CN113770996A - Master-slave manipulator for small joints - Google Patents

Master-slave manipulator for small joints Download PDF

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Publication number
CN113770996A
CN113770996A CN202111095868.0A CN202111095868A CN113770996A CN 113770996 A CN113770996 A CN 113770996A CN 202111095868 A CN202111095868 A CN 202111095868A CN 113770996 A CN113770996 A CN 113770996A
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China
Prior art keywords
driven
driving
chain wheel
assembly
arm
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Granted
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CN202111095868.0A
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Chinese (zh)
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CN113770996B (en
Inventor
沈琛林
胡国辉
王路森
吴德慧
梁汝囡
彭思
宋文博
窦远
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China Nuclear Power Engineering Co Ltd
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China Nuclear Power Engineering Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a small joint master-slave manipulator, which comprises: pre-swing drive mechanism comprising: the first transmission assembly is used for transmitting the motion of the driving forearm to the driven forearm and driving the driven forearm to move in a follow-up manner; the driving assembly is arranged on the driving front arm and is connected with the second transmission assembly; the second transmission assembly is used for transmitting the motion of the driving assembly to the first transmission assembly and then to the driven forearm so as to drive the driven forearm to perform pre-swing motion; a spring balancing mechanism comprising: the spring mounting frame is connected with the wall penetrating pipe assembly and is further connected with the constant force spring, the constant force spring is further connected with the driving upper arm, and the constant force spring is used for providing constant tension to the driving upper arm to keep balance of the manipulator. The small joint master-slave manipulator is light in dead weight, small in size, flexible and accurate in action, small in motion inertia, provided with a spring balance mechanism, and suitable for protecting a small joint master-slave manipulator operated by a working box remotely.

Description

Master-slave manipulator for small joints
Technical Field
The invention belongs to the technical field of remote operation, and particularly relates to a small joint master-slave manipulator.
Background
In the field of remote operation technology, the industries engaged in nuclear science research and production are indispensable and require special remote operation equipment such as a mechanical arm, and the equipment can isolate operating personnel from a dangerous environment through a plurality of shielding bodies, so that the safety of the operating personnel is ensured to operate dangerous substances.
The master-slave manipulator mainly comprises a master arm, a wall penetrating pipe and a slave arm, and is a commonly applied manipulator. In the domestic nuclear field, a sword type mechanical arm is always used for a protective work box, the sword type mechanical arm only has 4 degrees of freedom, fine operation cannot be completed, and the movement inertia is large during operation, so that the operation precision is influenced; the clamp of the joint sword type mechanical arm has opposite action direction with the handle operated by a person, and misoperation is easy to occur; the joint type master-slave manipulator for the hot chamber cannot be directly used for a protective working box after being simply reduced due to the difference of factors such as installation height, use place, thickness of a shielding layer and the like, and the joint manipulator applied to the remote operation of the protective working box at home is still a blank at present.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a small joint master-slave manipulator which is light in dead weight, small in size, flexible and accurate in action, small in motion inertia, provided with a spring balance mechanism and suitable for remote operation of a protective working box.
The technical scheme adopted for solving the technical problem of the invention is to provide a small joint master-slave manipulator, which comprises: the wall penetrating device comprises a driving forearm, a driving upper arm hinged with the driving forearm, a wall penetrating pipe assembly, a driven forearm and a driven upper arm hinged with the driven forearm, wherein the driving upper arm is connected with the driving end of the wall penetrating pipe assembly, and the driven upper arm is connected with the driven end of the wall penetrating pipe assembly; the small-size joint master slave manipulator still includes:
pre-swing drive mechanism comprising: the first transmission assembly is connected with the driving front arm and the driven front arm and is used for transmitting the motion of the driving front arm to the driven front arm and driving the driven front arm to perform follow-up motion;
the driving assembly is arranged on the driving front arm and is connected with the second transmission assembly;
the second transmission assembly is connected with the first transmission assembly, arranged on the driving front arm and used for transmitting the motion of the driving assembly to the first transmission assembly and then to the driven front arm to drive the driven front arm to perform pre-swing motion;
a spring balancing mechanism comprising: spring mounting bracket, constant force spring, spring mounting bracket's one end and wall pipe assembly are connected, and spring mounting bracket's other one end is connected with the one end of constant force spring, and the other one end and the initiative upper arm of constant force spring are connected, and the constant force spring is used for providing the balance that invariable pulling force kept the manipulator to the initiative upper arm.
The small joint master-slave manipulator is in an M-shaped motion form, a driving upper arm and a driven upper arm move up and down at the same time, a driving forearm and a driven forearm move forward and backward at the same time, and the manipulator is in an M shape after the driving upper arm and the driven upper arm move upwards and keeps master-slave motion.
Preferably, the first transmission assembly comprises: the driving end chain wheel, the driving end chain wheel shaft, the transmission chain assembly, the driven end chain wheel and the driven end chain wheel shaft are hinged, a driving front arm is hinged to a driving upper arm through the driving end chain wheel shaft, a driven front arm is hinged to a driven upper arm through the driven end chain wheel shaft, the driving front arm is fixedly connected with the driving end chain wheel shaft, the driving end chain wheel is fixedly connected with the driving end chain wheel shaft, the driven front arm is fixedly connected with the driven end chain wheel shaft, the driven end chain wheel is fixedly connected with the driven end chain wheel shaft, the driving end chain wheel and the driven end chain wheel are respectively meshed with the transmission chain assembly, the driving front arm moves to drive the driving end chain wheel shaft to move, the driving end chain wheel is driven to rotate, the transmission chain assembly is driven to drive the driven end chain wheel to rotate, the driven end chain wheel shaft is driven to rotate, and the driven front arm moves.
Preferably, the second transmission assembly comprises: the worm wheel is meshed with the worm, the worm wheel is fixedly connected with the driving end chain wheel shaft, the worm is connected with the driving assembly, and the driving assembly drives the worm to rotate to drive the worm wheel to rotate and drive the driving end chain wheel to rotate.
Preferably, the master-slave manipulator with the small joints further comprises: the pre-swing transmission compensation mechanism comprises: the pressing assembly is used for pressing a steel wire rope for driving a mechanical arm to move in the follow-up process, and tensioning compensation is carried out on the steel wire rope.
Preferably, the compressing assembly includes: the compensation movable pulley, the compensation movable pulley shaft and the compensation connecting plate are fixedly connected with the driving end chain wheel, the compensation connecting plate moves along with the driving end chain wheel, the compensation movable pulley shaft is fixedly arranged on the compensation connecting plate, the compensation movable pulley is arranged on the compensation movable pulley shaft, the compensation movable pulley is used for freely rotating around the compensation movable pulley shaft, the compensation movable pulley is also used for following along with the movement of the driving end chain wheel, and the compensation movable pulley is used for pressing a steel wire rope for driving a mechanical arm to move in the following process.
Preferably, the pre-swing transmission compensation mechanism further includes: the guide assembly is arranged on the driving front arm and used for guiding the movement of the steel wire rope, the guide assembly is a compensation fixed pulley, the driving end pulley is arranged on the driving arm connecting shaft and is rotatably connected with the driving arm connecting shaft, the compensation fixed pulley, the compensation movable pulley and the driving end pulley are on the same plane along the axial direction, and the steel wire rope sequentially moves through the compensation fixed pulley, the compensation movable pulley and the driving end pulley.
Preferably, the wall tube assembly comprises: the wall tube assembly inner ring, set up the wall tube assembly outer lane outside the wall tube assembly inner ring, set up the rolling element between wall tube assembly inner ring and wall tube assembly outer lane, wall tube assembly inner ring and wall tube assembly outer lane are connected along the X of manipulator to rotating.
