CN103029116B - Intelligent manipulator - Google Patents
Intelligent manipulator Download PDFInfo
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- CN103029116B CN103029116B CN201210589154.XA CN201210589154A CN103029116B CN 103029116 B CN103029116 B CN 103029116B CN 201210589154 A CN201210589154 A CN 201210589154A CN 103029116 B CN103029116 B CN 103029116B
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Abstract
The invention discloses an intelligent manipulator which belongs to the technical field of automatic control. The intelligent manipulator comprises a through wall part; one end of the through wall part is connected onto a master arm; one end on the through wall part which is close to the master arm is provided with a driving part; a master arm manipulator is arranged on the end of the master arm; a spanner component for manually operating is arranged on the master arm manipulator; the other end of the through wall part is hinged with a slave arm through an adapter part; a slave arm manipulator is arranged on the end of the slave arm; a clamp for clamping an object is arranged on the slave arm manipulator; the master arm manipulator is connected with the slave arm manipulator by the master arm, the driving part, the through wall part, the adapter part and the slave arm in sequence through a steel wire rope or a chain, so that the action of the slave arm manipulator is consistent with that of the master arm manipulator. According to the intelligent manipulator, the heavy labor of a human is replaced in a special environment, so that operation can be carried out in a harmful environment so as to protect personal safety.
Description
Technical field
The present invention relates to a kind of puma manipulator.
Background technology
Manipulator is some holding function imitating staff and arm, comprises all around, up and down, rotations, torsion etc. move in parallel and the action such as angular turn, in order to capture, to carry the automatic pilot of object or operation tool by certain program.The heavy labor of people can be replaced to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment; reactor fuel and material radiation test in special nuclear industry; nuclear fuel post processing, Radwastes treatment; indispensable operation tool in the research and production activities such as radio isotope production; also be the effective tool of isolated operation poisonous and harmful substance; therefore the accuracy requirement for Robot actions is higher; make its structure comparatively complicated; cost intensive, is not easy to apply.
Summary of the invention
Goal of the invention of the present invention is: for above-mentioned Problems existing; the puma manipulator that a kind of structure is simple, easy and simple to handle, easy to use, accuracy is high is provided; this manipulator can replace the heavy labor of people to realize mechanization and the automation of production under certain specific environment; can operate to protect personal safety under hostile environment; and it is with low cost; applied widely, be applicable to applying.
The technical solution used in the present invention is as follows:
Puma manipulator of the present invention, comprise parts through walls, one end of described parts through walls is connected on principal arm, parts through walls are provided with driver part near principal arm one end, the end of described principal arm is provided with principal arm manipulator, this principal arm manipulator is provided with for the manual wrench assembly of people, the other end of described parts through walls is hinged with from arm by adapter parts, should be provided with from arm manipulator from the end of arm, the clamp of holding articles is being provided with from arm manipulator, described principal arm manipulator by steel wire rope or chain successively through principal arm, driver part, parts through walls, adapter parts, be connected from arm with from arm manipulator, make from the action of arm manipulator consistent with principal arm manipulator behavior.
