DE1531181A1 - Synchronous robot for remote-controlled work in radiation-intensive rooms - Google Patents

Description

Patent application

Applicant : Development and research laboratory Prof. Dr ..- Ing. Hans Kleinwächter 785 Loerrach, Kreuzstrade 105

Inventor : Prof. Ur.-Ing. Hana Kleinwächter, Loerrach

Synchronous robot for remote-controlled work in radiation-intensive rooms

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.

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.

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.

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 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.

For 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 owQ1N} AL / ₂

Claims (7)

Stairs, or when opening and closing Tireri, the command person invents himself in a model operating room, which is equipped with mockups of the same stairs, doors and operating devices, as is the radiation-endangered action room in which the robot executes synchronous movements. The unpredictable actions of the robot, such as the picking up of rauioukti '/ en Br.ich3tiaken, £ C3Chiöht orfir.dun ^ sFerruLi through optical latjer: «ckmelu.in ^ by means of a Steroo-Pernsoh-Auyen couple built into the head of the robot. Lie with the 3 "chronologically moving stereo images; a fully equipped command person, ijt a.if serve '.'is also included in: ien kybe met Ischen control loop and thus have the same action possibilities, alo. venn oio be located in the action space. This suspension is invented. Eioror., As aB Torque mesJ in ^ ier Greifr; - /; lonke, wcdentlicli erl'ri '; .t-ert. As a result, Xomnandoperoon can get a feeling of leuktions-Irickes erfi * idurh'.n ^ erifii'. front, .vyi.n. aor1 lioboter an object for. ~ r »; ift. 'Vc."'. on the v ^ lli /; lynohronen öeve.'un, 'from Korinar. ^ -; erso- and robots, needs eratere the B ^ .i ie now t; ies Üvatemü r.ic'.t srst to learn: ifis one ;; ro,;. G .Λη'.νο'.ib '»r'" eh this before fa-irf re promises. Erfinvlu ^ ijnroriJiii can iher the robot Bo, vohl in oir.em other £ reonetrinr; hen, cjIs also checked the Ma1Jutab'1I3 the communication indoperaon ] lrnchronroboter von finer Kommando-: eraon ^ e at ^? i - "? rt '//(.· ri f. x \. To compensate for errors in synchronous movements ^ un ^ eri and to increase the stability of walking / ejung des Gynchronr-botera has a servant who still has abjturrla- and ii! 1.) Robots with portbewci'ur. ^ A-, I'eun, Pernseh- und Griffgeriiten equipped, thereby ^ ukenn ^ eicunot, da :, its structure of motion which is geometrically the same or similar, v / ie a customer whose essential Geler.kstoll in ^ en d'trch p, eslce Geler.kstoll in ^ en drch elektrona.jneMsche L'bertra ^ unfjssvatefne transferred to the robot verden and him ευ. synchronous be / ze / boys 2.) Robot according to ^1. ), characterized by the fact that the mandoper.ion for the Lbertr: gun .; 'routinGm'i..5ir, he works, mock-ups of stairs, door locks and actuators that are operated synchronously by robots. 3.) Invention according to 1.), characterized in that: lai the robot on his synchronously be .ve- ^ te η head- * olnnk a stereo external pair carries, as the command per so η a three-dimensionalo.3 image Action space3 conveyed by the robot. 909831/0656 BATH ORIGINAL - / 3 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. 5.) according to 1.) »characterized in that the geometric dimensions, or the torques of the robot, proportional to those of the commanding person. 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. 7.) according to 1.) and 5.), characterized in that several robots are controlled simultaneously by the movement system of the command person. Loerrach, November 19, 67. . . (Prof. Dr. Ing. II. KIe inwächter) bath 909831/0656