Remote-operated six-degree-of-freedom robot under nuclear radiation environment

Abstract

The invention provides a remote-operated six-degree-of-freedom robot under a nuclear radiation environment. The robot comprises a mobile platform, a four-section arm extension system and a six-degree-of-freedom mechanical arm system; the four-section arm extension system comprises a fourth-section extension arm, a third-section extension arm, a second-section extension arm, a first-section extension arm, a steel wire rope, an electric windlass, a first-section arm linear guide rail, a first-section arm screw bearing fixed bracket, a first-section arm power unit, a second-section arm power unit, a second-section arm screw bearing fixed bracket, a second-section arc linear guide rail, a second-section arm screw nut transfer base and a second-section arm screw bearing movable bracket; and thesix-degree-of-freedom mechanical arm system comprises a first wrist joint, a second wrist joint, a first elbow joint, a second elbow joint, a first shoulder joint and a second shoulder joint. The robot solves the equipment detection and maintenance problems under nuclear power plant equipment room internal nuclear radiation and complicated space environment, and greatly reduces the person radiation amount and the labor intensity.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a teleoperated six-degree-of-freedom robot in a nuclear radiation environment. Background technique [0002] With the vigorous development of nuclear power in the country, more and more nuclear power plants will be put into use. Due to the complex structure and radioactivity of nuclear power plant equipment, it is very urgent to gradually replace manual inspection and maintenance with flexible and powerful robots, reduce personnel exposure dose and labor intensity, and improve the maintenance level of nuclear power equipment. However, the existing nuclear power robots in my country generally have simple structures and few degrees of freedom, making it difficult to apply them in nuclear power equipment rooms with complex environments. Contents of the invention [0003] The object of the present invention is to provide a teleoperated six-degree-of-freedom robot in a n...

AI Technical Summary

Problems solved by technology

However, the existing nuclear power robots in my country generally have simple structures and few degrees of freedom, making it difficult to apply them in nuclear power equipment indoors with complex environments.

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