Compared with prior art, parts through walls, are mainly used in being fixed on body of wall, while the master/slave arm manipulator at its two ends can be separated by body of wall, still freely can operate, keep its effect, can operate under hostile environment, protection personal safety, one end of parts through walls is connected on principal arm, mainly solve the fixing problem of principal arm, make principal arm more safe and reliable in use, parts through walls are provided with driver part near principal arm one end, driver part is mainly used in driving stretching in parts through walls, control from the flexible of arm simultaneously and swing, also making from the action of arm manipulator consistent with principal arm manipulator behavior by steel wire rope or chain, the end of principal arm is provided with principal arm manipulator, this principal arm manipulator is provided with for the manual wrench assembly of people, be mainly used in this wrench assembly of people's hand operated, wrench assembly relative to principal arm manipulator rotation, swing, clamp or loosen, and be delivered to from arm manipulator by steel wire rope or chain, making can be identical with the action of principal arm manipulator from arm manipulator, realize from rotation, the swing of the clamp arm manipulator, clamp or loosen, guarantee from arm manipulator synchronous with principal arm manipulator, by the accurate control of wrench assembly to clamp, be hinged with from arm at the other end of parts through walls by adapter parts, make to swing relative to parts through walls from arm, farther place can be reached from the clamp the end of arm, the clamping to longer-distance article or carrying can be realized, be provided with from arm manipulator at this from the end of arm, the clamp of holding articles is being provided with from arm manipulator, the rotation of this clamp, swing, the steel wire rope clamped or loosen by being wound around from arm manipulator or chain, make it identical with the action of wrench assembly, thus any action when making people's hand operated wrench assembly all can synchronously realize on clamp, make to control very to facilitate accurately, whole puma manipulator is by steel wire rope or chain drive, wherein steel wire rope or chain are connected to driver part from principal arm manipulator through principal arm, steel wire rope or chain are from described from arm manipulator warp from arm simultaneously, adapter parts, parts through walls are connected on driver part, steel wire rope or chain all can be controlled by driver part, and can guarantee from the action of arm manipulator consistent with principal arm manipulator behavior, achieving can according to the consciousness of staff from arm manipulator, replace staff go operational hazards environment under action.Puma manipulator of the present invention; its action relies on steel wire rope or chain drive to realize; from arm, the motion of clamp leans on the hand of principal arm upper ejector lever assembly operating; clamping force size suffered by the object that clamps is directly proportional to the power of hand-to-hand grip handle; make this manipulator that the heavy labor of people can be replaced under certain specific environment to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, and it is with low cost; applied widely, be applicable to applying.
Puma manipulator of the present invention, described principal arm manipulator comprises the first gear assembly, first train and the first driven train, described first train is located in the first gear assembly, center both it is through there being central shaft, the two ends of central shaft are through in the first housing, make the first train and the first gear assembly can relative to the first housing into rotation, engage each other between described wrench assembly and the first gear assembly, the first gear assembly is made to drive the first train to rotate with the rotation of wrench assembly or swing, the clamping of described wrench assembly or unclamp and make the first shifting axle promote the first push rod to move, first push rod drives the first train to rotate, make the first train and the first driven train by steel wire rope that it is wound around or chain, control keeping strokes from arm manipulator and principal arm manipulator.
Compared with prior art, make the first train and the first gear assembly by middle bobbin, making can relative to the first housing into rotation both it, wherein the first train is that multiple drives forms side by side, drive is used for lay winding wire ropes or chain, and lay winding wire ropes or chain-driving do identical action from arm manipulator, can rotate arbitrarily between each drive, the corresponding action of rotation of a drive, first gear assembly is two toothed disc compositions being in edge, wrench assembly adopt bevel gear and and the first gear assembly between engage each other, make wrench assembly form differential gear with two toothed discs of the first gear assembly to engage, be similar to the structure of the differential gearing of automobile two trailing wheel, wrench assembly can be swung relative to the first gear assembly, the action arbitrarily such as rotation, this process drives the toothed disc in the first gear assembly to rotate, the first train is made to rotate with toothed disc and correspondingly rotate, the drive that matches from arm manipulator and gear train can be driven to do corresponding action by steel wire rope or chain, the wherein rotation of wrench assembly or swing, the first gear assembly can be made to drive the first train to rotate, wrench assembly includes and mutually intersects and the hand handle be flexibly connected, hand is hand-held being used for, wrench assembly is connected with the first shifting axle, when making the hand on wrench assembly clamping or unclamp, the first shifting axle can be promoted move, first shifting axle can continue promotion first push rod and move, first push rod moves the place of portion of keeping to the side being movably connected on drive in the first train, therefore the movement of the first push rod, the first train can be made to rotate, first train passes through steel wire rope or the chain of winding on it, control keeping strokes from arm manipulator and principal arm manipulator, wherein the first driven pulley system is mainly used in lay winding wire ropes or chain, it is played a supporting role.
