A universal motion platform for highly adaptable robots for complex nuclear environments

A complex environment and motion platform technology, applied in the field of robotics, can solve the problems of no landing buffer considerations, etc., to achieve the effect of convenient turning in place, large rotation range and robot height adjustment range, and reduced envelope size

Active Publication Date: 2021-06-22
NUCLEAR POWER INSTITUTE OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this patent, the landing buffer is not considered. At the same time, the invention still belongs to the category of wheeled movement. For highly unstructured environments, compared with foot movement, it still has greater limitations.

Method used

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  • A universal motion platform for highly adaptable robots for complex nuclear environments
  • A universal motion platform for highly adaptable robots for complex nuclear environments
  • A universal motion platform for highly adaptable robots for complex nuclear environments

Examples

Experimental program
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Effect test

Embodiment

[0050] As shown in the figure, the outer layer of the robot is designed with a shielding protective shell, and its internal structure mainly includes four multi-degree-of-freedom robot leg systems, and each robot leg system has four degrees of freedom. With the robot body as the base, the 4 degrees of freedom are the hip joint "abduction / adduction" and "extension / bend", the knee joint "extension / bend", and the roller at the end of the leg kinematics;

[0051] The four legs of the robot adopt a unified modular design and are distributed symmetrically. Taking the left hind leg as an example, the internal structure is described.

[0052] Two mounting plates protrude from the lower side of the mounting base plate of the left rear leg, which are respectively connected to the ball screw mounting rod seat and the hip joint "abduction / adduction" motion base through a pair of bearings;

[0053] The driving motor of the hip joint "abduction / adduction" and its integrated reduction box ar...

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Abstract

The invention belongs to the technical field of robots, and in particular relates to a highly adaptable universal motion platform for robots facing nuclear-related complex environments; the purpose of the invention is to improve the ability of robots to pass through environments such as narrow spaces, flat passages, steps, obstacles, and ravines ; The platform consists of four three-degree-of-freedom robot leg systems based on synchronous belt transmission; each three-degree-of-freedom robot leg system includes: footed robot body, hip joint "abduction / adduction" drive motor and Its integrated reducer, gear A, knee joint "extend / bend" driving motor, gear B, hip joint "abduction / adduction" motion base, thigh connecting rod, hexagonal rubber block at the foot end, hip joint " Extend / Bend" drive motor, bearings, ball screw mounting bar mount, ball screw nut connecting shaft, hip push rod, calf link and ball screw.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a general motion platform for a highly adaptable robot facing complex nuclear-related environments. Background technique [0002] With the development of robot technology and sensor detection technology, it will be a development trend to use robots instead of manpower to enter nuclear power plants to carry out daily monitoring and maintenance, emergency operations in special dangerous conditions, etc. The development of a highly adaptable robot universal motion platform for nuclear-related complex environments is of great significance for improving the safety, maintainability and emergency response capabilities of nuclear-related facilities and equipment. [0003] At present, the application of nuclear robots in my country's nuclear power plants is in its infancy, and domestic nuclear-related robots mainly rely on imports, which are very expensive. Domestic research o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张超罗英瓮松峰杜华陶志英杨其辉穆伟安彦波
Owner NUCLEAR POWER INSTITUTE OF CHINA
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