Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages
• • G—PHYSICS
  • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
  • G21C—NUCLEAR REACTORS
  • G21C17/00—Monitoring; Testing ; Maintaining
  • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
  • G21C17/013—Inspection vehicles
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
  • Y02E30/00—Energy generation of nuclear origin
  • Y02E30/30—Nuclear fission reactors

Definitions

• Manipulator systems are used for a variety of different tasks. Usually this is about
• remotely controlled actions which can not be performed by persons directly on the spot, in particular due to danger to persons when working or because of
• Scenarios occur, for example, in the wake of disasters, in areas with intolerable risk potential for human life by risky or
• Object of the present invention is to provide an initially mentioned device advantageous, which for a variety of relatively complex tasks
• the invention relates to a device with a
• Manipulator unit comprising a drivable manipulator arm.
• the manipulator arm is, for example, remotely movable complex and for different work
• the essence of the invention is that a lifting arrangement is provided with a flexible pulling element on which the
• Manipulator unit attachable lowered and / or can be raised, acting between the flexible tension member and a main body of the manipulator coupling means are present such that in the attached state of the manipulator unit on the tension element of the body is adjustable to a
• the main body is in the attached state of the manipulator unit on the tension element in particular linear and / or pivotable about an axis adjustable. This will be a
• controllable working manipulator unit are executed.
• the use of the device is in particular z. B. in spatially difficult access to the application, in confined areas or in high-risk conditions on site advantageous.
• the device comprises in addition to the lifting arrangement the Manipulator unit, which includes a particular line-bound power and / or signal supply and the coupling means.
• Manipulator unit For visually detecting the environment of the manipulator unit and for forwarding corresponding image information, the
• Manipulator unit an imaging system or a camera.
• the lifting arrangement which serves to move the manipulator unit in the vertical direction and is simple or constructed with a low weight, can be
• Move manipulator unit vertically or raise and lower and additionally move transversely to a certain extent.
• the transverse movement of the manipulator unit can be realized both in the tensioned and non-tensioned state of the tension element.
• the manipulator unit can be fixed vertically at any time simultaneously to the transverse movement, lowered or raised, which advantageously allows a precise and situation-adapted operation of the manipulator unit.
• the lifting arrangement comprises at least one tension element, but can also z. B. depending on the forces to be absorbed several
• tension element comes, for example, a steel or
• Tissue material in cylinder or rope shape, a chain or a high-strength flexible band in question Tissue material in cylinder or rope shape, a chain or a high-strength flexible band in question.
• the lifting arrangement advantageously has an arrangement for motorized shortening and lengthening of a freely hanging tension element portion, depending on the length of the vertically stretched hanging tension element, the vertical position of the Manipulator to change.
• the lift assembly includes, for example, a winding device for the tension member such as a cable drum or the like.
• the lifting arrangement itself is variable in its spatial position, for example, linearly or horizontally movable.
• the tension element may optionally be formed with the additional function for power and / or signal supply of the manipulator unit from the outside.
• the energy and / or signal supply of the manipulator unit is set up via at least one elongate, flexible element, such as an energy and signal cable, which is separate from the tension element.
• the energy and signal cable can likewise be pulled upwards or downwards by the lifting arrangement.
• the manipulator unit can be in the surrounding gas or liquid medium without contact of surrounding solid bodies such as walls or a bottom portion.
• Basic body of the manipulator unit can be adjusted from a first predefined spatial orientation in a predetermined second spatial orientation and also divulgver Struktur again.
• the coupling means may be designed such that further predeterminable spatial orientations of the base body can be adjusted.
• the main body can possibly be pivoted or tilted about an axis, for
• the adjusting means can be an adjustment of the main body about a first axis and
• the coupling means associated portion of the manipulator unit is provided, which is present between the tension element and the base body and which in the
• the coupling means are in particular designed such that the adjustment in the state of under the mass of the hanging thereon manipulator unit taut, karbelasteten tension element is possible. This is beneficial as the
• a main plane of the manipulator unit is from a vertical orientation to a horizontal one
• Alignment adjustable, tilted in particular by a tilting movement The coupling means are designed such that the tilting in particular takes place from an at least approximately vertical alignment of the main plane into an at least approximately horizontal alignment.