Puma manipulator of the present invention, described wrench assembly is provided with lock-screw, and described lock-screw can be butted on the movement the first shifting axle limiting the first shifting axle, realizes the locking from arm manipulator.
Owing to have employed said structure, when needing the longer time to clamp by operation object, by screwing in lock-screw on wrench assembly, lock-screw is made to prop up the first shifting axle, and limit it and move, thus the locking realized wrench assembly, make to keep existing attitude from arm manipulator, thus can clamp by operation object for a long time.
Puma manipulator of the present invention, describedly comprise the second gear assembly from arm manipulator, second train and the second driven train, described second train is located in the second gear assembly, center both it is through there being axle, the two ends of axle are through in the second housing, make the second train and the second gear assembly can relative to the second housing into rotation, engage each other between described clamp and the second gear assembly, clamp is made to rotate with the rotation of the second gear assembly or rotate, the movement rotarily driving the second push rod of described second gear assembly, second push rod promotes the second shifting axle makes clamp clamp or unclamp, described second train and the second driven pulley are fastened the steel wire rope of winding or chain and to be connected with the steel wire rope be wound around in principal arm manipulator or chain and synchronous.
Owing to have employed said structure, similar to the structure of principal arm manipulator from arm manipulator, wherein the second train is arranged side by side by multiple drive equally and forms, and the second gear assembly is made up of two toothed discs equally, multiple drive is between two two toothed discs, and the axle all by passing in the middle part of it can relative to housing into rotation, and drive is wherein used for lay winding wire ropes or chain, steel wire rope or chain are wound in the first train in principal arm manipulator equally, when drive in first train is rotated, drive in second train also rotates thereupon, proportional relation is adopted between first train and the second train, make from arm manipulator consistent with the action of principal arm manipulator, second gear assembly is coaxial with the second train, make certain action of the second train can drive the rotation of the second gear assembly, clamp is by engaging each other between conical gear and the second gear assembly, make clamp form differential gear with company's toothed disc of the second gear assembly to engage, be similar to the structure of the differential gearing of automobile two trailing wheel, clamp can be swung relative to the second gear assembly, the action arbitrarily such as rotation, this process rotates by the toothed disc in the second gear assembly the above-mentioned action driving clamp, namely also the second train is driven rotation under the effect of steel wire rope or chain, meanwhile the second train can drive the toothed disc action in the second gear assembly, due to engaging between toothed disc with clamp, can realize swinging clamp, the control of the actions such as rotation, wherein the second train close to the edge portion is connected with the second push rod, when second train is rotated, the second push rod can be driven to move, second push rod promotes the second shifting axle motion, wherein the second shifting axle is movably connected on clamp, clamp comprises the fixture block of two flexible connections, when the second shifting axle moves, clamp can be promoted unclamp or clamp, thus it is synchronous with the action of wrench assembly to realize clamp, wherein the second driven pulley system is mainly used in lay winding wire ropes or chain, it is played a supporting role.
Puma manipulator of the present invention, described parts through walls comprise movable pipe housing, movable pipe assembly and connecting rod, described movable pipe assembly is placed in movable pipe housing, and movable pipe assembly is connected on the electrode decelerator in driver part, described electrode decelerator drives movable pipe assembly to stretch, pendulum wire bar drive disk assembly is provided with in one end of the close adapter parts of movable pipe assembly, pendulum wire bar drive disk assembly is connected with the connecting rod be located in movable pipe assembly, and the handlebar in described connecting rod and driver part passes through gears meshing.
Owing to have employed said structure, the rotation of the electrode decelerator in driver part, the stretching motion of movable pipe assembly can be realized, thus make from arm and reach farther place and carry out the work such as clamping, its working range is increased, near the pendulum wire bar drive disk assembly of adapter parts one end on movable pipe assembly, can be connected with the forward swing screw mandrel attaching parts on the outer wall of the second adapter, thus pendulum wire bar drive disk assembly can be controlled can realize from the swing of arm relative to parts through walls, can the article of more distant positions be clamped and be carried, pendulum wire bar drive disk assembly is connected with connecting rod, therefore by connecting rod, it is controlled, realize the control from arm swing, handlebar in wherein said connecting rod and driver part passes through gears meshing, make from the angle of arm manipulator and horizontal plane be controlled by joystick, when joystick rotates, connecting rod is also in rotary motion, thread joined structure is utilized to promote right-hand member forward swing screw rod transmission parts left and right moving linearly, by link motion on switching part, just make from arm manipulator and horizontal plane at a certain angle.
