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

作　　者：李硕 曹彦生 张韬懿 LI Shuo;CAO Yansheng;ZHANG Taoyi(Beijing Sunwise Intelligent Technology Co.,Ltd.,Beijing 100086,China;Beijing Xinfeng Aerospace Equipment Co.,Ltd.,Beijing 100854,China)

机构地区：[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

出　　处：《机床与液压》2024年第22期110-115,共6页Machine Tool & Hydraulics

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。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 telescopic tubes could be moved freely.The interval between rollers and tube wall could be eliminated by properly adjusting,the support rigidity and stability were improved.The telescopic tubes were lifted up by chain and come down regularly because of gravity.With a smaller 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,experimental 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 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]