• the tilt can be done in exactly one tilt direction or in both possible tilting directions about the tilt axis.
• the main plane is in particular a surface side of the main body of the manipulator unit for
• Example a top or bottom of the body.
• the main level may be, for example, part of a
• the main level can be flat or one with elevations and / or
• the main body of the manipulator unit may in particular have a box-like or plate-like or cuboidal basic shape, with a quadrangular or polygonal, for example
• housing shape In and / or on the housing of the main body in addition to the manipulator usually further essential elements of the manipulator unit such as motors, transmissions, couplings, lines and the like are arranged.
• the main body can be advantageously adjusted such that the manipulator z. B. at vertically aligned
• Manipulator unit in the horizontal direction with freely suspended manipulator unit may be less than one meter, for example.
• the device according to the invention can be used advantageously for applications in which access to the
• the manipulator unit may be lowered through apertures having an elongate narrow shape, e.g. B. have a gap shape, since the manipulator unit itself has a narrow elongated shape in vertically oriented main plane of the body itself.
• the manipulator unit for example, a maximum of approximately 2000 to 3000 millimeters in the vertical or in the height including the coupling means,
• the coupling means be connected to the tension element at least substantially rigid Include coupling element.
• the rigid coupling element is alone or with the interposition of a z. B. encapsulated
• Coupling element is in particular elongated or slender.
• the coupling element components can be housed or it can be carried out a signal and power supply to or in the
• the coupling element is esp. Between the tension element and. positioned the base body. At the coupling element of the
• the coupling means act on an adjusting arrangement on the manipulator unit.
• the adjustment arrangement comprises a joint or tilting arrangement.
• the adjustment is done with the
• the adjusting arrangement can be configured such that an adjustment is supported by gravity, for example due to a deliberately induced displacement of the center of gravity of the main body
• Basic body is usually a motor drive required, for example, by a folding or folding away a on
• Main body outside hinged attacking element such. B. the manipulator arm or a contact member.
• Manipulator unit is present.
• a tilting or articulation axis of an adjustment arrangement designed as a joint arrangement passes through an area around the center of gravity of the manipulator unit or of the manipulator
• the contact members are, for example, outside protruding on the body z. B. symmetrically distributed present.
• the contact members project on narrow sides of the substantially plate-shaped main body.
• Each contact member having, for example, a plurality of contact member sections, which are connected via joints, is each separately driven and thus spatially movable. The movement is over
• a contact member has in particular a plurality of articulated sections, wherein a movement of the contact member relative to the main body of the manipulator unit is carried out in particular on the basis of three axes of movement.
• Each movement of the sections is motorized via one or more corresponding ones
• Contact members are preferably configured identically. With the contact members, the manipulator unit can be supported on a counter section such as a vertical wall or a flat or contoured floor or be positioned safely or at a standstill.
• the multiple contact members are also movable by means of the control unit so that the manipulator unit on the
• a contact member is formed with a functionality.
• functionality is z.
• Example a supporting or leaning of the contact member on a bottom portion, which is almost always possible due to gravity, beyond going to understand mechanism.
• a functionality may be aware of the contact member esp. At the front end of the contact member may be present. Preference is given to a plurality of functionalities on a section of the contact member, for example at a free end of the
• Contact member provided. For example, of which several functionalities can each be selected and used, as long as the other functionalities are not active, but can be selected at any time depending on the situation.
• Adhesive means for establishing a holding function between the contact member and a counterpart section are advantageously present on a contact element.
• the adhesives can
• the adhesives which may also be understood as a functionality, as well as other functionalities, may be advantageously defined, for example, by a person over, e.g. B. operating means from a remote operating and off or active and passive set. Alternatively, this can be automated.
• the adhesive comprises a suction or vacuum arrangement for fixing the contact member to the mating section
• the manipulator unit may thus possibly even hold on overhanging wall sections and / or move along it.
• an object with one or more contact members gripped, moved and / or positionally held relative to the manipulator unit is advantageously designed such that an object held by at least one contact member is advantageously processed or examined by the manipulator arm or z.
• a material sample of the object can be taken.
• the sensor means are to be understood without restriction and may be different or all known means for detecting and processing parameters in the environment of
