Design and Implementation of Storage Cask System for EAST Articulated Inspection Arm (AIA) Robot

Shi S. S.; Song Y. T.; Cheng Y.; Feng H. S.; Liu C.; Villedieu E.; Bruno V.; Pastor P.; Khan S. U. D.; Tang H. J.; Zhang J.; Zhuang Y.; Sun Y. J.; Zheng L.

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Design and Implementation of Storage Cask System for EAST Articulated Inspection Arm (AIA) Robot

机译：EAST关节检查臂（AIA）机器人存储桶系统的设计与实现

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EAST Articulated Inspection Arm (AIA) robot is being mutually developed by ASIPP and CEA-IRFM for remote handling maintenance. It will permit remote visual inspection and to pick up small fragments inside the EAST tokamak vacuum vessel during experiments. Considering storage and support for EAST AIA, a sealed cask system has been designed and manufactured, which can be connected to EAST device through a I center dot 250 mm connection port with two flashboard valves. The system consists of a 10 m long vacuum vessel with a linear guide rail for storage, guiding and conditioning, two mobile wagons for support and some auxiliary systems for keeping suitable work conditions and measurement. Besides, a stainless steel shuttle has been developed to support AIA robot and assemble with the linear guide. It can push the robot into tokamak vessel and back to the storage cask with a gear-rack driving mechanism. This paper mainly presents the overall description of the system design and some obtained implementation progress.

机译：ASIPP和CEA-IRFM共同开发了EAST铰接式检查臂（AIA）机器人，用于远程操作维护。在实验过程中，它可以进行远程视觉检查并拾取EAST托卡马克真空容器内的小碎片。考虑到对EAST AIA的存储和支持，已经设计和制造了一个密封的木桶系统，该系统可以通过带有两个插板阀的I中心点250 mm连接端口连接到EAST设备。该系统包括一个10 m长的真空容器，该容器带有用于存储，引导和调节的线性导轨，两个用于支撑的可移动货车以及一些用于保持合适的工作条件和测量的辅助系统。此外，还开发了一种不锈钢梭子以支持AIA机器人并与线性导轨组装。它可以通过齿轮架驱动机构将机器人推入托卡马克船并返回到存储桶中。本文主要介绍了系统设计的总体描述和一些取得的实现进展。

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来源
《Journal of Fusion Energy》 |2015年第4期|711-716|共6页
作者
Shi S. S.; Song Y. T.; Cheng Y.; Feng H. S.; Liu C.; Villedieu E.; Bruno V.; Pastor P.; Khan S. U. D.; Tang H. J.; Zhang J.; Zhuang Y.; Sun Y. J.; Zheng L.;
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作者单位

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

CEA IRFM, F-13108 St Paul Les Durance, France;

CEA IRFM, F-13108 St Paul Les Durance, France;

CEA IRFM, F-13108 St Paul Les Durance, France;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Hefei Univ Technol, Hefei 230009, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Univ Sci & Technol China, Hefei 230022, Anhui, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);美国《生物学医学文摘》(MEDLINE);
原文格式 PDF
正文语种 eng
中图分类
关键词
EAST; Articulated Inspection Arm; Storage cask; Remote handling;

机译：EAST;铰接式检查臂;存储桶;远程处理;

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Design and Implementation of Storage Cask System for EAST Articulated Inspection Arm (AIA) Robot

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