Preferably, one end of the spring mounting rack is connected with the inner ring of the wall penetrating pipe assembly, and the spring mounting rack rotates along with the inner ring of the wall penetrating pipe assembly to drive the constant force spring to rotate freely.
Preferably, the spring balance mechanism further includes: the spring mounting plate is arranged on the driving upper arm, the other end of the constant force spring is connected with the driving upper arm through the spring mounting plate, a sliding groove is formed in the driving upper arm, and the spring mounting plate is in sliding connection with the driving upper arm through the sliding groove and used for fine adjustment of the position of the spring mounting plate on the driving upper arm.
Preferably, the master-slave manipulator with the small joints further comprises: x is to locking mechanical system, and X is to locking mechanical system including: supporting seat, set up the adjusting part on the supporting seat, supporting seat and wall pipe subassembly outer lane fixed connection, the adjusting part includes: the locking handle, set up the check lock on the locking handle, locking handle and supporting seat threaded connection for the check lock carries out concertina movement, realizes locking or unblock to the wall pipe subassembly inner circle through rotatory check lock handle.
Preferably, the master-slave manipulator with the small joints further comprises: the supporting ring is of an elastic structure, two ends of the supporting ring are respectively connected with the sealing sleeve outside the driven upper arm and the sealing sleeve outside the driven forearm, and the supporting ring is used for supporting the driven upper arm and the driven forearm to enable the driven upper arm and the driven forearm to keep a preset included angle.
Preferably, the master-slave manipulator with the small joints further comprises: synchronous drive mechanism, synchronous drive mechanism includes: the driving Z-direction moving chain wheel, the driving Z-direction moving chain wheel shaft, the cross transmission chain, the driven Z-direction moving chain wheel and the driven Z-direction moving chain wheel shaft are fixedly connected, a driving Z-direction moving chain wheel is fixedly connected with the driving Z-direction moving chain wheel shaft, a driven upper arm is fixedly connected with the driven Z-direction moving chain wheel shaft, a driven Z-direction moving chain wheel is fixedly connected with the driven Z-direction moving chain wheel shaft, the driving Z-direction moving chain wheel and the driven Z-direction moving chain wheel are respectively meshed with the cross transmission chain, the driving Z-direction moving chain wheel moves to drive the driving Z-direction moving chain wheel shaft to move, the driving Z-direction moving chain wheel rotates to drive the cross transmission chain to move, the driven Z-direction moving chain wheel shaft is driven to rotate, and the driven upper arm is driven to move.
Preferably, the master-slave manipulator with the small joints further comprises: adjustment mechanism, the upper arm of initiative passes through adjustment mechanism cooperation with the wall pipe assembly and is connected, and adjustment mechanism includes: the adjusting nut and the main adjusting bolt are respectively arranged on the wall penetrating pipe assembly and the driving upper arm, and the adjusting nut and the main adjusting bolt are connected in a matched mode and used for adjusting the tensioning state of all transmission chains passing through the wall penetrating pipe assembly and the tensioning state of a steel wire rope for driving the manipulator to move.
Preferably, the adjusting nut is cooperatively connected with the main adjusting bolt for adjusting the tension state of the cross drive chain.
Preferably, the driving forearm comprises a driving upper end, a driving connecting pipe, a driving forearm pipe, a driving wrist and a driving handle which are sequentially connected, the driving upper end is connected with the driving upper arm, the driving upper end is rotatably connected with the driving connecting pipe through a driving shaft bearing, a driving upper end cap is sleeved outside an outer ring of the driving bearing, and an inner ring of the driving bearing is sleeved outside the driving connecting pipe;
the driven forearm comprises a driven upper end, a driven connecting pipe, a driven forearm pipe, a driven wrist and a driven handle which are sequentially connected, the driven upper end is connected with the driven upper arm, the driven upper end is rotatably connected with the driven connecting pipe through a driven bearing, a driven upper end head sleeve is arranged outside an outer ring of the driven bearing, and an inner ring sleeve of the driven bearing is arranged outside the driven connecting pipe.
Preferably, the driven handle includes: the driven handle body and the driven clamp arranged on the driven handle body;
the small-size joint master slave manipulator still includes: ratchet mechanism, ratchet mechanism includes: the driving ratchet mechanism is arranged in the driving handle, and the driven ratchet mechanism is arranged in the driven handle;
the active ratchet mechanism comprises: the active ratchet wheel is arranged on the active handle, the active pawl is arranged on the active handle, and the active pawl and the active ratchet wheel are locked after the active handle holds an object;
the driven ratchet mechanism includes: the driven ratchet wheel is arranged on the driven clamp, the driven pawl is arranged on the driven handle main body, and the driven pawl is locked with the driven ratchet wheel after the driven clamp holds an object.
Preferably, the master-slave manipulator with the small joints further comprises: a differential mechanism, the differential mechanism comprising: the driving differential mechanism is arranged in the driving wrist and used for realizing the rotation and prone movement of the driving wrist; the driven differential mechanism is arranged in the driven wrist and used for realizing the rotation and the prone movement of the driven wrist.
The small joint master-slave manipulator has the following beneficial effects:
1) the manipulator dead weight is light, and the size is little, is applicable to the work box: the small joint master-slave manipulator has light dead weight and small overall size, the minimum size of the wall tube assembly is far smaller than that of the existing joint manipulator, and the small joint master-slave manipulator can replace a relatively laggard sword type manipulator which is used in a large amount on the existing work box.
2) Flexible and accurate action and humanized operation: can finish complex fine operation, accords with the operation habit of people, and is not easy to cause misoperation.
3) The spring balance mechanism is provided, so that the motion inertia is small: the small master-slave manipulator is provided with a spring balance mechanism, basically realizes the balance of any position of the manipulator, and has light and flexible operation and small motion inertia.
Drawings
FIG. 1: the structure schematic diagram of the small joint master-slave manipulator in embodiment 2 of the invention;
FIG. 2: the structure schematic diagram of the pre-swing transmission mechanism of the small joint master-slave manipulator in the embodiment 2 of the invention;
FIG. 3: the invention discloses an axonometric view of the active end of a master-slave manipulator of a small joint in embodiment 2;
FIG. 4: the invention in embodiment 2 small joint master slave manipulator driven end axonometric drawing;
FIG. 5: a diagram of the position of a forearm of a small joint master-slave manipulator pre-swinging rear arm in embodiment 2 of the invention;
FIG. 6: the structure diagram of the master-slave manipulator pre-swing transmission compensation mechanism of the small joint in the embodiment 2 of the invention;
FIG. 7: a section view of an active forearm a-a of a pre-swing transmission compensation mechanism in embodiment 2 of the invention;
FIG. 8: a driven forearm B-B section view of the pre-swing transmission compensation mechanism in embodiment 2 of the invention;
FIG. 9: the state diagram of the small joint in embodiment 2 of the invention after pre-swinging of the master-slave manipulator.
