CN105835052A - Double-acting manipulator - Google Patents
Double-acting manipulator Download PDFInfo
- Publication number
- CN105835052A CN105835052A CN201610330802.8A CN201610330802A CN105835052A CN 105835052 A CN105835052 A CN 105835052A CN 201610330802 A CN201610330802 A CN 201610330802A CN 105835052 A CN105835052 A CN 105835052A
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- casing
- hollow joint
- waist
- paw
- large arm
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- 239000012636 effector Substances 0.000 claims description 47
- 210000000245 forearm Anatomy 0.000 claims description 40
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- 210000004247 hand Anatomy 0.000 claims description 25
- 230000009977 dual effect Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 210000000323 shoulder joint Anatomy 0.000 claims description 5
- 210000003857 wrist joint Anatomy 0.000 claims description 4
- 230000004223 radioprotective effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 5
- 210000002310 elbow joint Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
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- 230000009471 action Effects 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004992 fission Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- OYEHPCDNVJXUIW-UHFFFAOYSA-N plutonium atom Chemical compound [Pu] OYEHPCDNVJXUIW-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a double-acting manipulator. The double-acting manipulator comprises a base, a waist part, a large arm, a small arm and a terminal actuator, wherein the base, the waist part, the large arm, the small arm and the terminal actuator are connected through hollow joint shafts in sequence; wires are arranged in the manipulator; the base and the waist part are connected through a waist part hollow joint shaft; the waist part and the large arm are connected through a shoulder part hollow joint shaft; the large arm and the small arm are connected through an elbow part hollow joint shaft; and the small arm and the terminal actuator are connected through a wrist part pitching hollow joint shaft. The double-acting manipulator is characterized in that axles of the waist part hollow joint shaft and the shoulder part joint shaft are perpendicular and are intersected in one point; the shoulder part hollow joint shaft, the elbow part hollow joint shaft and the wrist part pitching hollow joint shaft are parallel; the terminal actuator includes an electric spanner, a jaw, a terminal actuator box, a jaw rotating direct-current servo motor and a jaw opening/closing direct-current servo motor; and the electric spanner and the terminal actuator box are connected through a wrist part deflection hollow joint shaft.
Description
Technical field
The present invention relates to nuclear power station robotics, be specially a kind of dual action mechanical hands.
Background technology
Nuclear power plant reactor the most in the world is all that the chain reaction of nuclear fission utilizing the material such as metallic uranium or plutonium produces huge heat
Can, during fission, certain radioactive contaminant can be produced.Cvcs (RCV) is for keeping core
Power station loop water quality, uses a large amount of RCV003/004FI filter, and the filtration core in these filters needs periodic replacement, with
Avoid that loop occurs too much radioactive contaminant.
The hydraulic-driven operation arm PREDATOR of a kind of 7 degree of freedom that RoboProbe Technologies company of the U.S. develops,
For maintenance and repair and the nuclear matter process work of nuclear plant equipment, use the master & slave control with force feedback, improve operator's
Telepresenc, effectively reduces the accident rate of work, it is possible to complete task with the movement similar to the mankind and speed.Canada
Inuktun Services company have developed and remotely controls snakelike mechanical arm Python, this mechanical arm have waterproof, capture, carry
Rise, bend, the function such as rotation, can be used for the detection of nuclear plant underwater installation and maintenance it can also be used to the recovery of nuke rubbish, can
High by property, up to the present or zero failure rate.The countries such as America and Europe have been for the safe operation of nuclear power station and develop a series of core
Power plant machine people's equipment, but these equipment or belong to know-how, or price is the highest, and cost of equipment maintenance is high, is unfavorable for industry
Change and promote.
The most domestic operating type, it usually needs more than ten name operator wear the safeguard procedures of necessity, use artificial relay
Mode be transported to useless filter element specify position so that the operation not only working strength changing filter is big, and there is intense radiation
Danger, has a strong impact on the personal safety of working performance and operator.Therefore, capture key technology in nuclear power station applied robot,
The production domesticization research carrying out nuclear power station special purpose robot is extremely the most urgent.