• Manipulator include. These include, in particular, sensors for the qualitative and / or quantitative detection of radioactive radiation, the temperature, the pressure, the pH and other physical or chemical parameters in a gaseous or liquid ambient medium or of objects in the vicinity of the manipulator unit.
• the additional drive means are present in addition to the driven contact members, which also allow a driven movement.
• Manipulator unit are moved with the additional drive means in the direction transverse to the vertical.
• Manipulator unit z. B. sufficiently close to a wall
• the manipulator unit can act on the wall, in particular so that the adhesive can come into operative contact with the wall and the
• Manipulator unit is firmly positioned on it or can move along it.
• the drive means are
• Manipulator or a contact member can be bridged. This is also advantageous when an area of a
• Inner wall of hollow cylindrical, hollow spherical or similarly shaped hollow spaces of the manipulator unit must be reached, this area from above, however, only accessible via the horizontal wall to the inner offset access through which the manipulator unit is suspended vertically hanging on the tension element.
• the drive means may, for example, on the main body one or more drivable or rotating propeller with a to the vertical or to the longitudinal axis of the tensioned
• Tension element oblique or transverse propeller axis of rotation include.
• radiation protection means are provided which reduce or prevent penetration of radiation from the outside into an internal volume of the manipulator unit.
• the radiation protection means are used for radiation protection of a portion of the internal volume of the device, in particular for protection against radioactive radiation to radiation sensitive
• Manipulator unit are housed to protect against the action of radioactive radiation.
• the radiation protection agents comprise a
• the radiation protection means comprise a housing made of or with a lead material.
• the lead casing forms a counter
• Radiation-encapsulated embodiment of at least areas of the device are Radiation-encapsulated.
• the radiation-protected area can for example be outside of the base body, for example, between the tension element and the base body, for example in the region of
• the device is for every conceivable
• a housing may be provided with a suitable high strength skin made of a steel material.
• Figure 1 is a schematic perspective view of an embodiment of a
• Figures 8 to 10 are different views of a part of that shown in Figures 1 to 7 Device in one for one
• Figure 1 shows a perspective view obliquely from above as
• Work device 1 formed inventive device with a lifting assembly 7 and a manipulator unit 2, which comprises an intermediate piece 19 and a base body 18 with a drivable manipulator arm 3.
• Main body 18 are also four similar and each separately movable motor manipulator legs 14, 15, 16 and 17 protruding outward or adjustable available.
• Manipulator legs 14 and 16 are opposite on
• Base body 18 is positioned and also the manipulator legs 15 and 17.
• manipulator leg 15 is explained in more detail.
• the manipulator leg 15 has three links with a base portion 15a pivotally engaging the base 18, a mid portion 15b hingedly engaging the base portion 15a, and an articulated portion engaging at the central portion 15b
• Each link 15a, 15b and 15c is rotatably driven separately.
• the base portion 15a is rotatable relative to the base body 18 to the rotation axis S1 in both directions according to P5
• the center portion 15b is rotatable relative to the rotation axis S2 in both directions according to P6 relative to the base portion 15a
• the end portion 15c is relative to the rotation axis S3 in both directions according to P7 Center section 15b rotatable.
• Rotary axes S2 and S3 are parallel to each other and are perpendicular to the axis of rotation Sl.
• the base portion 15a and the middle portion 15b are substantially straight in shape, whereas the end portion 15c is two about each other
• a suction member At the free front end of the end portion 15 c is a suction member or
• Adhesive member 28 is arranged.
• the adhesive member 28 serves as an adhesive for adhering the manipulator leg 15 at a counter portion such.
• B a flat or contoured almost arbitrarily oriented wall or floor surface. So can the
• Manipulator unit 2 by coordinated or displaced the manipulator legs 14, 15, 16 and 17 move on or along a wall or floor surface forward or in any direction.
• manipulator legs 14 to 17 can be adjusted by a corresponding driven movement of the members about the axes Sl to S3 from a transport position according to Figures 2 to 4 in a working position according to Figures 5 to 7. In the transport position of the manipulator unit 2, the manipulator legs 14 to 17 are compact or close to the
• Manipulator unit 2 is minimized overall, and a first width Bl of z. B. about 800 millimeters, a second width B2 of z. B. about 2000 millimeters and a height of z. B. about 2500 millimeters (see Fig. 2 and 3), which is particularly advantageous for lowering and lifting in confined areas.
• Manipulator 3 is similar to the manipulator leg 15 constructed and has an arm base 3a, an arm center part 3b and a tool part 3c with a front thereon, a motor-driven pliers 29. On the manipulator arm 3 may possibly a
• desired tool functionality set up or a corresponding tool part are exchangeably mounted, so that the respective tool can be driven by the manipulator unit 2 and 2 can perform operations in the vicinity of the manipulator unit.