Puma manipulator of the present invention, described driver part comprises motor reducer, movable pulley component and handlebar, wherein said movable pulley component is wound around and controls steel wire rope or chain, described movable pulley component is driven by motor reducer, described motor reducer drives movable pipe assembly to make stretching motion, and described handlebar engages with the end gear of connecting rod.
Owing to have employed said structure, the displacement that movable pulley component moves up and down and movable pipe stroke through walls are the relation of 1:2, it is driven by motor reducer, stroke is controlled by travel switch, controlled by joystick from the angle of arm manipulator and horizontal plane, the upper end of joystick is connected with the end gear of connecting rod, during complete machine maintenance, rotates joystick; Slave arm travels forward 80 °-90 °, then starts motor retraction wall pipe tubule, and relend assistant and move, pulled back by principal arm, complete machine can be extracted out, and maintenance easily.
Puma manipulator of the present invention, described principal arm comprises main arm telescoping pipe, counterweight, flexible assembly pulley and locking device, the sidewall of main arm telescoping pipe is provided with two counterweights, main arm telescoping pipe is also provided with locking device, one end of main arm telescoping pipe is connected with principal arm manipulator, and the other end is provided with can the flexible assembly pulley of lay winding wire ropes or chain.
Owing to have employed said structure, upper and lower, the rotary motion of main arm telescoping pipe, can drive upper and lower, the rotary motion from arm telescoping tube by steel wire rope or chain, and main arm telescoping, after rotation to operating position, locking device is locked, avoids it to continue moving influence and normally use.
Puma manipulator of the present invention, described crossover sub parts comprise and are connected to the first adapter on parts through walls and are connected to from the second adapter arm, wherein be hinged between the first adapter and the second adapter, being provided with in this junction can the joint train of lay winding wire ropes or chain, and the outer wall of described second adapter is hinged with the forward swing screw mandrel attaching parts that can be connected with forward swing screw rod transmission parts.
Owing to have employed said structure, by these crossover sub parts, parts through walls can be made and be hinged from arm, and be connected with forward swing screw mandrel attaching parts by forward swing screw rod transmission parts, and controlled from the angle between arm and parts through walls by handlebar, make the control from arm convenient and swift.
Puma manipulator of the present invention, describedly comprise from arm exterior tube, from arm intervalve with from arm inner tube from arm, can move by relative telescopic between three, wherein from arm outer tubular sleeve in from arm intervalve, be placed on from arm intervalve from arm inner tube, being provided with at the described outer wall from arm intervalve can the roller of lay winding wire ropes or chain.
Owing to have employed said structure, from arm outer tubular sleeve in from arm intervalve, be placed on from arm intervalve from arm inner tube, and from arm exterior tube, can move by relative telescopic from arm intervalve with between arm inner tube, wherein be provided with roller from the outer wall of arm intervalve, this roller can lay winding wire ropes or chain, makes this can make stretching motion with the flexible of principal arm from arm, its action and principal arm are consistent, and make it control very convenient.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
1, puma manipulator of the present invention, structure is simple, easy and simple to handle, easy to use, accuracy is high, with low cost, is applicable to applying.
2, puma manipulator of the present invention, can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment under certain specific environment.
Accompanying drawing explanation
Fig. 1 and Fig. 2 is the schematic diagram of manipulator of the present invention;
Fig. 3 is the profile of Fig. 2;
Fig. 4 is the structural representation of parts through walls in the present invention;
Fig. 5 is the structural representation of principal arm in the present invention;
Fig. 6 is the structural representation of principal arm manipulator in the present invention;
Fig. 7 is the sectional view of Fig. 6;
Fig. 8 is the oblique view of Fig. 7;
Fig. 9 is the structural representation changing head member in the present invention;
Figure 10 is the sectional view of Fig. 9;
Figure 11 is the structural representation from arm in the present invention;
Figure 12 is the sectional view from arm in the present invention;
Figure 13 is the structural representation from arm manipulator in the present invention;
Figure 14 is the sectional view in Figure 13;
Figure 15 is the structural representation of driver part in the present invention.