In the figure: 1-driving handle, 2-driving wrist, 3-driving forearm tube, 4-driving connecting tube, 5-driving upper end, 6-handle, 7-worm, 8-worm wheel, 9-spring mounting plate, 10-driving upper arm, 11-adjusting mechanism, 12-driving Z-direction movement chain wheel, 13-X-direction locking mechanism, 14-constant force spring, 15-spring mounting frame, 16-cross transmission chain, 17-wall penetrating tube component outer ring, 18-wall penetrating tube component inner ring, 19-driven Z-direction movement chain wheel, 20-driven upper arm, 21-supporting ring, 22-driven upper end, 23-driven connecting tube, 24-driven forearm tube, 25-driven wrist, 26-driven handle, 27-safety shell, 28-shield, 29-leading arm, 30-leading bearing block of worm, 32-trailing bearing block of worm, 33-adjusting bolt, 34-sleeve nut, 35-prepended wire rope, 36-wall-penetrating pipe component, 37-wire rope joint, 38-trailing end chain, 39-trailing end sprocket, 40-trailing arm, 41-leading end chain, 42-leading end sprocket shaft, 43-leading end sprocket, 44-trailing end sprocket shaft, 45-leading end connecting plate, 46-compensating fixed pulley, 47-drive chain component, 48-trailing end connecting plate, 49-wire rope, 50-compensating movable pulley, 51-compensating supporting plate, 52-leading arm connecting shaft, 53-leading end pulley, 54-compensating connecting plate, 55-compensation movable pulley shaft, 56-worm support, 57-driven end pulley and 58-driven arm connecting shaft.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
The embodiment provides a small-size joint master slave manipulator, includes: the wall penetrating device comprises a driving forearm, a driving upper arm hinged with the driving forearm, a wall penetrating pipe assembly, a driven forearm and a driven upper arm hinged with the driven forearm, wherein the driving upper arm is connected with the driving end of the wall penetrating pipe assembly, and the driven upper arm is connected with the driven end of the wall penetrating pipe assembly; the small-size joint master slave manipulator still includes:
pre-swing drive mechanism comprising: the first transmission assembly is connected with the driving front arm and the driven front arm and is used for transmitting the motion of the driving front arm to the driven front arm and driving the driven front arm to perform follow-up motion;
the driving assembly is arranged on the driving front arm and is connected with the second transmission assembly;
the second transmission assembly is connected with the first transmission assembly, arranged on the driving front arm and used for transmitting the motion of the driving assembly to the first transmission assembly and then to the driven front arm to drive the driven front arm to perform pre-swing motion;
a spring balancing mechanism comprising: spring mounting bracket, constant force spring, spring mounting bracket's one end and wall pipe assembly are connected, and spring mounting bracket's other one end is connected with the one end of constant force spring, and the other one end and the initiative upper arm of constant force spring are connected, and the constant force spring is used for providing the balance that invariable pulling force kept the manipulator to the initiative upper arm.
The beneficial effect of the small joint master-slave manipulator in this embodiment is as follows:
1) the manipulator dead weight is light, and the size is little, is applicable to the work box: the small joint master-slave manipulator has light dead weight and small overall size, the minimum size of the wall tube assembly is far smaller than that of the existing joint manipulator, and the small joint master-slave manipulator can replace a relatively laggard sword type manipulator which is used in a large amount on the existing work box.
2) Flexible and accurate action and humanized operation: can finish complex fine operation, accords with the operation habit of people, and is not easy to cause misoperation.
3) The spring balance mechanism is provided, so that the motion inertia is small: the small master-slave manipulator is provided with a spring balance mechanism, basically realizes the balance of any position of the manipulator, and has light and flexible operation and small motion inertia.
Example 2
As shown in fig. 1 to 9, the present embodiment provides a small joint master-slave manipulator, including: the wall penetrating pipe comprises a driving forearm 29, a driving upper arm 10 hinged with the driving forearm 29, a wall penetrating pipe assembly 36, a driven forearm 40 and a driven upper arm 20 hinged with the driven forearm 40, wherein the driving upper arm 10 is connected with the driving end of the wall penetrating pipe assembly 36, and the driven upper arm 20 is connected with the driven end of the wall penetrating pipe assembly 36; the small-size joint master slave manipulator still includes:
as shown in FIGS. 2 to 5, the pre-swing transmission mechanism comprises: the first transmission assembly is connected with the driving front arm 29 and the driven front arm 40, and is used for transmitting the motion of the driving front arm 29 to the driven front arm 40 and driving the driven front arm 40 to perform follow-up motion;
the driving component is arranged on the driving front arm 29 and is connected with the second transmission component;
the second transmission component is connected with the first transmission component, arranged on the driving front arm 29 and used for transmitting the motion of the driving component to the first transmission component and then to the driven front arm 40 so as to drive the driven front arm 40 to perform pre-swing motion;
a spring balancing mechanism comprising: spring mounting 15, constant force spring 14, the one end and the wall pipe subassembly 36 of spring mounting 15 are connected, and the other end and the one end of constant force spring 14 of spring mounting 15 are connected, and the other end and the initiative upper arm 10 of constant force spring 14 are connected, and constant force spring 14 is used for providing invariable pulling force to initiative upper arm 10 and keeps the balance of manipulator.
The small joint master-slave manipulator is in an M-shaped motion form, the driving upper arm 10 and the driven upper arm 20 move up and down simultaneously, the driving forearm 29 and the driven forearm 40 move forward and backward simultaneously, and after the driving upper arm 10 and the driven upper arm 20 move upwards, the manipulator is in an M shape and keeps master-slave motion.
The motion of the driving end of the small joint master-slave manipulator is transmitted to the driven end through the steel wire rope 49 and the chain transmission and the wall penetrating pipe assembly 36 to realize the motion recurrence, so that the master-slave motion is realized.
Preferably, the first transmission assembly comprises: a driving end chain wheel 43, a driving end chain wheel shaft 42, a transmission chain component 47, a driven end chain wheel 39 and a driven end chain wheel shaft 44, wherein a driving front arm 29 is hinged with a driving upper arm 10 through the driving end chain wheel shaft 42, the driving front arm 29 can rotate relative to the driving upper arm 10, a driven front arm 40 is hinged with a driven upper arm 20 through the driven end chain wheel shaft 44, the driven front arm 40 can rotate relative to the driven upper arm 20, the driving front arm 29 is fixedly connected with the driving end chain wheel shaft 42, the driving end chain wheel 43 is fixedly connected with the driving end chain wheel shaft 42, the driven front arm 40 is fixedly connected with the driven end chain wheel shaft 44, the driven end chain wheel 39 is fixedly connected with the driven end chain wheel shaft 44, the driving end chain wheel 43 and the driven end chain wheel 39 are respectively engaged with the transmission chain component 47, the driving front arm 29 moves to drive the driving end chain wheel shaft 42 to move, the driving end chain wheel 43 to rotate and drive the transmission chain component 47 to move, the driven end chain wheel 39 is driven to rotate, the driven end chain wheel shaft 44 is driven to rotate, and the driven front arm 40 is driven to move. The driving forearm 29 and the driving upper arm 10 can rotate relatively, and the driven forearm 40 and the driven upper arm 20 can rotate relatively. The driving end chain wheel 43 is of a belt shaft structure, and through holes are formed in the driving end chain wheel 43 and the shaft center of the driving end chain wheel 43, sleeved on the driving end chain wheel shaft 42 and capable of rotating around the driving end chain wheel shaft 42. The driven end chain wheel 39 is provided with a through hole at the center, sleeved on the driven end chain wheel shaft 44 and capable of rotating around the driven end chain wheel shaft 44.
Preferably, the second transmission assembly comprises: the worm wheel 8 and the worm 7 are meshed, the worm wheel 8 is fixedly connected with the driving end chain wheel shaft 42, the driving end chain wheel 43 rotates along with the worm wheel 8, the worm 7 is connected with the driving assembly, and the driving assembly drives the worm 7 to rotate to drive the worm wheel 8 to rotate and drive the driving end chain wheel 43 to rotate. The rotational movement of the hand crank handle 6 is transmitted to the drive end sprocket 43. The motion of the driving component is transmitted to the driven forearm 40 through the driving forearm 29, the driving upper arm 10, the wall penetrating pipe component 36 and the driven upper arm 20, and the driven forearm 40 is driven to perform pre-swing motion.