Existing relevant catching robot, carrying roller catching robot as disclosed in the Chinese patent of Application No. 201511002154.5,
Two paw profile is respectively the semicircle of same diameter, and it can only capture the cylindrical object of same specification, straight for difference
The object in footpath also needs to change the mechanical finger of different size and just can fulfil assignment task；Such as Patent No. ZL201310291512.3
Chinese patent disclosed in the mechanical hand of drying plant and grasping mechanism, two paw profile is respectively L-type, although can grab
Take the cylinder of different-diameter, but each paw only has one respectively with cylindrical object contacts line, can only capture mass ratio relatively
Light object.And above-mentioned two invention mechanical hand only has single crawl function, it is impossible to make for a long time in high radiation environment
Industry, in the replacing operation of the filtration core being all not directly applicable in RCV003/004FI filter.
Summary of the invention
For the deficiencies in the prior art, the technical problem to be solved in the present invention is: provide a kind of dual action mechanical hands.This mechanical hand
In nuclear power station high radiation environment, the filtration core in RCV003/004FI filter can be replaced operation, capture precision high,
Safety is good, and work efficiency significantly improves.
In order to solve above-mentioned technical problem, the present invention proposes techniques below scheme: a kind of dual action mechanical hands, including pedestal, waist
Portion, large arm, forearm and end effector, in wherein passing sequentially through between pedestal, waist, large arm, forearm and end effector
Empty joint shaft connects, and at mechanical hand internal wiring；I.e. pedestal is connected by waist hollow joint axle with waist, waist and large arm
Being connected by shoulder hollow joint axle, large arm is connected by ancon hollow joint axle with forearm, and forearm and end effector pass through wrist
Pitching hollow joint axle in portion's connects, it is characterised in that waist hollow joint axle is vertical with the axis of shoulder joints axle and intersects at a bit；
Shoulder hollow joint axle, ancon hollow joint axle and wrist pitching hollow joint axle three are parallel to each other；
Described end effector includes electric wrench, paw, end effector casing, paw rotary DC servomotor and paw
Folding DC servo motor；Electric wrench and end effector casing are connected by wrist deflection hollow joint axle；Paw folding is straight
Flow servo motor is installed in the middle part of end effector casing by electric machine support, and paw rotary DC servomotor passes through electric machine support
Being installed on end effector casing rear portion, the axis of paw folding DC servo motor and paw rotary DC servomotor is all with last
End executor's casing axis overlap, the output shaft of paw rotary DC servomotor through the first spur gear, power transmission shaft, second
Spur gear is connected with paw；Paw folding DC servo motor is connected with paw by shaft coupling；
Described electric wrench include Universal sleeves, tighten axle, dynamic torque sensor, Hall element, brshless DC motor,
Electric wrench DC servo motor and electric wrench casing, wherein brshless DC motor is installed on electric wrench case by electric machine support
Body is anterior, and electric wrench DC servo motor is arranged on electric wrench casing rear portion, the axle of brshless DC motor by electric machine support
The axis of line and electric wrench DC servo motor all overlaps with electric wrench casing axis, and the output shaft of brshless DC motor leads to
Cross and tighten axle and be connected with Universal sleeves, tightening, dynamic torque sensor is installed on axle, install in electric wrench casing front portion
Hall element；The output shaft of described electric wrench DC servo motor deflects hollow by a pair electric wrench bevel gear with wrist
Joint shaft is connected, and drives the unitary rotation of electric wrench；
Described paw includes finger, finger connecting rod, paw support, pull bar, pull bar support and sleeve；The quantity of described finger is
Two, two fingers are symmetrical V-structure, and each finger is connected with paw support one end by finger connecting rod respectively, described
The middle part of finger connecting rod is connected with one end of pull bar, and the other end of two pull bars is connected by pull bar support, another of pull bar support
Side and sleeve connection, be provided with sleeve mandrel and ball-screw in sleeve, sleeve lining is connected with the nut on ball-screw, sleeve
One end of mandrel is connected with paw folding DC servo motor by shaft coupling, and the other end is connected with ball-screw；Described paw props up
The other end of frame is connected with power transmission shaft by wrist turning hollow joint shaft.
Compared with prior art, the invention has the beneficial effects as follows:
1) end effector is mainly made up of electric wrench and paw two parts, is respectively used to elasticity bolt and captures replacing filtration
Filtration core in device, it is not necessary to two arms, reduces the load of mobile platform.When changing filtration core operation, between the two
Can switch rapidly, improve working performance, extend the service life of nuclear power station application mechanical hand.
