DE1531181A1 - Synchronous robot for remote-controlled work in radiation-intensive rooms - Google Patents
Synchronous robot for remote-controlled work in radiation-intensive roomsInfo
- Publication number
- DE1531181A1 DE1531181A1 DE19671531181 DE1531181A DE1531181A1 DE 1531181 A1 DE1531181 A1 DE 1531181A1 DE 19671531181 DE19671531181 DE 19671531181 DE 1531181 A DE1531181 A DE 1531181A DE 1531181 A1 DE1531181 A1 DE 1531181A1
- Authority
- DE
- Germany
- Prior art keywords
- robot
- synchronous
- robots
- command
- radiation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Description
Anmelder : Sntwicklungs- und Forschungslabor Prof. Dr..-Ing. Hans Kleinwächter 785 Lörrach, Kreuzstrade 105 Applicant : Development and research laboratory Prof. Dr ..- Ing. Hans Kleinwächter 785 Loerrach, Kreuzstrade 105
Erfinder : Prof. Ur.-Ing. Hana Kleinwächter, Lörrach Inventor : Prof. Ur.-Ing. Hana Kleinwächter, Loerrach
Synchronroboter für ferngesteuerte Arbeiten in strahlungsintensiven RäumenSynchronous robot for remote-controlled work in radiation-intensive rooms
Für die Ausführung technischer Manipulationen bei kerntechnischen routinemäßigen Arbeiten oder Unfällen in strahlungsintensiven Räumen, wird ein Gerät angegeben, das von einer Kommandozentrale gesteuert, in den Strahlungsraum eindringt uni dort Messungen und Reparaturen nach einem erst im Verlauf der Operation bestimmbaren Programm durchfuhrt.For the execution of technical manipulations in the case of nuclear routine work or accidents in radiation-intensive Rooms, a device is specified which, controlled by a command center, penetrates the radiation room and takes measurements there and repairs can only be determined in the course of the operation Program executes.
Es int letztlich dabei an die Entwicklung eines Roboters gedacht, der u.a. über einen Fortbewegungsapparat, am besten einen Gehraecbanismus, samt den dazu benötigten Lage- und Abstands3et:;ioren, verfügt, die ihm eine kollisionsfreie Bewegung durch die baulichen Gegebenheiten de3 Aktionsraumes ermöglichen.Ultimately, the idea was to develop a robot that including a locomotion device, ideally a Gehraecbanism, including the required position and distance sets:; ioren, which gives him a collision-free movement through the building Enable the conditions of the 3 action space.
Zur Durchführung von Reparaturen- und Schutzmaßnahmen im Strahlunffsraum, muii der Roboter au^er über Greif- und Haltevorrichtungen auch noch über Strahlung;*- und sonstige Me^eräte und ein dazugehöriges Mewwertübertragungssystem verfügen. Die Erstellung eines solchen automatisch funktionierenden Apparates erfordert ein gerätegebundenes Steuersystem, das gewisse logische Entscheidungen selbst treffen kann und somit, trotz sehr eingeschränkter Aktionsfähigkeit, einem kybernetisch äußerst komplizierten, künstlichen Lebewesen entspricht.To carry out repairs and protective measures in the radiation room, The robot must also use gripping and holding devices also about radiation; * - and other measuring devices and a have the associated Mew value transmission system. The creation Such an automatically functioning apparatus requires a device-bound control system that allows certain logical decisions can hit itself and thus, despite the very limited ability to act, an extremely complicated cybernetics, corresponds to artificial living beings.
Die Weiterentwicklung dieser autarken Geräte zu einem für die vorliegenden Probleme brauchbaren eelbstgesteuerten Roboter, würde in Hdnhlick auf die komplizierten Selbst^ehmechanismen, einen sehr großen Aufwand seines ülektronen^ehirnes bedingen.The further development of these self-sufficient devices into one for the present Problems of usable self-guided robots would be in If you look at the complicated mechanisms of self-recovery, one very require great expenditure of his electronic brain.
Ea wird daher vorgeschlagen, anstelle dieses "selbst^eateuerten" Roboters mit komplizierter "Eigensteuerung", erfinderisch ein aeuer, prinzipiell viel einfacherer Typ von Roboter angegeben, deseen Bewegungen nicht von seinem eigenen Elektronengehirn, sondern mittelbar von dem natürlich viel leistungsfähigeren Hirn einer im strahlungsfreien Operationsraim befindlichen Kommandojerson gesteuert werden. Ea is therefore proposed, instead of this "self-controlled" robot with complicated "self-control", an inventive, in principle much simpler type of robot specified, whose movements are not from its own electronic brain, but indirectly from the naturally much more powerful brain, one in the radiation-free Command person located in the operating room.
Zu diesem Zweck werden erfinderisch die ,wichtigsten Gelenkstellungen der Bein- und Armgelenke der. Kommandoperson mit elektromechanischen Winkelabgriffen laufend gemessen und dem Synchronroboter über Telecommando, zur gleichzeitigen Verstellung seiner analogen Gelenke, zugeführt. Zur Ausführung fest vorgegebe- -ner Bewegungsprogramme, wie z.B. das Schreiten in Gängen undFor this purpose, the most important joint positions are inventive the leg and arm joints of the. Command person with electromechanical angle taps continuously measured and the synchronous robot via telecommando, for simultaneous adjustment of his analog joints, fed. For the execution of predefined movement programs, such as walking in corridors and
909831/0656 BAD owQ1NAL /2 909831/0656 BAD owQ1N AL / 2
Claims (7)
Reaktionskräfte vermittelt.4.) Invention according to 1.), characterized in that by feedback of the torques occurring in the gripping joints of the synchronous robot, the command person controls the size of the
Reaction forces conveyed.
Abstands- und Richtungsoensoren enthält, die die kleinen
Driftbewegungen der Fernsteuerung laufend korrigieren.G.) according to 1.), characterized in that the synchronous robot
Contains distance and direction sensors that the small
Correct drift movements of the remote control continuously.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEE0035257 | 1967-11-25 |
Publications (1)
Publication Number | Publication Date |
---|---|
DE1531181A1 true DE1531181A1 (en) | 1969-07-31 |
Family
ID=7077270
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19671531181 Pending DE1531181A1 (en) | 1967-11-25 | 1967-11-25 | Synchronous robot for remote-controlled work in radiation-intensive rooms |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE1531181A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0353841A2 (en) * | 1988-07-18 | 1990-02-07 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
US5116180A (en) * | 1988-07-18 | 1992-05-26 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
-
1967
- 1967-11-25 DE DE19671531181 patent/DE1531181A1/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0353841A2 (en) * | 1988-07-18 | 1990-02-07 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
EP0353841A3 (en) * | 1988-07-18 | 1990-10-10 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
US5116180A (en) * | 1988-07-18 | 1992-05-26 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
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