remote transport robot arm equipped with vacuum chamber for mcf
A technology of manipulator and vacuum chamber, which is applied in the field of remote transport manipulator, can solve the problems of narrow entrance restricting large turning operation range, high control complexity and complexity, etc., so as to reduce wiring complexity, increase versatility and save use cost. Effect
Inactive Publication Date: 2016-07-06
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
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[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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The invention provides a remote carrying manipulator facing MCF equipped with a vacuum chamber, which mainly consists of a torque compensation type manipulator joint, a plurality of space bearing component manipulator joints and a height-adjustable teleoperation maintenance manipulator support sequence It is connected together, and real-time signal transmission and feedback are realized between each joint through the EtherCAT bus. The invention is specially designed for the intelligent maintenance environment of small entrance, long channel and large turning space. It has the characteristics of compact structure, light weight, large joint bearing torque, and simple wiring. Especially, the moment compensation type mechanical arm joint adopts pulley block outside the long channel closed system. The torque compensation function is applied to the remote carrying manipulator facing the MCF equipped with a vacuum chamber.
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...
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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