Space serial rotary joint type teleoperated manipulator and its combination

A technology of rotary joints and teleoperation, applied in the direction of manipulators, claw arms, joints, etc., can solve problems such as no instructions or reports found, no data collected, etc., and achieve the effect of increasing speed and safety

Inactive Publication Date: 2016-07-06
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] At present, there is no description or report of the similar technology of the present invention, and no similar data at home and abroad have been collected yet.

Method used

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  • Space serial rotary joint type teleoperated manipulator and its combination
  • Space serial rotary joint type teleoperated manipulator and its combination
  • Space serial rotary joint type teleoperated manipulator and its combination

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] like figure 1 and figure 2 As shown, this embodiment provides a space series rotary joint teleoperated manipulator, including any one or more of the following joints:

[0047] - Turnover joint I;

[0048] - pitch joint II;

[0049] - pitch joint III;

[0050] -Front end turnover joint IV;

[0051] - middle pitch-rotation joint V;

[0052] - Terminal turnover joint VI.

[0053] Further, the epicyclic joint I includes a servo motor I, a servo driver I, a reduction mechanism I, an incremental encoder I, a cross roller bearing I, a rotating bearing mechanism I and a fixed bearing mechanism I, wherein the servo The motor I is fixed on the fixed bearing mechanism I, one end of the servo motor I is connected with the incremental encoder I, and the other end of the servo motor I is connected with the reduction mechanism I, and the reduction mechanism I is connected by a pair of planetary reduction boxes The bevel gear is connected to the harmonic reducer to form; the cr...

Embodiment 2

[0063] This embodiment provides a space series rotary joint teleoperated manipulator, including any one or more of the following configurations:

[0064] - the wrist joint part, which is mainly composed of the axes of the epicyclic joint I, pitch joint II and pitch joint III provided in embodiment 1 intersecting at one point;

[0065] - The arm joint part is mainly composed of the front epicyclic joint IV, the middle pitch-rotation joint V and the terminal epicyclic joint VI provided in Embodiment 1 in series;

[0066] Both the arm joint part and the wrist joint part have three degrees of freedom; the wrist joint part and / or the arm part are controlled through the EtherCAT bus.

[0067] Further, the arm joint part is located at the front end, including three series rotation joints: one epicyclic joint I, two pitch rotation joints II and III; the main design ideas and principles of the three series joints are the same, only in the structural design and space Layouts vary.

[...

Embodiment 3

[0127] This embodiment provides a combined space-series rotary joint-type teleoperation manipulator, including a plurality of interconnected space-series rotation-joint teleoperation manipulators provided in Embodiment 1 and / or Embodiment 2. In this embodiment Wherein, the connection relationship defined by the interconnection includes a direct connection relationship or an indirect connection relationship, for example, including the indirect connection relationship in which a plurality of the space series rotary joint type teleoperated manipulators are sequentially connected.

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PUM

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Abstract

The invention discloses a teleoperation mechanical arm of space cascade rotary joint type and combination thereof, the teleoperation mechanical arm comprises any one or a plurality of following structures: a wrist joint composed of three rotary joints intersecting at one point on axis for wrist function, arm joint serially composed of one turnover joint and two pitching rotary joints for arm function; the arm joint and wrist joint have the degree of freedom and the number of the degree of freedom is three for each joint; the arm joint and wrist joint are controlled by the EtherCAT bus. The mechanical arm is suitable for space environment maintenance work for MCF device with small inlet, long distance and big rotation complex shape inner cavity, have the ability for high operation precision, complex work space constraint, various work task and complex and wicked work environment, the arm is light in weight, compact in structure, high in flexibility and good in real time communication performance and the arm have real time power feedback and power control function.

Description

technical field [0001] The invention relates to the technical field of construction, overhaul, rescue and maintenance inside a nuclear reactor of a nuclear power plant, in particular to a space-series rotary joint type teleoperation manipulator based on an EtherCAT bus for teleoperation control and a combination thereof. Background technique [0002] The teleoperated manipulator used in the maintenance of the tokamak cavity inside the nuclear reactor is a kind of maintenance equipment required for the construction, operation and maintenance of MCF (magnetic confinement fusion) equipment in the ITER (International Thermonuclear Experimental Reactor) project. [0003] During the operation, maintenance and rescue of MCF equipment in the ITER project, due to the influence of factors such as high radiation intensity, high temperature, relatively narrow entrance and internal space section, and large radius of gyration, operators cannot directly touch the equipment, so long-distance...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00B25J17/00
Inventor 曹其新白卫邦顾凯王鹏飞何明超
Owner SHANGHAI JIAOTONG UNIV
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