重力自降型多级薄壁伸缩臂机构设计及寿命评估
Mechanism Design and Life Assessment of Gravity Driven Descending Multi-stage Thin-Walled Telescopic Tubes
李硕 1曹彦生 2张韬懿1
作者信息
- 1. 北京轩宇智能科技有限公司,北京 100086
- 2. 北京新风航天装备有限公司,北京 100854
- 折叠
摘要
核工业热室内需配备能沿z轴大行程升降的重载机械手,为此设计了专用的伸缩臂.伸缩臂采用多级薄壁圆筒嵌套结构.各级筒体间,研制了新型可调节滚动直线轴承作为支承导向结构,从而使其在大弯矩载荷下的伸缩阻力骤减,并能通过调节消除支承间隙、提高支承刚度.伸缩臂在顶部柔性传动机构的提升力和重力作用下,逐级有序伸缩,以较小的外径尺寸,实现了大行程、大负载,伸缩长度比达5∶1.最后建立了力学模型,利用Hertz弹性接触理论及有限元仿真研究了滚轮载荷分布特性,对伸缩臂的使用寿命进行了评估及试验验证.结果表明:该伸缩臂的寿命满足需求,已在实际工程中批量应用.
Abstract
A heavy-duty manipulator with long travel distance along z axis is needed in the hot cells of nuke industry,therefore dedicated telescopic tubes were designed.The telescopic tubes consisted of several thin-walled tubes with different diameters.A new supporting structure between the mobile telescopic tubes was proposed,which was called adjustable roller bearing,such that the tele-scopic tubes could be moved freely.The interval between rollers and tube wall could be eliminated by properly adjusting,the support ri-gidity and stability were improved.The telescopic tubes were lifted up by chain and come down regularly because of gravity.With a smal-ler outer diameter,it achieved large stroke,high load,the expansion length ratio reached 5∶1.At last,mechanical model was established and load distribution among rollers was studied based on Hertz theory and finite element simulation to ensure their useful life,experi-mental verification was conducted.The results demonstrate that life of the telescopic tubes meets the requirements.This structure has been widely applied in practical projects.
关键词
热室机械手伸缩臂/可调节滚动支承/载荷分布/重力自降Key words
telescopic tubes for hot cell manipulators/adjustable roller bearing/load distribution/gravity driven descent引用本文复制引用
出版年
2024
NETL
NSTL
万方数据