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MCF equipment vacuum chamber-oriented remote conveying manipulator

A technology of manipulators and vacuum chambers, which is applied in the field of long-distance transport manipulators, can solve problems such as complex, narrow entrances restricting the scope of large-scale maneuvers, and high control complexity, so as to save use costs, reduce wiring complexity, and increase versatility Effect

Inactive Publication Date: 2014-02-12
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Currently, the intelligent maintenance equipment for nuclear fusion in the world includes the LORA robot developed by the CEALIST Interactive Robotics Laboratory and the MASCOT servo manipulator developed by the European Nuclear Fusion Organization (EFDA). Relevant experimental research has been done on maintenance operations, and the general problem is how to meet the requirements of narrow entrance restrictions and large internal swing operation ranges while overcoming its own weight
Through the analysis and research of existing products, it is found that the existing foreign intelligent maintenance robot arm mechanism is relatively complicated, the power source needs to be customized, and the control complexity is high

Method used

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  • MCF equipment vacuum chamber-oriented remote conveying manipulator
  • MCF equipment vacuum chamber-oriented remote conveying manipulator
  • MCF equipment vacuum chamber-oriented remote conveying manipulator

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Embodiment Construction

[0026] The embodiments of the present invention are described in detail below: this embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

[0027] Such as figure 1 As shown, this embodiment provides a remote carrying manipulator oriented to MCF equipped with a vacuum chamber, including a torque compensation type manipulator joint 1, a plurality of space bearing component manipulator joints 2, a remote operation and maintenance manipulator support Seat 3. All the joints are connected through the EtherCAT bus, and the transmission mechanism of each space-bearing componentized manipulator joint is similar to the torque-compensated...

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Abstract

The invention provides an MCF equipment vacuum chamber-oriented remote conveying manipulator, which is manly formed by sequentially connecting a torque compensating manipulator joint, multiple space bearing modularized manipulator joints and one height-adjustable remote operation maintaining manipulator support; real-time signal transmission and feeding back are realized among all joints by an EtherCAT bus. The MCF equipment vacuum chamber-oriented remote conveying manipulator is designed by specially aiming at the small-inlet, long-channel and large-rotary space intelligent maintaining environment, and has the advantages of compact structure, light weight, large joint bearing torque, simple and concise wiring and the like, and particularly, the torque-compensated manipulator joints adopt the pulley blocks to perform the torque compensating action on the MCF equipment vacuum chamber-oriented remote conveying manipulator at the outer part of a long-channel closed system.

Description

technical field [0001] The invention relates to the technical field of construction, operation and maintenance of nuclear power plants, in particular to a remote carrying manipulator for MCF equipment vacuum chambers. Background technique [0002] The "International Thermonuclear Experimental Reactor (ITER) Program" is currently one of the largest international scientific research cooperation projects in the world. Among them, the Tokamak inner vacuum chamber, the core component of magnetic confinement fusion (MCF) equipment, has the characteristics of high shutdown radiation intensity, high operating temperature, narrow and long entrance passage, relatively narrow internal cross-section, and large radius of gyration, which makes intelligent maintenance in the vacuum chamber difficult. great. Currently, the intelligent maintenance equipment for nuclear fusion in the world includes the LORA robot developed by the CEALIST Interactive Robotics Laboratory and the MASCOT servo m...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J17/02
Inventor 曹其新王鹏飞白卫邦顾凯何明超
Owner SHANGHAI JIAO TONG UNIV
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