2) electric wrench is provided with dynamic torque sensor and Hall element, is arranged on the dynamic torque sensing tightening on axle
Device, can monitor the change of torque value the moment, and when reaching preset torque, brshless DC motor quits work；It is arranged on electronic pulling
The Hall element of hands box house front end, the number of turns that axle turns over is tightened in moment measurement, when reaching the predetermined number of turns, brushless directly
Stream motor quits work.DC motor start-stop can not only be controlled by moment of torsion, and can also be controlled by the displacement that nut turns
The start and stop of motor.
3) finger of existing catching robot is one with column type filtration core and contacts line, and two fingers only have two contact lines
Contact, discontinuity equalization；And the paw of the application has a folding degree of freedom, two fingers are respectively symmetrical V-type
Structure, when finger catches column type filtration core, it is four linear contact lay that finger contacts with four positions of column type filtration core, and
And four contact lines are mutually symmetrical with about column type filtration core axis, make the active force suffered by two fingers equalize, reduce paw
The deflection deformation of part, thus reduce the impact on paw kinematic accuracy.
4) in the present invention except wrist upset joint in addition to five joints, bow including waist joint, shoulder joint, elbow joint, wrist
Face upward joint, wrist deflection joint, use offset design, i.e. large arm not to be total to the axis of end effector with forearm, forearm
Line, it is possible to fold well, and will not interfere when folding, make mechanical hand be prone to storage and use.The present invention is directed to
Nuclear power station typical operation environment, when using this dual action mechanical hands, staff is without directly contacting with polluter filtration core, no
The safety only making maintenance is greatly increased, and maintenance efficiency also significantly improves.
Accompanying drawing explanation
Fig. 1 is the overall main TV structure schematic diagram of a kind of embodiment of dual action mechanical hands of the present invention；
Fig. 2 is the overall plan structure schematic diagram of dual action mechanical hands of the present invention a kind of embodiment folded state；
Fig. 3 is pedestal 1 and the assembling structural representation of waist 2 of a kind of embodiment of dual action mechanical hands of the present invention；
Fig. 4 is the assembling structural representation of the large arm 3 of a kind of embodiment of dual action mechanical hands of the present invention；
Fig. 5 is the assembling structural representation of the forearm 4 of a kind of embodiment of dual action mechanical hands of the present invention；
Fig. 6 is the assembling structural representation of the end effector 5 of a kind of embodiment of dual action mechanical hands of the present invention；
Fig. 7 is the assembling structural representation of the electric wrench 51 of a kind of embodiment of dual action mechanical hands of the present invention；
Fig. 8 is the assembling structural representation of the paw 52 of a kind of embodiment of dual action mechanical hands of the present invention；
In figure: 1-pedestal, 2-waist, 3-large arm, 4-forearm, 5-end effector；11-pedestal casing, 12-pedestal radioprotective stereotype,
21-waist casing, 22-waist hollow joint axle, 23-waist rotary DC servomotor, 24-the first bevel gear, 25-motor drive
Dynamic device；31-large arm casing, 32-shoulder hollow joint axle, 33-large arm rotary DC servomotor, 34-ancon hollow joint axle,
35-forearm rotary DC servomotor, 36-the second bevel gear, 37-third hand tap gear；In 41-forearm casing, 42-wrist pitching
Empty joint shaft, 43-end effector rotary DC servomotor, 44-the 4th bevel gear；51-electric wrench, 52-paw, 53-
End effector casing, 54-paw rotary DC servomotor, 55-paw folding DC servo motor, 56-the first spur gear,
57-power transmission shaft, 58-the second spur gear；511-Universal sleeves, 512-tighten axle, 513-dynamic torque sensor, 514-Hall
Sensor, 515-brshless DC motor, 516-electric wrench DC servo motor, 517-electric wrench casing, 518-wrist deflect
Hollow joint axle, 519-electric wrench bevel gear；521-finger, 522-finger connecting rod, 523-paw support, 524-pull bar, 525-
Pull bar support, 526-sleeve.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail.Embodiment is with technical side of the present invention
Carry out premised on case is embodied as, and gives detailed embodiment and process.But claims hereof protection domain is not
It is limited to the description of following embodiment:
Dual action mechanical hands of the present invention (being called for short mechanical hand, see Fig. 1-8) includes pedestal 1, waist 2, large arm 3, forearm 4
With end effector 5, wherein pass sequentially through hollow between pedestal 1, waist 2, large arm 3, forearm 4 and end effector 5 and close
Nodal axisn connects, and at mechanical hand internal wiring；Pedestal 1 and waist 2 is connected by waist hollow joint axle 22, waist 2 with
Large arm 3 is connected by shoulder hollow joint axle 32, and large arm 3 is connected by ancon hollow joint axle 34 with forearm 4, forearm 4
It is connected by wrist pitching hollow joint axle 42 with end effector 5, waist hollow joint axle 22 and shoulder hollow joint axle 32
Axis vertical and intersect at a bit；Shoulder hollow joint axle 32, ancon hollow joint axle 34 and wrist pitching hollow joint axle
42 threes are parallel to each other；
Described end effector 5 (seeing Fig. 6) includes that electric wrench 51, paw 52, end effector casing 53, paw revolve
Turn DC servo motor 54 and paw folding DC servo motor 55；Electric wrench 51 is mainly used in tightening and unscrew RCV mistake
Filter element installation site end cap top nut, paw 52 is mainly used in capturing, changing filtration core；Electric wrench 51 and end effector
Casing 53 is connected by wrist deflection hollow joint axle 518；Paw folding DC servo motor 55 is installed on by electric machine support
In the middle part of end effector casing 53, paw rotary DC servomotor 54 is installed on end effector casing 53 by electric machine support
Rear portion, the axis of paw folding DC servo motor 55 and paw rotary DC servomotor 54 all with end effector casing 53
Axis overlaps, and the output shaft of paw rotary DC servomotor 54 is through the first spur gear 56, power transmission shaft the 57, second straight-tooth
Wheel 58 is connected with paw 52；Paw folding DC servo motor 55 is connected with paw 52 by shaft coupling；
Described electric wrench 51 (seeing Fig. 7) includes Universal sleeves 511, tightens axle 512, dynamic torque sensor 513, suddenly
That sensor 514, brshless DC motor 515, electric wrench DC servo motor 516 and electric wrench casing 517, Qi Zhongwu
It is anterior that brushless motor 515 is installed on electric wrench casing 517 by electric machine support, and electric wrench DC servo motor 516 leads to
Cross electric machine support and be arranged on electric wrench casing 517 rear portion, the axis of brshless DC motor 515 and electric wrench DC servo electricity
The axis of machine 516 all overlaps with electric wrench casing 517 axis, and the output shaft of brshless DC motor 515 is by tightening axle 512
It is connected with Universal sleeves 511, tightening, dynamic torque sensor 513 is installed on axle 512, at electric wrench casing 517
Anterior installation Hall element 514；The output shaft of described electric wrench DC servo motor 516 is by a pair electric wrench cone tooth
Wheel 519 is connected with wrist deflection hollow joint axle 518, drives the unitary rotation of electric wrench 51；
Described paw 52 (seeing Fig. 8) includes finger 521, finger connecting rod 522, paw support 523, pull bar 524, pull bar
Support 525 and sleeve 526；The quantity of described finger 521 is two, and two fingers 521 are symmetrical V-structure, each
Finger 521 is connected with paw support 523 one end by finger connecting rod 522 respectively, the middle part of described finger connecting rod 522 and pull bar
One end of 524 connects, and the other end of two pull bars 524 is connected by pull bar support 525, the opposite side of pull bar support 525 with
Sleeve 526 connects, and is provided with sleeve mandrel and ball-screw in sleeve 526, and sleeve 526 inwall is with the nut on ball-screw even
Connecing, one end of sleeve mandrel is connected with paw folding DC servo motor 55 by shaft coupling, and the other end is connected with ball-screw；
The other end of described paw support 523 is connected with power transmission shaft 57 by wrist turning hollow joint shaft；
When by Universal sleeves 511 fastening nut, it is arranged on the dynamic torque sensor 513 tightened on axle 512, can the moment
The change of monitoring torque value, when reaching preset torque, brshless DC motor 515 quits work；During dismounting nut, it is arranged on
The Hall element 514 of electric wrench casing 517 interior forward end, the number of turns that axle 512 turns over is tightened in moment measurement, when reaching pre-
During the fixed number of turns, brshless DC motor 515 quits work.Electric wrench DC servo motor 516 is arranged on by electric machine support
Electric wrench casing 517 rear portion, its axis overlaps with electric wrench casing 517 axis, through electric wrench bevel gear 519
It is connected with wrist deflection joint shaft 518, drives the unitary rotation of electric wrench 51.