Preferably, the drive chain assembly 47 comprises: the pre-swing steel wire rope comprises a driving end chain 41, a driven end chain 38 and a pre-swing steel wire rope 35, wherein two ends of the pre-swing steel wire rope 35 are respectively connected with the driving end chain 41 and the driven end chain 38, the driving end chain 41 is meshed with a driving end chain wheel 43, and the driven end chain 38 is meshed with a driven end chain wheel 39.
The drive end sprocket 43 rotates within the length of the drive end chain 41 and the driven end sprocket 39 rotates within the length of the driven end chain 38.
The pre-swing wire rope 35 includes: the drive mechanism comprises a first pre-swing steel wire rope and a second pre-swing steel wire rope, wherein two ends of the first pre-swing steel wire rope are respectively connected with a first end of a drive end chain 41 and a first end of a driven end chain 38, two ends of the second pre-swing steel wire rope are respectively connected with a second end of the drive end chain 41 and a second end of the driven end chain 38, and a closed transmission chain assembly 47 is formed.
Preferably, the joint master-slave manipulator pre-swing transmission mechanism further comprises: and the locking assembly is respectively connected with the pre-swing steel wire rope 35 and the driving end chain 41 and is used for adjusting the tightness state of the pre-swing steel wire rope 35.
Preferably, the locking assembly comprises: the adjusting bolt 33 and the sleeve nut 34 are arranged, the adjusting bolt 33 is arranged at one end of the driving end chain 41 connected with the pre-swing steel wire rope 35, the sleeve nut 34 is arranged at one end of the pre-swing steel wire rope 35 connected with the driving end chain 41, and the adjusting bolt 33 and the sleeve nut 34 are connected in a matched mode and used for adjusting the tightness state of the pre-swing steel wire rope 35. One end of the pre-swing steel wire rope 35 connected with the driven end chain 38 is provided with a steel wire rope joint 37, the pre-swing steel wire rope 35 penetrates through the wall penetrating pipe assembly 36 to reach the driven end, and the steel wire rope joint 37 is connected with the driven end chain 38.
The pre-swing wire rope 35 is connected to a driven end chain 38 through a wire rope joint 37.
Preferably, the joint master-slave manipulator pre-swing transmission mechanism further comprises: a supporting seat arranged on the driving forearm 29, a bearing arranged on the supporting seat, and a bearing sleeve arranged on the worm 7.
Preferably, the number of the supporting seats is at least two. Specifically, the number of the support seats in this embodiment is two, and the two support seats are a worm front bearing seat 30 and a worm rear bearing seat 32 respectively. The worm front bearing seat 30 and the worm rear bearing seat 32 are respectively and fixedly arranged on the driving front arm 29, bearings are respectively arranged in the worm front bearing seat 30 and the worm rear bearing seat 32, and the worm 7 is arranged between the worm front bearing seat 30 and the worm rear bearing seat 32.
Preferably, the driving assembly includes: hand crank handle 6 or an electric drive. Specifically, the driving assembly in this embodiment is a hand grip 6. The hand-cranking handle 6 is arranged on the worm 7, and the worm 7 is driven to rotate by rotating the hand-cranking handle 6.
When the driving front arm 29 of the joint master-slave manipulator normally moves, the driving front arm 29 swings back and forth, the worm wheel 8 and the worm 7 are in a meshed self-locking state and do not move relatively, the worm wheel 8 is fixed with the driving end chain wheel 43, the driving front arm 29 drives the driving end chain wheel 43 to rotate, the motion is transmitted to the driven end through the driving end chain 41, the pre-swing steel wire rope 35 and the driven end chain 38 to drive the driven end chain wheel 39 to follow, the driven end chain wheel 39 is fixed on the driven front arm 40, and the driven front arm 40 swings at the same angle with the driving front arm 29; when the joint master-slave manipulator needs pre-swinging, the hand handle 6 is rotated to drive the worm 7 to rotate, the worm 7 is meshed with the worm wheel 8 to drive the driving end chain wheel 43 to rotate, the driving end chain wheel is transmitted to the driven end through the transmission chain assembly 47, the driven front arm 40 is driven to pre-swing forwards for a certain angle, the pre-swinging function is completed, and the pre-swinging state is shown in fig. 5.
The beneficial effects of the pre-swing transmission mechanism of the embodiment are as follows:
1) utilize the auto-lock to guarantee follow-up and pendulum in advance, the operation is light: the worm and gear self-locking principle is utilized to ensure the follow-up motion of the main arm and the auxiliary arm, and the pre-swing of the driven front arm 40 is realized at the same time, and the follow-up motion of the main arm and the auxiliary arm is not influenced after the pre-swing. The pre-swinging of the manipulator is completed by operating the hand-operated handle 6, the operation is humanized, the pre-swinging operation force is small due to the worm and gear transmission, and the operation is light;
2) reliable transmission, drive chain assembly 47 easily tightens: the motion transmission is realized by combining the driving end chain 41, the driven end chain 38 and the pre-swing steel wire rope 35, so that the risk of slipping of a pure steel wire rope in a wheel groove is avoided, and the large tension force required by pure chain dead weight down-warping can be reduced to the maximum extent;
3) the pre-swing transmission mechanism is simple and compact, and the installation space is small: the pre-swing transmission mechanism utilizes worm gear transmission, transmits the motion of a driving end to a driven end through a driving end chain wheel 43, a driven end chain wheel 39, a driving end chain 41, a driven end chain 38 and a pre-swing steel wire rope 35, and has simple and compact structure and smaller required installation space compared with pre-swing devices of telescopic manipulators and articulated manipulators.
Specifically, the driving assembly in this embodiment is the handle 6, the worm 7 is driven to rotate by rotating the handle 6, the worm 7 is meshed with the worm wheel 8, and the pre-swing of the driven forearm 40 is realized through the transmission of the transmission chain assembly 47.
As shown in fig. 6 to 9, preferably, the small joint master-slave manipulator further includes: the pre-swing transmission compensation mechanism comprises: the pressing component is connected with a driving end chain wheel 43, the driving front arm 29 is rotatably connected with the driving upper arm 10 through a driving arm connecting shaft 52, the driving end chain wheel 43 is arranged on the driving arm connecting shaft 52 and is rotatably connected with the driving arm connecting shaft 52, the pressing component follows up with the movement of the driving end chain wheel 43 during pre-swing movement, and the pressing component is used for pressing a steel wire rope 49 for driving a manipulator to move in the following process to perform tensioning compensation on the steel wire rope 49.
Preferably, the compressing assembly includes: the compensation movable pulley 50, the compensation movable pulley shaft 55 and the compensation connecting plate 54 are arranged in sequence, the compensation connecting plate 54 is fixedly connected with the driving end chain wheel 43, the compensation connecting plate 54 moves along with the driving end chain wheel 43, the compensation movable pulley shaft 55 is fixedly arranged on the compensation connecting plate 54, the compensation movable pulley 50 is arranged on the compensation movable pulley shaft 55, the compensation movable pulley 50 is used for freely rotating around the compensation movable pulley shaft 55, the compensation movable pulley 50 is also used for following along with the movement of the driving end chain wheel 43, and the compensation movable pulley 50 is used for pressing a steel wire rope 49 for driving a manipulator to move in the following process.
