摘要
面向国际热核聚变实验堆(ITER)托卡马克装置内部遥操作维护的需求,为破解遥操作系统中多功能重载机械臂系统研发风险大的困境,选取了多功能重载机械臂受力最为苛刻的旋转关节作为研究对象,提出了面向核环境的旋转关节工程设计方案。该方案设计了一种可承受大扭矩和冲击载荷的关节传动链,提出了可承载大弯矩和剪切力的旋转关节末端补偿支撑方案,给出了一种在有限空间内使用的特定旋转角度的线缆拖链概念方案。
Aiming at the remote handling and maintenance requirements of the International Thermonuclear Experimental Reactor(ITER)and cracking the dilemma of high research and development risks for Multi-Purpose Deployer(MPD)system in remote operation systems,this paper selects the most demanding rotary joint of the multi-joint main transporter as the research object,proposes a rotary joint engineering design scheme in the nuclear environment.In this paper,a joint transmission chain that can withstand high torque and impact loads is designed,a rotary joint end compensation support scheme that can bear large bending moment and shear force is proposed,and a cable chain concept design with a specific rotation angle usage in limited space is provided.The design scheme proposed in this paper can effectively promote the research and development process of the current MPD system,and can provide reference for the design of the MPD system in the future commercial fusion reactor.
作者
白晓伟
姚达毛
BAI Xiao-wei;Yao Da-mao(Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei 230031;University of Science and Technology of China,Hefei 230026)
出处
《核聚变与等离子体物理》
CAS
CSCD
北大核心
2023年第3期270-276,共7页
Nuclear Fusion and Plasma Physics
基金
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)。
关键词
核聚变堆维护
遥操作
重载机械臂
旋转关节
工程研究
Maintenance of nuclear fusion facility
Remote handling
Heavy-duty manipulator
Rotary joint
Engineering research