When unscrewing nut, the torque that nut is subject to is more and more less, and nut is more and more less to the opplied moment tightening axle 512, very
(survey moment of torsion by dynamic torque sensor 513 to control brshless DC motor 515 and stop very inconvenient) to move closer to be zero,
Now can measure the nut axial total displacement (number of turns that i.e. nut is rotated) along bolt by Hall element 514, work as spiral shell
When mother reaches the displacement specified vertically, brshless DC motor 515 stops operating.During fastening nut, when reaching the pretension specified
During power, measured by dynamic torque sensor 513 and now tighten the moment of torsion of 512 on axle, when this moment of torsion reaches the moment of torsion specified,
Brshless DC motor 515 stops operating.
Paw folding DC servo motor 55 is rotated by shaft coupling actuating sleeve shaft core axle, and sleeve mandrel rotates through ball-screw
Drive the pull bar support 525 with sleeve connection to move, and then drive finger 521 action through pull bar 524, it is achieved the folding of paw；
Paw rotary DC servomotor 54 is installed on end effector casing 53 rear portion by electric machine support, and its axis is held with end
Row device casing 53 axis overlaps, and overturns with wrist through a pair first spur gears 56, power transmission shaft the 57, second spur gears 58
Hollow joint axle is connected, and wrist turning hollow joint shaft is connected with paw support 523, and paw rotary DC servomotor 54 leads to
Crossing a pair first spur gears 56, power transmission shaft 57, a pair second spur gears 58 drives wrist turning hollow joint shaft to rotate, and drives
Paw support 523 rotates, and then realizes the integral-rotation of paw 52.
Described pedestal 1 (seeing Fig. 3) includes pedestal casing 11, and the inwall of pedestal casing 11 is disposed with pedestal radioprotective stereotype
12, for the electric elements within radiation-screening, protection group seat-box body 11, pedestal casing 11 lower end is with mobile platform machinery even
Connect；
Described waist 2 (seeing Fig. 3) includes that waist casing 21, waist hollow joint axle the 22, first bevel gear 24, motor drive
Dynamic device 25 and waist rotary DC servomotor 23, described waist casing 21 is in square, and waist casing 21 bottom is by hanging down
Directly on pedestal casing 11, the waist hollow joint axle 22 of plane is connected with pedestal casing 11, waist rotary DC servomotor
23 and motor driver 25 to be all arranged in pedestal casing 11 internal, waist rotary DC servomotor 23 is by the first bevel gear
24 are connected with waist hollow joint axle 22, drive waist 2 to realize the rotation in horizontal direction, for reducing mechanical hand each composition portion
Dividing size and the rotary inertia of (referring in addition to pedestal 1, waist 2, large arm 3, forearm 4, end effector 5), motor drives
It is internal that device 25 is arranged in pedestal casing 11, and motor driver 25 drives the action of all motors of mechanical hand；
Described large arm 3 (seeing Fig. 4) includes large arm casing 31, shoulder hollow joint axle 32, large arm rotary DC servomotor
33, ancon hollow joint axle 34 and forearm rotary DC servomotor 35, described large arm casing 31 is in cylinder, and large arm rotates
DC servo motor 33 and forearm rotary DC servomotor 35 are arranged in large arm casing 31, and the axis of the two is with big
Arm casing 31 axis overlaps, and large arm rotary DC servomotor 33 is arranged on large arm casing 31 bottom by electric machine support,
The outfan of large arm rotary DC servomotor 33 is connected with shoulder hollow joint axle 32 by the second bevel gear 36, by shoulder
Large arm casing 31 is connected by portion's hollow joint axle 32 with waist casing 21, drives large arm 3 to realize the rotation in pitch orientation；
Forearm rotary DC servomotor 35 is arranged in large arm casing 31 top, forearm rotary DC servomotor 35 by electric machine support
Output shaft be connected with ancon hollow joint axle 34 by third hand tap gear 37, by ancon hollow joint axle 34 by large arm and
Forearm connects, and drives forearm 4 to realize the rotation in pitch orientation；Wherein waist hollow joint axle 22 and shoulder hollow joint axle
The axis of 32 is vertical and junction and a bit；
It is straight that described forearm 4 (seeing Fig. 5) includes that forearm casing 41, wrist pitching hollow joint axle 42 and end effector rotate
Flow servo motor 43, described forearm casing 41 is in cylinder, and end effector rotary DC servomotor 43 passes through electric machine support
It is arranged on forearm casing 41 top, the axis of end effector rotary DC servomotor 43 and forearm casing 41 axis weight
Closing, the output shaft of end effector rotary DC servomotor 43 is by the 4th bevel gear 44 and wrist pitching hollow joint axle 42
Connect, by wrist pitching hollow joint axle 42, forearm 4 is connected with end effector 5, drive end effector 5 to realize
Integral-rotation in pitch orientation.
