Master-slave manipulator and nuclear industry operation room

Abstract

The invention discloses a master-slave manipulator. The master-slave manipulator comprises a master manipulator unit, a slave manipulator unit, a through-wall pipe and a force transmission unit, wherein a driving upper arm and a driving front arm of the master manipulator unit are connected through a first rotating shaft; a driven upper arm and a driven front arm of the slave manipulator unit are connected through a second rotating shaft; a chain transmission mechanism of the force transmission unit penetrates through the through-wall pipe, the two ends of the chain transmission mechanism are arranged on the first rotating shaft and the second rotating shaft respectively, and the chain transmission mechanism is used for driving the driven front arm to swing in the X direction along with the driving front arm; and a moving wheel transmission mechanism is arranged in the through-wall pipe, connected with the driving upper arm and the driven upper arm and used for driving the driven upper arm to swing in the Y direction along with the driving upper arm. The invention further discloses a nuclear industry operation room comprising the master-slave manipulator. The master-slave manipulator is simple and compact in overall structure, the installation space needed by the force transmission unit is small, and the requirement of the narrow internal space of the small master-slave manipulator for installation of the force transmission unit can be met.

Description

technical field [0001] The invention specifically relates to a master-slave manipulator and a nuclear industry operating room including the master-slave manipulator. Background technique [0002] In the field of remote operation technology, industries engaged in nuclear science research and production require special remote operation equipment such as manipulators, especially master-slave manipulators that require mechanical transmission. [0003] In the prior art, the joint manipulator used in the hot chamber adopts multi-segment chain transmission for its X-direction transmission, and each chain needs to be provided with a separate tensioning structure, and the connection between each chain needs to be equipped with multiple sets of multi-row sprockets for power. Passing, the structure is complicated, and a larger space is required to arrange the chain and the sprocket. Therefore, the transmission process of the manipulator in the prior art cannot meet the requirements of...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the joint manipulator used in the hot chamber adopts multi-segment chain transmission for its X-direction transmission, and each chain needs to be provided with a separate tensioning structure, and the connection between each chain needs to be equipped with multiple sets of multi-row sprockets for power. Transmission, complex structure, requires a large space to arrange chains and sprockets

Therefore, the transmission process of the manipulator in the prior art cannot meet the needs of the small master-slave manipulator, and the structural size of the small manipulator is limited, and there is not enough space for the above arrangement

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