Preferably, the joint master-slave manipulator pre-swing transmission compensation mechanism further comprises: the driving forearm connecting plate 45, the driving forearm connecting plate 45 and the driving forearm 29 are fixedly connected, and the driving forearm connecting plate 45 and the driving upper arm 10 are rotatably connected through a driving arm connecting shaft 52 and can swing relatively. The driving forearm connecting plate 45 is provided with a sliding groove, the compensation movable pulley shaft 55 is in sliding connection with the sliding groove in a matching way, and the compensation movable pulley 50 moves along the sliding groove. The active forearm 29 is of tubular construction and the cable 49 may pass through the active forearm 29.
Preferably, the pre-swing transmission compensation mechanism further includes: the guide component is arranged on the driving forearm 29 and used for guiding the movement of the steel wire rope 49, the guide component is a compensation fixed pulley 46, the driving end pulley 53 is arranged on the driving arm connecting shaft 52 and is rotatably connected with the driving arm connecting shaft 52, the compensation fixed pulley 46, the compensation movable pulley 50 and the driving end pulley 53 are on the same plane along the axial direction, and the steel wire rope 49 sequentially moves through the compensation fixed pulley 46, the compensation movable pulley 50 and the driving end pulley 53.
The driven end pulley 57 is arranged on the driven arm connecting shaft 58 and is rotatably connected with the driven arm connecting shaft 58, and the steel wire rope 49 sequentially passes through the compensation fixed pulley 46, the compensation movable pulley 50, the driving end pulley 53 and the driven end pulley 57 to move.
Preferably, the joint master-slave manipulator pre-swing transmission compensation mechanism further comprises: the driving forearm connecting plate 45, the driving forearm connecting plate 45 and the driving forearm 29 are fixedly connected, the driving forearm connecting plate 45 and the driving upper arm 10 are rotatably connected through a driving arm connecting shaft 52, and the compensating fixed pulley 46 is arranged on the driving forearm connecting plate 45.
Preferably, the joint master-slave manipulator pre-swing transmission compensation mechanism further comprises: and the compensation support plate 51 is arranged on the driving arm connecting shaft 52, is rotatably connected with the driving arm connecting shaft 52, and the compensation support plate 51 is fixedly arranged on the compensation movable pulley shaft 55 and follows along with the movement of the compensation movable pulley shaft 55.
Preferably, the joint master-slave manipulator pre-swing transmission compensation mechanism further comprises: the driven forearm connecting plate 48, the driven forearm connecting plate 48 and the driven forearm 40 are fixedly connected, the driven forearm 40 and the driven upper arm 20 are rotatably connected through a driven arm connecting shaft 58, and the driven forearm connecting plate 48 and the driven upper arm 20 are rotatably connected through a driven arm connecting shaft 58. The driven forearm 40 is of tubular construction and a cable 49 may be passed through the driven forearm 40.
The master arm manipulator is connected with a steel wire rope 49, and the steel wire rope 49 transmits the motion of the master arm manipulator to the slave arm manipulator through the driving forearm 29, the driving upper arm 10, the wall penetrating pipe assembly 36, the slave upper arm 20 and the slave forearm 40, so that the slave arm manipulator and the master arm manipulator move in the same direction.
The drive chain assembly 47 and wire rope 49 are transmitted from the driving end of the robot to the driven end of the robot through the wall feed assembly 36.
The worm 7 is arranged on the worm support 56, the worm support 56 is fixed on the driving forearm connecting plate 45, the worm wheel 8 is meshed with the worm 7 in a self-locking state, and the driving end chain wheel 43 moves along with the driving forearm connecting plate 45 at the moment. The position relation between the driving end chain wheel 43 and the driving forearm connecting plate 45 can be adjusted by adjusting the meshing position of the worm wheel 8 and the worm 7, so that the relative movement of the two is realized.
The driven end chain wheel 39 is fixedly arranged on the driven forearm connecting plate 48, and the driven forearm connecting plate 48 follows the motion of the driven end chain wheel 39. The driven forearm connecting plate 48 and the driven upper arm 20 are connected by a driven arm connecting shaft 58 so as to be swingable relative to each other. The driven end pulley 57 is mounted on a driven arm connecting shaft 58 so as to be freely rotatable about the shaft. The wire rope 49 is passed through the driving forearm 29 by the master arm robot, passes through the compensating fixed pulley 46, the compensating movable pulley 50, the driving end pulley 53, the wall pipe assembly 36, the driven end pulley 57, and the driven forearm 40, and reaches the slave arm robot to transmit the motion. The compensation fixed pulley 46, the compensation movable pulley 50, the driving end pulley 53 and the driven end pulley 57 are all on the same plane, and the compensation fixed pulley 46 is used for guiding the steel wire rope 49, so that the rope pressing reliability of the compensation movable pulley 50 is guaranteed.
The pre-swing transmission compensation mechanism is linked with the pre-swing transmission mechanism, and compensates the change of the rope length of the steel wire rope 49 for transmission in the pre-swing process of the driven forearm 40. The driving handle 1 is connected with a steel wire rope 49, and the steel wire rope 49 transmits the motion of the driving handle 1 to the driven handle 26 through the driving forearm 29, the driving upper arm 10, the wall pipe assembly 36, the driven upper arm 20 and the driven forearm 40, so that the driven end and the driving end act in the same direction.
The joint master-slave manipulator in this embodiment is in master-slave motion, that is, the master forearm 29 swings back and forth by a certain angle, and the slave forearm 40 swings by the same angle. The joint master-slave manipulator is driven by human hands, and the human controls the motion of the slave forearm 40 by operating the master forearm 29. When the driving front arm 29 of the joint master-slave manipulator normally moves in a master-slave mode, the driving end chain wheel 43 moves along with the driving front arm connecting plate 45, the driving end chain wheel 43 drives the transmission chain assembly 47 to move, the transmission chain assembly 47 is a full-circle closed structure and mainly comprises the pre-swing steel wire rope 35 and a chain, the pre-swing steel wire rope 35 is connected with the chain to form a closed structure, the forward and reverse rotation motion of the driving end chain wheel 43 can be transmitted to the driven end chain wheel 39, the motion and the power are transmitted to the driven end chain wheel 39 through the transmission chain assembly 47, the driven end chain wheel 39 is fixedly connected with the driven front arm connecting plate 48, the front arm driven end chain wheel 39 drives the driven end chain wheel 40 to move, the driving front arm 29 and the driven front arm 40 swing together at the same angle, the wrap angle increase and decrease of the steel wire rope 49 on the driving end pulley 53 are equal to the wrap angle increase and decrease of the steel wire rope 49 on the driven end pulley 57, and the tension state of the steel wire rope 49 is unchanged, the relative positions of the compensation fixed pulley 46, the compensation movable pulley 50 and the steel wire rope 49 are unchanged, and the two pulleys do not influence the tensioning state of the steel wire rope 49 in the movement process; the joint master-slave manipulator needs pre-swing in some cases, and when the joint master-slave manipulator is pre-swung, the driven front arm 40 swings forwards by a certain angle when the driving front arm 29 keeps a vertical state. When the joint master-slave manipulator needs to pre-swing, the position relation between the driving end chain wheel 43 and the driving forearm connecting plate 45 can be adjusted by adjusting the meshing position of the worm wheel 8 and the worm 7, the driving end chain wheel 43 rotates for a certain angle relative to the driving forearm connecting plate 45 and is transmitted to the driven end through the transmission chain assembly 47, the driven end chain wheel 39 is driven to drive the driven forearm 40 to swing for the same angle, the wrap angle of the steel wire rope 49 on the driven end pulley 57 is reduced, and the steel wire rope 49 tends to be loosened. The driving end chain wheel 43 rotates relative to the driving forearm connecting plate 45 and simultaneously drives the compensation connecting plate 54 fixed on the driving forearm connecting plate to move, the compensation movable pulley 50 is driven to move along the sliding groove, the steel wire rope 49 is pressed tightly, the length of the steel wire rope 49 loosened at the driven end is compensated, and the pre-swing compensation is completed.