Mark in figure: 1-parts through walls, 1a-movable pipe housing, 1b-movable pipe assembly, 1c-connecting rod, 1d-forward swing screw rod transmission parts, 2-principal arm, 2a-main arm telescoping pipe, 2b-counterweight, 2c-stretches assembly pulley, 2d-locking device, 3-principal arm manipulator, 3a-wrench assembly, 3b-lock-screw, 3c-first gear assembly, 3d-first train, the driven train of 3e-first, 3f-first shifting axle, 3g-first push rod, 4-crossover sub parts, 4a-first adapter, 4b-second adapter, 4c-joint train, 4d-forward swing screw mandrel attaching parts, 5-is from arm, 5a-is from arm intervalve, 5b-roller, 5c-is from arm exterior tube, 5d-is from arm inner tube, 5e-intervalve rear wheel, 5f-intervalve front wheel, 6-is from arm manipulator, 6a-clamp, 6b-second gear assembly, 6c-second train, the driven train of 6d-second, 6e-second push rod, 7-driver part, 7a-motor reducer, 7b-movable pulley component, 7c-handlebar.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Fig. 1 to Figure 15, puma manipulator of the present invention, comprise parts 1 through walls, wherein parts 1 through walls comprise movable pipe housing 1a, movable pipe assembly 1b and connecting rod 1c, described movable pipe assembly 1b is placed in movable pipe housing 1a, this movable pipe housing 1a can be fixed in body of wall, and movable pipe assembly 1b is connected on the electrode decelerator 7a in driver part 7, described electrode decelerator 7a drives movable pipe assembly 1b to stretch, pendulum wire bar drive disk assembly 1d is provided with in one end of the close adapter parts 4 of movable pipe assembly 1b, pendulum wire bar drive disk assembly 1d is connected with the connecting rod 1c be located in movable pipe assembly 1b, handlebar 7c in described connecting rod 1c and driver part 7 passes through gears meshing, in parts 1 through walls, one end of movable pipe assembly 1b is connected on principal arm 2, this principal arm 2 comprises main arm telescoping pipe 2a, counterweight 2b, flexible assembly pulley 2c and locking device 2d, the sidewall of main arm telescoping pipe 2a is provided with two counterweight 2b, main arm telescoping pipe 2a is also provided with locking device 2d, one end of main arm telescoping pipe 2a is connected with principal arm manipulator 3, the other end is provided with can the flexible assembly pulley 2c of lay winding wire ropes or chain, and movable pipe assembly 1b is connected with main arm telescoping pipe 2a, in parts 1 through walls, close principal arm 2 one end of movable pipe assembly 1b is provided with driver part 7, this driver part 7 comprises motor reducer 7a, movable pulley component 7b and handlebar 7c, wherein said movable pulley component 7b is wound around and controls steel wire rope or chain, described movable pulley component 7b is driven by motor reducer 7a, described motor reducer 7a drives movable pipe assembly 1b to make stretching motion, and described handlebar 7c engages with the end gear of connecting rod 1c, the principal arm manipulator 3 that in described principal arm 2, the end of main arm telescoping pipe 2a connects, this principal arm manipulator 3 comprises the first gear assembly 3c, first train 3d and the first driven train 3e, described first train 3d is located in the first gear assembly 3c, center both it is through there being central shaft, the two ends of central shaft are through in the first housing, make the first train 3d and the first gear assembly 3c can relative to the first housing into rotation, engage each other between described wrench assembly 3a and the first gear assembly 3c, the first gear assembly 3c is made to drive the first train 3d to rotate with the rotation of wrench assembly 3a or