed load 211 . The bending moment load applied by the rotating load 210 is jointly carried by the fixed load 211 and the crossed roller bearing 207 .

The absolute encoder 206 is connected with the output shaft 208, and the EtherCAT bus driver 212 combines the power supply and signal transmission of the incremental encoder 202, the power supply and signal transmission of the servo motor 203, and the power supply and signal transmission of the absolute encoder 206, and is summarized into On the EtherCAT bus, it greatly simplifies the wiring complexity while enhancing the real-time control performance.

The remote operation and maintenance manipulator support 3 has a height adjustment mechanism, and its height adjustment effectively enlarges the remote maintenance work space in the vacuum chamber, and expands the modular utilization rate of the remote carrying manipulator facing the MCF equipped with a vacuum chamber. .

While performing real-time signal transmission, feedback and control on servo motors and various types of sensors, it greatly reduces the complexity of wiring in the manipulator and effectively improves the speed of real-time control.

When the above-mentioned embodiment is working, the servo transmission system 14 is controlled by the EtherCAT bus driver through the TwinCAT software, so that the rotary output mechanism 17 can rotate around the fixed bearing mechanism 15 by ±90 degrees. The actual rotation angle of the rotary output mechanism 17 is measured by the absolute encoder in the sensor, collected by the EtherCAT bus driver, and the measured value is transmitted to the TwinCAT software through the EtherCAT bus, and compared with the motion command sent by the incremental encoder in the sensor, Compensate for the gap that occurs during the actual transmission process, and realize the precise rotation and positioning of the rotating bearing mechanism.

The above-mentioned embodiment can independently and flexibly realize the remote control delivery task in the narrow and limited space inside the nuclear fusion core facility Tokamak and in the harsh environment, and is used for transporting and carrying modular teleoperation detection and maintenance manipulators with different functions. The above embodiments not only provide a strong system guarantee for the safe and stable operation of nuclear power plants, but also increase the modularity of the MCF equipment monitoring and maintenance operations of the ITER project; reduce the complexity and cumbersomeness of remote monitoring and operations in nuclear radiation hazard areas, The robustness and reliability of detection and maintenance operations are increased.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (5)

1. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF, it is characterized in that, mainly safeguarded that mechanical arm bearing is linked in sequence formed by a torque compensation type joint of mechanical arm, multiple spaces bearing type modularization joint of mechanical arm, a remote operating, between each joint, realized real-Time Signal Transfer and feedback by EtherCAT bus.

null2. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 1，It is characterized in that，Described torque compensation type joint of mechanical arm，Including slide unit pedestal、Bearer connection pipe、Assembly pulley、Drag rope、Servo-operated mechanism、Fixing load carrier、Moment loading bearing、Rotate output mechanism、Harmonic speed reducer，Wherein，Described bearer connection pipe is arranged on described slide unit pedestal，Described servo-operated mechanism and moment loading bearing are arranged on described fixing load carrier，Described servo-operated mechanism is the main transmission section of described torque compensation joint of mechanical arm，Described moment loading bearing is coaxial with described rotation output mechanism，Undertake heavy duty bending moment M value，Described bearer connection pipe far-end is drawn by described fixing load carrier by described drag rope and assembly pulley，Decrease the bending moment M value that described slide unit pedestal bears，To described torque compensation type joint of mechanical arm due to described bearer connection pipe is oversize and that produce moment compensates，Described harmonic speed reducer is positioned at described servo-operated mechanism end，For undertaking heavy duty torque T value.

3. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 2, it is characterized in that, described moment loading bearing is two, is installed on described fixing load carrier, coaxial with described rotation output mechanism, shared heavy duty bending moment M value.

4. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 2, it is characterised in that described torque compensation type joint of mechanical arm also includes the torque compensation counterweight for improving compensation effect, is arranged on one end of described drag rope.

5. the long-range airborne carrier mechanical arm equipping vacuum chamber towards MCF according to claim 1, it is characterised in that described remote operating safeguards the height adjustable of mechanical arm bearing.