IN-CHAMBER MANIPULATOR Russian patent published in 2022 - IPC B25J21/00 

FIELD: nuclear industry.

SUBSTANCE: invention relates to manipulators for the nuclear industry used in conditions of increased radiation. The manipulator contains motors and a mechanical arm, while the mechanical arm is located in a radiation environment, the motors are located outside the radiation environment, the mechanical arm contains articulated levers and bevel gear components driven by concentric hollow shafts. The manipulator additionally contains two linear links, one horizontal and one vertical, each of which is a differential pair of helical transmission and rotation. The vertical link is concentric to the root link of the manipulator, and the horizontal link is located next to the vertical one according to the kinematic scheme. The introduction of motion into the radiation-protective chamber is carried out through the mirror of the lubricating fluid, the leaks of which are continuously replenished by a pump that provides the circulation of the liquid in a closed circuit. In the concentric shafts of the manipulator, holes are made sufficient in diameter to evenly fill all the gaps between the concentric shafts of the manipulator with lubricating fluid.

EFFECT: working area of the manipulator becomes cylindrical and fits better into the dimensions of the radiation-protective chamber, while due to the presence of a vertical linear link, backlash does not affect the accuracy of the vertical stroke, and due to the fact that the main weight of the manipulator and the load is taken up by the largest diameter shaft of the vertical stage, the load capacity of the manipulator significantly increases, and the possibility of repairing the manipulator is achieved, including without direct human involvement, without depressurization of the radiation-protective chamber.

5 cl, 6 dwg