swing, the clamping of described wrench assembly 3a or unclamp and make the first shifting axle 3f promote the first push rod 3g to move, first push rod 3g drives the first train 3d to rotate, make the first train 3d and the first driven train 3e by steel wire rope that it is wound around or chain, control keeping strokes from arm manipulator 6 and principal arm manipulator 3, described wrench assembly 3a is provided with lock-screw 3b, described lock-screw 3b can be butted on the movement of restriction first shifting axle 3f on the first shifting axle 3f, realize the locking from arm manipulator 6.Be hinged with from arm 5 at the other end of parts 1 through walls by adapter parts 4, wherein crossover sub parts 4 comprise and are connected to the first adapter 4a on parts 1 through walls and are connected to from the second adapter 4b arm 5, be hinged between first adapter 4a and the second adapter 4b, being provided with in this junction can the joint train 4c of lay winding wire ropes or chain, and the outer wall of described second adapter 4b is hinged with the forward swing screw mandrel attaching parts 4d that can be connected with forward swing screw rod transmission parts 1d.Wherein saidly comprise from arm exterior tube 5c, from arm intervalve 5a with from arm inner tube 5d from arm 5, can move by relative telescopic between three, wherein be placed on from arm intervalve 5a from arm exterior tube 5c, be placed on from arm intervalve 5a from arm inner tube 5d, being provided with at the described outer wall from arm intervalve 5a can the roller 5b of lay winding wire ropes or chain.Should be provided with from arm manipulator 6 from the end of arm 5, the clamp 6a of holding articles is being provided with from arm manipulator 6, wherein comprise the second gear assembly 6b from arm manipulator 6, second train 6c and the second driven train 6d, described second train 6c is located in the second gear assembly 6b, center both it is through there being axle, the two ends of axle are through in the second housing, make the second train 6c and the second gear assembly 6b can relative to the second housing into rotation, engage each other between described clamp 6a and the second gear assembly 6b, clamp 6a is made to rotate with the rotation of the second gear assembly 6b or rotate, the movement rotarily driving the second push rod 6e of described second gear assembly 6b, second push rod 6e promotes the second shifting axle makes clamp 6a clamp or unclamp, described second train 6c and the steel wire rope that the second driven train 6d is wound around or chain are connected with the steel wire rope be wound around in principal arm manipulator 3 or chain and synchronous.
Puma manipulator of the present invention, by steel wire rope or chain drive make from the action of arm manipulator and principal arm manipulator completely the same, wherein steel wire rope or chain, be wound on the first train 3d in principal arm manipulator and the first driven train 3e, on flexible assembly pulley 2c in principal arm 2, on movable pulley component 7b in driver part 7, on joint train 4c in crossover sub parts 4, from on the roller 5b arm 5, and from the second train 6c arm manipulator 6 and the second driven train 6d, thus can make from the action of arm manipulator identical with the action of principal arm manipulator, make operator can control the clamping (unclamp) of principal arm manipulator realization from clamp arm manipulator, the rotation of wrist, swing and slave arm rotation, stretching motion.By rotating rocker, complete and move from the pivot angle of arm, by the rotation of motor, complete the stretching motion of wall pipe.From the angle (0-90 °) of arm and horizontal plane.
