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核工业西南物理研究院 ›› 2023, Vol. 43 ›› Issue (4): 424-428.DOI: 10.16568/j.0254-6086.202304009

• 核聚变工程 • 上一篇    下一篇

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 

白晓伟 1, 2,姚达毛*1, 2   

  1. (1. 中国科学院合肥物质科学研究院,合肥 230031;2. 中国科学技术大学,合肥 230026) 
  • 收稿日期:2021-08-26 修回日期:2023-05-17 出版日期:2023-12-15 发布日期:2023-12-06
  • 作者简介:白晓伟(1992-),男,山东日照人,博士研究生,主要从事托卡马克遥操作机械臂研究。
  • 基金资助:
    聚变堆主机关键系统综合研究设施国家重大科技基础设施项目(2018-000052-73-01-001228) 

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

BAI Xiao-wei1, 2, YAO Da-mao1, 2    

  1. (1. Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031; 2. University of Science and Technology of China, Hefei 230026) 
  • Received:2021-08-26 Revised:2023-05-17 Online:2023-12-15 Published:2023-12-06

摘要: 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。

关键词: 核聚变, 托卡马克维护, 遥操作, 多功能重载机械臂, 旋转关节, 救援机构

Abstract: 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. 

Key words: Nuclear fusion, Tokamak maintenance, Remote handling, Heavy-duty mechanical arm, Rotary joint, Rescue mechanism

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