The beneficial effects of the pre-swing transmission compensation mechanism in this embodiment are as follows:
1) simple structure, the quality is light: the compensation movable pulley 50 of the mechanism follows up with the driving end chain wheel 43 through the compensation connecting plate 54, compensates the steel wire rope 49 through the compression effect, has a simple structure, is light in mass, and can effectively reduce the dead weight of the manipulator.
2) Compact structure, installation space is little: the mechanism has the advantages of small number of parts, small size, simple and compact structure, small required installation space and capability of installing the pre-swing transmission compensation mechanism under the condition of limited space;
3) the part is workable, and wearing and tearing are little in the use, and the compensation is more reliable: compared with a cam pulley block compensation device of a manipulator for a hot chamber, the compensation mechanism has the advantages that the structure of parts is simple, small and exquisite, the processing is easy, the abrasion problem of a cam does not exist in the using process, the compensation error in the later period does not exist, and the compensation is more reliable.
Preferably, the bulkhead tube assembly 36 includes: the wall tube assembly inner ring 18, the wall tube assembly outer ring 17 arranged outside the wall tube assembly inner ring 18 and the rolling body arranged between the wall tube assembly inner ring 18 and the wall tube assembly outer ring 17 are connected in a rotating mode along the X direction of the manipulator through the wall tube assembly inner ring 18 and the wall tube assembly outer ring 17.
Specifically, the rolling elements in this embodiment are rollers and needles. The outer ring 17 of the wall penetrating pipe assembly is fixed on the working box protective screen 28, and the inner ring 18 of the wall penetrating pipe assembly and the outer ring 17 of the wall penetrating pipe assembly can move relatively to realize the X-direction movement of the arm. The protective screen 28 is arranged outside the containment vessel 27, the driving handle 1, the driving wrist 2, the driving forearm 29 and the driving upper arm 10 are positioned in the containment vessel 27, and the driven handle 26, the driven wrist 25, the driven forearm 40 and the driven upper arm 20 are positioned outside the containment vessel 27.
Preferably, one end of the spring mounting bracket 15 is connected to the inner ring 18 of the wall pipe assembly, and the spring mounting bracket 15 rotates along with the inner ring 18 of the wall pipe assembly to drive the constant force spring 14 to rotate freely.
Preferably, the spring balance mechanism further includes: the spring mounting plate 9 is arranged on the driving upper arm 10, the other end of the constant force spring 14 is connected with the driving upper arm 10 through the spring mounting plate 9, a sliding groove is formed in the driving upper arm 10, and the spring mounting plate 9 is in sliding connection with the driving upper arm 10 through the sliding groove and used for fine adjustment of the position of the spring mounting plate 9 on the driving upper arm 10.
One end of a constant force spring 14 is mounted on the spring mounting frame 15 and can rotate freely, the other end of the constant force spring is fixed on the spring mounting frame 9 and is stretched or rolled back along with the movement of the manipulator, constant pulling force is provided, and balance of any position of the manipulator is basically realized.
Specifically, in this embodiment, one side of the spring mounting plate 9 is connected to the constant force spring 14 through a screw, and the other side of the spring mounting plate is fixed to the driving upper arm 10 through a screw, so that the position of the spring mounting plate 9 can be adjusted in the sliding groove, and the fine adjustment of the spring balance mechanism is realized.
Preferably, the master-slave manipulator with the small joints further comprises: the X-direction locking mechanism 13, the X-direction locking mechanism 13 includes: supporting seat, set up the adjusting part on the supporting seat, supporting seat and 17 fixed connection in wall pipe subassembly outer lane, the adjusting part includes: the locking handle, set up the check lock on the locking handle, locking handle and supporting seat threaded connection for the check lock carries out concertina movement, realizes the locking or the unblock to wall pipe subassembly inner circle 18 through rotatory check lock handle.
Preferably, the master-slave manipulator with the small joints further comprises: the support ring 21 is of an elastic structure, two ends of the support ring 21 are respectively connected with the sealing sleeves outside the driven upper arm 20 and the driven forearm 40, and the support ring 21 is used for supporting the driven upper arm 20 and the driven forearm 40 to enable the driven upper arm 20 and the driven forearm 40 to keep a preset included angle.
Specifically, the supporting ring 21 in this embodiment is an elastic steel wire structure, and can support the driven end sealing sleeve to protect the sealing sleeve from being pinched and broken during the movement of the driven forearm 40 and the driven upper arm 20.
Preferably, the master-slave manipulator with the small joints further comprises: synchronous drive mechanism, synchronous drive mechanism includes: the driving Z-direction moving chain wheel 12, the driving Z-direction moving chain wheel shaft, the cross transmission chain 16, the driven Z-direction moving chain wheel 19 and the driven Z-direction moving chain wheel shaft, the driving upper arm 10 is fixedly connected with the driving Z-direction moving chain wheel shaft, the driving Z-direction moving chain wheel 12 is fixedly connected with the driving Z-direction moving chain wheel shaft, the driven upper arm 20 is fixedly connected with the driven Z-direction moving chain wheel shaft, the driven Z-direction moving chain wheel 19 is fixedly connected with the driven Z-direction moving chain wheel shaft, the driving Z-direction moving chain wheel 12 and the driven Z-direction moving chain wheel 19 are respectively meshed with the cross transmission chain 16, the driving upper arm 10 moves to drive the driving Z-direction moving chain wheel shaft to move, the driving Z-direction moving chain wheel 12 is driven to rotate, the cross transmission chain 16 is driven to move, the driven Z-direction moving chain wheel 19 is driven to rotate, and the driven Z-direction moving chain wheel shaft is driven to move the driven upper arm 20.
The driving upper arm 10 can rotate around the center of the driving Z-direction movement chain wheel 12, the driving upper arm 10 is fixed with the driving Z-direction movement chain wheel 12, the driven upper arm 20 is fixed with the driven Z-direction movement chain wheel 19, and the driving Z-direction movement chain wheel 12 is connected with the driven Z-direction movement chain wheel 19 through the cross transmission chain 16, so that the driving upper arm 10 and the driven upper arm 20 can move up and down together.
Preferably, the master-slave manipulator with the small joints further comprises: adjustment mechanism 11, initiative upper arm 10 passes through adjustment mechanism 11 cooperation with through-wall pipe subassembly 36 and is connected, and adjustment mechanism 11 includes: the adjusting nut and the main adjusting bolt are respectively arranged on the wall penetrating pipe assembly 36 and the driving upper arm 10, and the adjusting nut and the main adjusting bolt are connected in a matched mode and used for adjusting the tensioning state of all transmission chains passing through the wall penetrating pipe assembly 36 and adjusting the tensioning state of a steel wire rope 49 for driving the manipulator to move.
Preferably, an adjustment nut is cooperatively coupled with the main adjustment bolt for adjusting the tension of the cross drive chain 16.