Puma manipulator of the present invention; the heavy labor of people can be replaced under certain specific environment to realize the mechanization of producing and automation, can operate to protect personal safety under hostile environment, structure is simple, easy and simple to handle, easy to use, accuracy is high; with low cost, be applicable to applying.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a puma manipulator, it is characterized in that: it comprises parts through walls (1), one end of described parts through walls (1) is connected on principal arm (2), driver part (7) is provided with in upper close principal arm (2) one end of parts through walls (1), the end of described principal arm (2) is provided with principal arm manipulator (3), this principal arm manipulator (3) is provided with for the manual wrench assembly of people (3a), the other end of described parts through walls (1) is hinged with from arm (5) by adapter parts (4), should be provided with from arm manipulator (6) from the end of arm (5), the clamp (6a) of holding articles is being provided with from arm manipulator (6), described principal arm manipulator (3) by steel wire rope or chain successively through principal arm (2), driver part (7), parts through walls (1), adapter parts (4), be connected from arm (5) with from arm manipulator (6), wherein said principal arm manipulator (3) comprises the first gear assembly (3c), first train (3d) and the first driven train (3e), described first train (3d) is located in the first gear assembly (3c), center both it is through there being central shaft, the two ends of central shaft are through in the first housing, make the first train (3d) and the first gear assembly (3c) can relative to the first housing into rotation, engage each other between described wrench assembly (3a) and the first gear assembly (3c), the first gear assembly (3c) is made to drive the first train (3d) to rotate with the rotation of wrench assembly (3a) or swing, the clamping of described wrench assembly (3a) or unclamp that to make the first shifting axle (3f) promote the first push rod (3g) mobile, first push rod (3g) drives the first train (3d) to rotate, make the first train (3d) and the first driven train (3e) by steel wire rope that it is wound around or chain, control keeping strokes from arm manipulator (6) and principal arm manipulator (3).
2. puma manipulator as claimed in claim 1, it is characterized in that: on described wrench assembly (3a), be provided with lock-screw (3b), described lock-screw (3b) can be butted on the movement of upper restriction first shifting axle (3f) of the first shifting axle (3f), realizes the locking from arm manipulator (6).
3. puma manipulator as claimed in claim 1 or 2, it is characterized in that: describedly comprise the second gear assembly (6b) from arm manipulator (6), second train (6c) and the second driven train (6d), described second train (6c) is located in the second gear assembly (6b), center both it is through there being axle, the two ends of axle are through in the second housing, make the second train (6c) and the second gear assembly (6b) can relative to the second housing into rotation, engage each other between described clamp (6a) and the second gear assembly (6b), clamp (6a) is made to rotate with the rotation of the second gear assembly (6b) or rotate, the movement rotarily driving the second push rod (6e) of described second gear assembly (6b), second push rod (6e) promotes the second shifting axle makes clamp (6a) clamp or unclamp, the steel wire rope that the steel wire rope that described second train (6c) and the second driven train (6d) be upper to be wound around or chain and principal arm manipulator (3) be interior to be wound around or chain are connected and synchronous.
4. puma manipulator as claimed in claim 3, it is characterized in that: described parts through walls (1) comprise movable pipe housing (1a), movable pipe assembly (1b) and connecting rod (1c), described movable pipe assembly (1b) is placed in movable pipe housing (1a), and movable pipe assembly (1b) is connected on the electrode decelerator (7a) in driver part (7), described electrode decelerator (7a) drives movable pipe assembly (1b) to stretch, pendulum wire bar drive disk assembly (1d) is provided with in one end of the close adapter parts (4) of movable pipe assembly (1b), pendulum wire bar drive disk assembly (1d) is connected with the connecting rod (1c) be located in movable pipe assembly (1b), described connecting rod (1c) passes through gears meshing with the handlebar (7c) in driver part (7).
5. puma manipulator as claimed in claim 4, it is characterized in that: described driver part (7) comprises motor reducer (7a), movable pulley component (7b) and handlebar (7c), wherein said movable pulley component (7b) is upper to be wound around and to control steel wire rope or chain, described movable pulley component (7b) is driven by motor reducer (7a), described motor reducer (7a) drives movable pipe assembly (1b) to make stretching motion, and described handlebar (7c) engages with the end gear of connecting rod (1c).
6. the puma manipulator as described in claim 1 or 2 or 4 or 5, it is characterized in that: described principal arm (2) comprises main arm telescoping pipe (2a), counterweight (2b), flexible assembly pulley (2c) and locking device (2d), the sidewall of main arm telescoping pipe (2a) is provided with two counterweights (2b), main arm telescoping pipe (2a) is also provided with locking device (2d), one end of main arm telescoping pipe (2a) is connected with principal arm manipulator (3), and the other end is provided with can the flexible assembly pulley (2c) of lay winding wire ropes or chain.
