Force feedback master-slave manipulator system installed in irradiation environment

Abstract

The invention discloses a force feedback master-slave manipulator system installed in an irradiation environment. The force feedback master-slave manipulator system comprises an integrated operation table, a force feedback master manipulator, a through-wall assembly, a power box and a slave manipulator in a hot chamber, wherein the integrated operation table is a system operation core and is connected with the force feedback master manipulator and the power box through cables; the force feedback master manipulator is connected with the slave manipulator in the hot chamber through the through-wall assembly, and the power box is installed on the outer side of the wall of the hot chamber. Under the condition that the advantages of low cost and simple maintenance of a mechanical main feedbackmanipulator are kept, automation of arm power and control is realized, remote control of a mechanical arm is realized, and no electronic device exists in a nuclear radiation and toxic environment, sothat the service life of a product is prolonged, and the maintainability is improved.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a force feedback master-slave manipulator system installed in an irradiation environment. Background technique [0002] The master-slave manipulators used in the traditional nuclear industry are mainly divided into master hands, wall-penetrating components and slave hands. Since the traditional purely mechanical master-slave manipulator must be installed on the outer wall of the hot chamber (irradiated, toxic and other high-pollution rooms), the equipment realizes the control of the slave hand in the hot chamber through the wall-penetrating pipe on the wall. The installation location and operation mode of the equipment are very limited, and the operators can only operate in the area close to the hot chamber. There are problems with the layout of the operation positions of the overall production process, the planning of the control room, and the personal safety of the operato...

AI Technical Summary

Problems solved by technology

[0004] For this reason, the present invention provides a force feedback master-slave servo manipulator system installed in an irradiation environment to solve the problem that the force feedback master-slave servo manipulator system installed in an irradiation environment in the prior art cannot provide the operator with The feeling of operation, and the lightness and flexibility of operation can be maintained to ensure the accuracy of load force feedback

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