托卡马克遥操作多功能重载机械臂旋转关节救援机构研究

Rescue mechanism research of key rotary joint of remote handling multi-purpose heavy-duty mechanical arm of tokamak

以多功能重载机械臂中的关键旋转关节潜在的故障为对象,开展关节救援机构的研究。分析了该关节救援机构的概念设计,针对可能的故障提出了一种切实可行的救援机构设计方案。按照简洁、模块化的设计原则,综合考虑救援机构概念设计、救援工况需求和旋转关节内部的空间布局,设计了以救援减速箱机构和电机抱闸开启机构为主体的关节救援机构,同时明确了该关节的救援操作流程。

To eliminate the potential failure of the key rotary joint of the multi-purpose heavy-duty mechanical arm,the joint rescue mechanism is conducted.To address its shortcomings of the conceptual design of the joint rescue mechanism,a feasible rescue mechanism design scheme was proposed.Following the principles of concise and modular design,the requirements of rescue working conditions and the spatial layout inside the rotary joint,a joint rescue mechanism was designed with the rescue gearbox and the motor brake opening mechanism.At the same time,the rescue operation process of the joint was clarified.