Preferably, the driving forearm 29 comprises a driving upper end 5, a driving connecting pipe 4, a driving forearm pipe 3, a driving wrist 2 and a driving handle 1 which are sequentially connected, wherein the driving upper end 5 is connected with the driving upper arm 10, the driving upper end 5 is rotatably connected with the driving connecting pipe 4 through a driving bearing, the driving upper end 5 is sleeved outside an outer ring of the driving bearing, and an inner ring of the driving bearing is sleeved outside the driving connecting pipe 4;
the driven forearm 40 comprises a driven upper end 22, a driven connecting pipe 23, a driven forearm pipe 24, a driven wrist 25 and a driven handle 26 which are sequentially connected, wherein the driven upper end 22 is connected with the driven upper arm 20, the driven upper end 22 is rotationally connected with the driven connecting pipe 23 through a driven bearing, the driven upper end 22 is sleeved outside an outer ring of the driven bearing, and an inner ring of the driven bearing is sleeved outside the driven connecting pipe 23.
Specifically, in this embodiment, the driving forearm pipe 3 is connected to the driving connection pipe 4 through a screw, and the driving upper end 5 is isolated from the driving connection pipe 4 through a driving bearing, so that the relative rotation between the driving forearm pipe and the driving connection pipe is realized, and the rotation of the driving forearm 29 of the manipulator is completed. The driven forearm pipe 24 is connected with the driven connecting pipe 23 through a screw, and the driven upper end 22 is isolated from the driven connecting pipe 23 through a driven bearing, so that the relative rotation of the driven forearm pipe and the driven connecting pipe is realized, and the rotary motion of the driven forearm 40 of the manipulator is completed.
Preferably, the driven handle 26 includes: the driven handle body and the driven clamp arranged on the driven handle body;
the small-size joint master slave manipulator still includes: ratchet mechanism, ratchet mechanism includes: a driving ratchet mechanism arranged in the driving handle 1 and a driven ratchet mechanism arranged in the driven handle 26;
the active ratchet mechanism comprises: the active ratchet wheel is arranged on the active handle 1, the active pawl is arranged on the active handle 1, and after the active handle 1 holds an object, the active pawl is locked with the active ratchet wheel; the driving ratchet mechanism has a clamping and locking function, and realizes the locking of the state of the driving handle 1 after clamping an object.
The driven ratchet mechanism includes: the driven ratchet wheel is arranged on the driven clamp, the driven pawl is arranged on the driven handle main body, and the driven pawl is locked with the driven ratchet wheel after the driven clamp holds an object. The driven ratchet mechanism has a clamping and locking function, and realizes the state locking of the clamped object at the end of the driven clamp.
Specifically, the driven clamp in this embodiment includes two driven clamping jaws of connection, and the parallel four-bar linkage of driven clamp for normally open state can realize the parallel relation of two driven clamping jaws at arbitrary state.
Preferably, the master-slave manipulator with the small joints further comprises: the differential mechanism is arranged in the wrist and comprises 3 bevel gears, wherein two bevel gears with the same type are coaxially arranged on two sides of the wrist in a mirror image mode, the other bevel pinion is vertical to the axes of the other two bevel gears, the gears arranged in the mirror image mode are meshed with the bevel pinions at the same time, and when the bevel pinions rotate around the axes, the other two gears arranged in the mirror image mode reversely rotate to achieve rotation of the wrist; when the small bevel gears rotate around the axes of the bevel gears arranged in a mirror image manner, the gears arranged in two mirror images rotate in the same direction, and the pitching action of the wrist is realized. The differential mechanism includes: the driving differential mechanism is arranged in the driving wrist 2 and is used for realizing the rotation and prone movement of the driving wrist 2; the driven differential mechanism is provided in the driven wrist 25, and is used for realizing the rotation and prone movement of the driven wrist 25. The rotation and pitching motion of the driving handle 1 are repeated on the driven clamp of the driven handle 26 at the driven end through transmission.
The beneficial effect of the small joint master-slave manipulator in this embodiment is as follows:
1) the manipulator dead weight is light, and the size is little, is applicable to the work box: the small joint master-slave manipulator has light dead weight and small overall size, the minimum size of the wall penetrating pipe assembly 36 is far smaller than that of the existing joint manipulator, and the small joint master-slave manipulator can replace a backward sword type manipulator which is used in a large amount on the existing work box.
2)7 independent degrees of freedom, the action is nimble accurate, and the operation is humanized: the small master-slave manipulator has 7 independent degrees of freedom and can complete complex fine operation; the master-slave movement directions are consistent, the operation habit of people is met, and misoperation is not easy to occur.
3) The spring balance mechanism is provided, so that the motion inertia is small: the small-size principal and subordinate manipulator has light spring balance mechanism, realizes the balance of manipulator optional position basically, and the operation is light dexterous, and motion inertia is little, has reduced the influence of extra resistance to operator operation experience and precision, reduces manipulation strength.
4) The pre-swing transmission mechanism and the pre-swing transmission compensation mechanism are provided, and the operation range is expanded.
The motion of the driving end of the manipulator is transmitted to the driven end through the steel wire rope 49 and the chain integral transmission chain, and synchronous motion recurrence is realized at the driven end through a similar structure.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims (16)

1. A compact articulated master-slave manipulator comprising: the wall penetrating device comprises a driving forearm, a driving upper arm hinged with the driving forearm, a wall penetrating pipe assembly, a driven forearm and a driven upper arm hinged with the driven forearm, wherein the driving upper arm is connected with the driving end of the wall penetrating pipe assembly, and the driven upper arm is connected with the driven end of the wall penetrating pipe assembly; the small joint master-slave manipulator is characterized by further comprising:
pre-swing drive mechanism comprising: the first transmission assembly is connected with the driving front arm and the driven front arm and is used for transmitting the motion of the driving front arm to the driven front arm and driving the driven front arm to perform follow-up motion;
the driving assembly is arranged on the driving front arm and is connected with the second transmission assembly;
the second transmission assembly is connected with the first transmission assembly, arranged on the driving front arm and used for transmitting the motion of the driving assembly to the first transmission assembly and then to the driven front arm to drive the driven front arm to perform pre-swing motion;
a spring balancing mechanism comprising: spring mounting bracket, constant force spring, spring mounting bracket's one end and wall pipe assembly are connected, and spring mounting bracket's other one end is connected with the one end of constant force spring, and the other one end and the initiative upper arm of constant force spring are connected, and the constant force spring is used for providing the balance that invariable pulling force kept the manipulator to the initiative upper arm.
2. A facet joint master-slave manipulator according to claim 1, wherein the first transmission assembly comprises: the driving end chain wheel, the driving end chain wheel shaft, the transmission chain assembly, the driven end chain wheel and the driven end chain wheel shaft are hinged, a driving front arm is hinged to a driving upper arm through the driving end chain wheel shaft, a driven front arm is hinged to a driven upper arm through the driven end chain wheel shaft, the driving front arm is fixedly connected with the driving end chain wheel shaft, the driving end chain wheel is fixedly connected with the driving end chain wheel shaft, the driven front arm is fixedly connected with the driven end chain wheel shaft, the driven end chain wheel is fixedly connected with the driven end chain wheel shaft, the driving end chain wheel and the driven end chain wheel are respectively meshed with the transmission chain assembly, the driving front arm moves to drive the driving end chain wheel shaft to move, the driving end chain wheel is driven to rotate, the transmission chain assembly is driven to drive the driven end chain wheel to rotate, the driven end chain wheel shaft is driven to rotate, and the driven front arm moves.
3. A facet joint master-slave manipulator according to claim 2, wherein the second transmission assembly comprises: the worm wheel is meshed with the worm, the worm wheel is fixedly connected with the driving end chain wheel shaft, the worm is connected with the driving assembly, and the driving assembly drives the worm to rotate to drive the worm wheel to rotate and drive the driving end chain wheel to rotate.