7. the puma manipulator as described in claim 1 or 2 or 4 or 5, it is characterized in that: described crossover sub parts (4) comprise the first adapter (4a) of being connected on parts through walls (1) and are connected to from the second adapter (4b) arm (5), wherein be hinged between the first adapter (4a) and the second adapter (4b), being provided with in this hinged place can the joint train (4c) of lay winding wire ropes or chain, and the outer wall of described second adapter (4b) is hinged with the forward swing screw mandrel attaching parts (4d) that can be connected with forward swing screw rod transmission parts (1d).
8. the puma manipulator as described in claim 1 or 2 or 4 or 5, it is characterized in that: describedly comprise from arm exterior tube (5c), from arm intervalve (5a) with from arm inner tube (5d) from arm (5), can move by relative telescopic between three, wherein be placed on from arm intervalve (5a) from arm exterior tube (5c), be placed on from arm intervalve (5a) from arm inner tube (5d), being provided with at the described outer wall from arm intervalve (5a) can the roller (5b) of lay winding wire ropes or chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210589154.XA CN103029116B (en) | 2012-12-29 | 2012-12-29 | Intelligent manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| US10220522B2 (en) * | 2013-12-12 | 2019-03-05 | Covidien Lp | Gear train assemblies for robotic surgical systems |
| CN106216803A (en) * | 2016-08-18 | 2016-12-14 | 无锡百禾工业机器人有限公司 | A kind of industrial oxygen cutting mechanics arm |
| CN107618540B (en) * | 2017-09-05 | 2019-11-12 | 安徽万礼食品有限责任公司 | A kind of cartridge type surface of metal product chemical process device |
| CN109927008A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | A kind of remote tele-operation hot cell mechanical arm |
| CN108518464B (en) * | 2018-05-22 | 2020-11-17 | 中国核电工程有限公司 | Separable master-slave manipulator telescopic motion transmission system |
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| US2764301A (en) * | 1955-04-12 | 1956-09-25 | Raymond C Goertz | Remote control manipulator |
| EP0085609A3 (en) * | 1982-02-03 | 1983-08-17 | Commissariat A L'energie Atomique Etablissement De Caractere Scientifique Technique Et Industriel | Telescopic remote master/slave manipulator with its movement transmission device by means of cables or belts |
| CN201309158Y (en) * | 2008-11-28 | 2009-09-16 | 苏州明志科技有限公司 | Synchronous clamp |
| CN102672701A (en) * | 2012-04-27 | 2012-09-19 | 华东交通大学 | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination |
| CN203527452U (en) * | 2012-12-29 | 2014-04-09 | 四川汉舟电气有限公司 | Intelligent mechanical hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DD84482A (en) * | ||||
| JP4461994B2 (en) * | 2004-10-05 | 2010-05-12 | 株式会社安川電機 | Master / slave manipulator controller |
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|---|---|---|---|---|
| US2764301A (en) * | 1955-04-12 | 1956-09-25 | Raymond C Goertz | Remote control manipulator |
| EP0085609A3 (en) * | 1982-02-03 | 1983-08-17 | Commissariat A L'energie Atomique Etablissement De Caractere Scientifique Technique Et Industriel | Telescopic remote master/slave manipulator with its movement transmission device by means of cables or belts |
| CN201309158Y (en) * | 2008-11-28 | 2009-09-16 | 苏州明志科技有限公司 | Synchronous clamp |
| CN102672701A (en) * | 2012-04-27 | 2012-09-19 | 华东交通大学 | Master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination |
| CN203527452U (en) * | 2012-12-29 | 2014-04-09 | 四川汉舟电气有限公司 | Intelligent mechanical hand |
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| CN103029116A (en) | 2013-04-10 |
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Address after: 618300 Sichuan city of Deyang province Guanghan City Xiangyang Zhen Guang Mu Lu Patentee after: SICHUAN HABOAT ELECTRICAL CO., LTD. Address before: 618300 Sichuan city of Deyang province Guanghan City Xiangyang Zhen Guang Mu Lu Patentee before: Sichuan Haboat Electric Co., Ltd. |