• the working device 1 can, in particular, be removed remotely or from a location in a safe environment (not shown) that is sufficiently removed from the area shown in FIG. 1 and / or is safely separated from it by, for example, a partition wall, eg. B. be operated by an operator via control means.
• the control means can one Keypad, a control panel, a touch screen, a master-slave system and / or a joy stick or others
• Manipulator unit 2 with the manipulator arm 3 and the
• Manipulator legs 14 to 17 in particular moved, positioned or aligned and operated.
• the working device 1 is located according to Figure 1 in
• the container 4 has a vertically oriented longitudinal axis with a
• the container 4 is shown without a bottom and without a portion which covers the inside of the container at the top or z. B. without a container cover, which adjoins in the region of an upper edge 5 a of the jacket tube 5.
• the container cover may in particular have a smaller diameter in diameter to a diameter D of the casing tube 5, through which the manipulator unit 2 just fits from above the
• Manipulator unit 2 in a first spatial orientation of a main body 18 of the manipulator unit 2.
• a built-up area is highly abstracted as a physical cuboid 6 with an upper side 6a.
• the lifting assembly 7 is formed as a cable assembly and includes a carriage 10 with a housing 10a with motorized rotatable cable and cable drums (not shown) received therein for winding and unwinding of two acting on each cable drum tension cables 11 and 12 and an existing therebetween Supply cable 13 for power and signal supply of the manipulator unit 2.
• Supply cable 13 is connected via a cable drum in the housing 10 a according to the tension cables 11, 12 at the same time up and settled.
• the carriage 10 is horizontally parallel over two
• Figures 2 to 4 show the manipulator unit 2 in theshake for lowering or raising according to the arrows P3 and P4 advantageous transport position attached to the tensioned tension cables 11, 12 attached.
• Figures 2 and 3 show each other by 90 degrees rotated side views and
• Figure 4 is a perspective view obliquely from above. A flat
• Main side or main plane 18a of the base body 18 is vertically aligned (see Fig. 2), parallel to the tensioned tension cables 11 and 12th
• FIGS. 5 to 7 show the unchanged vertical alignment of the main plane 18a of the main body 18
• Working device 1 in the working position according to Figure 1 in particular for working on a vertical or slightly inclined wall surface such as an inner wall of the jacket tube 5. In this working position is the
• Base body 18 pivoted away and the manipulator legs 14 to 17 are folded out similarly, with Figures 5 and 7 rotated two 90 degrees around the vertical
• FIGS. 8 to 10 show the
• Figure 8 relates to a first side view
• Figure 9 to 90 ° rotated about the vertical view
• Figure 10 is a perspective view obliquely from above.
• the main body 18 or its upper-side main plane 18a is tilted or rotated by 90 ° relative to the arrangement according to FIGS. 5 to 7 about a horizontal axis.
• the adhesive members 28 of the manipulator legs 14 to 17 lie with their respective lowest point on a common plane, for example, for support or for installation of the working device 1 on the top 6a.
• Coupling means have an attacking on the base body 18
• a male portion 27 is provided for engagement of the upper end of the rod member 22.
• an adjusting arrangement 20 acts with a joint 21 for adjusting the spatial orientation of the main body 18 or its
• Double arrow P8 about a particular horizontal axis S4 (see Fig. 8), which in the region of the center of gravity of
• Base 18 extends.
• the rod element 22 together with the main body 18 engaging therewith can be adjusted by about 360 degrees about a vertical axis S5 according to the double arrow P9 (see FIG. 9), which is controlled in particular by a motor via the control unit.
• a vertical axis S5 according to the double arrow P9 (see FIG. 9)
• Bar element 22 can be accommodated.
• Housed electronic components which are protected against radiation from the outside with a radiation protection housing, in particular by a housing 24 a and with a
• Housing layer of lead or with a lead coat Housing layer of lead or with a lead coat.
• the rod element 22 is in particular hollow and may comprise further elements of the manipulator unit 2. Between the lower end of the rod member 22 and the main body 18 of the manipulator unit 2, the joint 21 acts.
• two motor-driven rotatable propellers 30, 31 are present.

Landscapes

• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Plasma & Fusion (AREA)
• General Engineering & Computer Science (AREA)
• High Energy & Nuclear Physics (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)

Priority Applications (3)

Applications Claiming Priority (2)

Related Child Applications (1)

Publications (1)

Family

ID=52464374

Family Applications (1)

Country Status (5)

Families Citing this family (2)

Citations (7)

Family Cites Families (8)

• 2014
  • 2014-01-30 DE DE102014001074.0A patent/DE102014001074A1/de not_active Withdrawn
• 2015
  • 2015-01-30 JP JP2016567152A patent/JP6720085B2/ja not_active Expired - Fee Related
  • 2015-01-30 EP EP15703546.0A patent/EP3099450B1/de active Active
  • 2015-01-30 WO PCT/EP2015/051904 patent/WO2015114078A1/de not_active Ceased
• 2016
  • 2016-07-27 US US15/220,545 patent/US20170014992A1/en not_active Abandoned

Patent Citations (7)

Also Published As

Similar Documents

Legal Events