4. A facet joint master-slave manipulator according to claim 2 or 3, further comprising: the pre-swing transmission compensation mechanism comprises: the pressing assembly is used for pressing a steel wire rope for driving a mechanical arm to move in the follow-up process, and tensioning compensation is carried out on the steel wire rope.
5. A facet joint master-slave manipulator according to claim 4, wherein the clamping assembly comprises: the compensation movable pulley, the compensation movable pulley shaft and the compensation connecting plate are fixedly connected with the driving end chain wheel, the compensation connecting plate moves along with the driving end chain wheel, the compensation movable pulley shaft is fixedly arranged on the compensation connecting plate, the compensation movable pulley is arranged on the compensation movable pulley shaft, the compensation movable pulley is used for freely rotating around the compensation movable pulley shaft, the compensation movable pulley is also used for following along with the movement of the driving end chain wheel, and the compensation movable pulley is used for pressing a steel wire rope for driving a mechanical arm to move in the following process.
6. The master-slave manipulator of claim 5, wherein the pre-swing drive compensation mechanism further comprises: the guide assembly is arranged on the driving front arm and used for guiding the movement of the steel wire rope, the guide assembly is a compensation fixed pulley, the driving end pulley is arranged on the driving arm connecting shaft and is rotatably connected with the driving arm connecting shaft, the compensation fixed pulley, the compensation movable pulley and the driving end pulley are on the same plane along the axial direction, and the steel wire rope sequentially moves through the compensation fixed pulley, the compensation movable pulley and the driving end pulley.
7. The master-slave manipulator of claim 1, wherein the wall tube assembly comprises: the wall tube assembly inner ring, set up the wall tube assembly outer lane outside the wall tube assembly inner ring, set up the rolling element between wall tube assembly inner ring and wall tube assembly outer lane, wall tube assembly inner ring and wall tube assembly outer lane are connected along the X of manipulator to rotating.
8. The master-slave manipulator of claim 7, wherein one end of the spring mounting bracket is connected with the inner ring of the wall penetrating pipe assembly, and the spring mounting bracket rotates along with the inner ring of the wall penetrating pipe assembly to drive the constant force spring to rotate freely.
9. A compact articulated master-slave manipulator according to claim 7 or 8, characterized in that the spring balancing mechanism further comprises: the spring mounting plate is arranged on the driving upper arm, the other end of the constant force spring is connected with the driving upper arm through the spring mounting plate, a sliding groove is formed in the driving upper arm, and the spring mounting plate is in sliding connection with the driving upper arm through the sliding groove and used for fine adjustment of the position of the spring mounting plate on the driving upper arm.
10. The micro-articulated master-slave manipulator of claim 7, further comprising: x is to locking mechanical system, and X is to locking mechanical system including: supporting seat, set up the adjusting part on the supporting seat, supporting seat and wall pipe subassembly outer lane fixed connection, the adjusting part includes: the locking handle, set up the check lock on the locking handle, locking handle and supporting seat threaded connection for the check lock carries out concertina movement, realizes locking or unblock to the wall pipe subassembly inner circle through rotatory check lock handle.
11. The manipulator according to any one of claims 1 to 3, 5 to 8, and 10, further comprising: the supporting ring is of an elastic structure, two ends of the supporting ring are respectively connected with the sealing sleeve outside the driven upper arm and the sealing sleeve outside the driven forearm, and the supporting ring is used for supporting the driven upper arm and the driven forearm to enable the driven upper arm and the driven forearm to keep a preset included angle.
12. The manipulator according to any one of claims 1 to 3, 5 to 8, and 10, further comprising: synchronous drive mechanism, synchronous drive mechanism includes: the driving Z-direction moving chain wheel, the driving Z-direction moving chain wheel shaft, the cross transmission chain, the driven Z-direction moving chain wheel and the driven Z-direction moving chain wheel shaft are fixedly connected, a driving Z-direction moving chain wheel is fixedly connected with the driving Z-direction moving chain wheel shaft, a driven upper arm is fixedly connected with the driven Z-direction moving chain wheel shaft, a driven Z-direction moving chain wheel is fixedly connected with the driven Z-direction moving chain wheel shaft, the driving Z-direction moving chain wheel and the driven Z-direction moving chain wheel are respectively meshed with the cross transmission chain, the driving Z-direction moving chain wheel moves to drive the driving Z-direction moving chain wheel shaft to move, the driving Z-direction moving chain wheel rotates to drive the cross transmission chain to move, the driven Z-direction moving chain wheel shaft is driven to rotate, and the driven upper arm is driven to move.
13. The manipulator according to any one of claims 1 to 3, 5 to 8, and 10, further comprising: adjustment mechanism, the upper arm of initiative passes through adjustment mechanism cooperation with the wall pipe assembly and is connected, and adjustment mechanism includes: the adjusting nut and the main adjusting bolt are respectively arranged on the wall penetrating pipe assembly and the driving upper arm, and the adjusting nut and the main adjusting bolt are connected in a matched mode and used for adjusting the tensioning state of all transmission chains passing through the wall penetrating pipe assembly and the tensioning state of a steel wire rope for driving the manipulator to move.
14. The manipulator as claimed in any one of claims 1 to 3, 5 to 8, and 10, wherein the driving forearm comprises a driving upper end, a driving connecting pipe, a driving forearm pipe, a driving wrist, and a driving handle, which are connected in sequence, the driving upper end is connected with the driving upper arm, the driving upper end is rotatably connected with the driving connecting pipe through a driving shaft bearing, the driving upper end is sleeved outside an outer ring of the driving bearing, and an inner ring of the driving bearing is sleeved outside the driving connecting pipe;
the driven forearm comprises a driven upper end, a driven connecting pipe, a driven forearm pipe, a driven wrist and a driven handle which are sequentially connected, the driven upper end is connected with the driven upper arm, the driven upper end is rotatably connected with the driven connecting pipe through a driven bearing, a driven upper end head sleeve is arranged outside an outer ring of the driven bearing, and an inner ring sleeve of the driven bearing is arranged outside the driven connecting pipe.
15. The compact articulated master-slave manipulator of claim 14, wherein the slave handlebars comprise: the driven handle body and the driven clamp arranged on the driven handle body;
the small-size joint master slave manipulator still includes: ratchet mechanism, ratchet mechanism includes: the driving ratchet mechanism is arranged in the driving handle, and the driven ratchet mechanism is arranged in the driven handle;
the active ratchet mechanism comprises: the active ratchet wheel is arranged on the active handle, the active pawl is arranged on the active handle, and the active pawl and the active ratchet wheel are locked after the active handle holds an object;
the driven ratchet mechanism includes: the driven ratchet wheel is arranged on the driven clamp, the driven pawl is arranged on the driven handle main body, and the driven pawl is locked with the driven ratchet wheel after the driven clamp holds an object.
16. The micro-articulated master-slave manipulator according to claim 14, further comprising: a differential mechanism, the differential mechanism comprising: the driving differential mechanism is arranged in the driving wrist and used for realizing the rotation and prone movement of the driving wrist; the driven differential mechanism is arranged in the driven wrist and used for realizing the rotation and the prone movement of the driven wrist.
CN202111095868.0A 2021-09-16 2021-09-16 Master-slave manipulator for small joints Active CN113770996B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN115464671A (en) * 2022-11-11 2022-12-13 北京紫方启研科技有限公司 Synchronous transmission explosive-handling robot

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