重载遥操作机械臂关键关节减速器设计

Design of Key Joint Reducer for Heavy-duty Teleoperation Manipulator

通过遥操作机械臂对核聚变实验堆装置进行内部维护是核聚变实验遥操作维护系统的重要任务之一。由于在遥操作维护中机械臂的关键关节将承担超大负载,且要求其中间预留电缆走线通道等特殊结构要求,需要对关键关节的主减速器进行特殊设计。以2K-H NN型多行星齿轮机构作为模型,分析了需要考虑的机构约束条件和设计条件,通过编程筛选获得满足条件的齿数组合,校核计算危险齿轮强度和传动效率,得到了一种承载能力高、结构紧凑的重载遥操作机械臂关节减速器的设计方案。

It is one of the important tasks of the remote operation to perform internal maintenance in the nuclear fusion reactor by the teleoperation manipulator.Because of the key joint of the manipulator will bear excessive load during maintenance,and the main reducer of the manipulator must have a self-locking function,and special functional requirements such as space for cable channels are reserved in the middle of the main reducer.The 2K-H NN multi-planetary gear mechanism is used as a model to analyze the constraints and design conditions.The number of tooth combinations satisfying the conditions are selected through programming and the calculation of the load on dangerous gear and transmission efficiency is verified.A design Scheme of heavy-duty reducer with high-capacity,compact structure,self-locking function is obtained.