A separable master-slave manipulator telescopic motion transmission system

A technology of transmission system and telescopic movement, which is applied in the field of long-distance operation, can solve the problems of inconvenient wall-penetrating pipe sealing design, etc., and achieve the effects of convenient and fast maintenance, quick disassembly and convenient transportation

Active Publication Date: 2020-11-17
CHINA NUCLEAR POWER ENG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this transmission form is not convenient for the sealing design of the part of the wall pipe, and the driven arm is generally not equipped with an electric middle pipe.

Method used

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  • A separable master-slave manipulator telescopic motion transmission system
  • A separable master-slave manipulator telescopic motion transmission system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] The specific implementation manners of the present invention will be further described below in conjunction with the accompanying drawings.

[0024] The composition of the exemplary detachable master-slave manipulator telescopic motion transmission system of the present invention is as follows: Figure 1-2 As shown, it includes a driving transmission chain, a wall-penetrating transmission shaft 8 and a driven transmission chain connected in sequence.

[0025] The active transmission chain includes the inner tube 2 of the active transmission chain, the first steel belt 5, the second steel belt 3, and the first fixed pulley 4 (the first fixed pulley 4 is fixed on the support plate at the outer upper end of the inner tube 2 of the active transmission chain ), the second fixed pulley 1 (the second fixed pulley 1 is fixed on the support plate at the lower end of the inner tube 2 of the drive chain), the bevel gear reel 6 of the drive drive chain (an integral assembly compose...

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Abstract

The invention belongs to the technical field of remote operation and relates to a separable master-slave manipulator stretching movement transmission system. The separable master-slave manipulator stretching movement transmission system comprises a driving transmission chain, a through-wall transmission shaft and a driven transmission chain which are connected sequentially; the driving transmission chain comprises a driving transmission chain inner pipe, a first steel belt, a second steel belt, a driving transmission chain fixed belt wheel and a driving transmission chain bevel gear drum; thedriven transmission chain comprises a sleeve, a third steel belt, a fourth steel belt, a driven transmission chain fixed belt wheel, moving belt wheels, a driven transmission chain bevel gear drum, agear component, a middle pipe through-wall transmission shaft and a motor; and the sleeve is composed of a driven transmission chain inner pipe and a driven transmission chain middle pipe which are independent of each other and relative to each other. By utilizing the transmission system provided by the invention, sealing of a through-wall pipe can be conveniently realized without influencing movement transmission of manipulators on the premise of guaranteeing the personal safety of an operator.

Description

technical field [0001] The invention belongs to the technical field of remote operation, and relates to a detachable master-slave manipulator telescopic motion transmission system. Background technique [0002] In the field of remote operation technology, the industry engaged in nuclear science research and production needs special remote operation equipment such as manipulators, which can pass through some shielding bodies to isolate operators from dangerous environments and ensure Operators can safely handle dangerous substances. In the manipulator, the master-slave manipulator with mechanical transmission is flexible, light, and has a large operating capacity and a wide range of applications, so it is a commonly used type of manipulator. [0003] The master-slave manipulator is mainly composed of three parts: the active arm, the wall pipe and the slave arm. Under normal circumstances, the transmission chain of the master-slave manipulator is an integral direct transmiss...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16H37/02B25J9/08
CPCB25J9/08F16H37/02
Inventor 王路森梁汝囡宋文博沈琛林彭思齐智龙贾新亮肖然
Owner CHINA NUCLEAR POWER ENG CO LTD
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