Pedestal 1 connects and composes waist joint with waist 2 by waist hollow joint axle 22, and waist 2 and large arm 3 are by shoulder
Empty joint shaft 32 connects and composes shoulder joint, and large arm 3 connects and composes elbow joint with forearm 4 by ancon hollow joint axle 34, little
Arm 4 connects and composes wrist pitching joint with end effector 5 by wrist pitching hollow joint axle 42, and paw 52 turns over wrist
Turning hollow joint axle and connect and compose wrist upset joint by sleeve 526, end effector casing 53 passes through with electric wrench 51
Wrist deflection hollow joint axle 518 connects and composes wrist deflection joint.
The axis of described shoulder joint and the axis parallel of elbow joint, the axis parallel of described elbow joint is in wrist pitching
The axis in joint, the axis in described wrist pitching joint is perpendicular to the axis in wrist upset joint, and described wrist is bowed
The axis facing upward the axis in joint and wrist upset joint intersects at space a bit, the axis in described wrist pitching joint,
The axis in wrist upset joint is mutually perpendicular to the axis in wrist deflection joint.
Further characteristic of the invention is that described finger 521 is provided with pressure transducer.
In the present invention, the paw of end effector has a folding degree of freedom, and two fingers are respectively symmetrical V-structure, make
Finger and cylindrical filter have four linear contact lay, and wherein four contact lines are mutually symmetrical with about filtration core axis, it is ensured that catch
Filtration core uniform force；And using many senses information mix together technology, the energy various sensor of integrated treatment end effector is (dynamically
Torque sensor 513, Hall element 514, pressure transducer) information, can realize target is accurately positioned, machinery
The crawl accuracy of hands is high.
Work process and the principle of dual action mechanical hands of the present invention be: before performing operation, for the job task of specific environment,
Mechanical hand is arranged on specific mobile platform, and adjusts the state of each ingredient of mechanical hand, make the performance of mechanical hand reach
Optimum.After mechanical hand arrives operating location under the transport of mobile platform, drive to the motor in pedestal casing by controlling power supply
Device is energized, and motor driver drives each motor to work, thus (waist, large arm, forearm, end perform to drive mechanical arm
Device) freely rotatable, and then complete corresponding job task.After operation completes, then by mobile platform, robot transport is referred to
Location is put.
Double acting in the present invention refers to that end effector has two functions, i.e. can realize tightening and unscrew RCV filtration core
Nut on installation site end cap, can realize again capturing, changing filtration core.Dual action mechanical hands of the present invention, has six degree of freedom,
For nuclear power station typical operation environment, during in nuclear power station-loop chemical and volume control system, radioactivity filtration core changes operation,
It is capable of changing the purpose of radioactivity filtration core, and enables filtration core to be arranged on mobile robot platform.
The dual action mechanical hands that technique scheme is provided, configuration design is ingenious, each joint offset placement, and each joints axes has
There is orthogonal or parallel relation, make mechanical hand have preferable folding property, when not working, there is less overall volume, with
Reduce and take up an area space；Operationally, the angle range in each joint reaches or close to 360 degree so that it is have bigger work space,
Achieve the flexible performance that mechanical hand is excellent.
The dual action mechanical hands that technique scheme is provided, mechanical hand uses cabling in axle, the electrical equipment in the most each mechanical arm
The cable connected all hollow joint axles through between mechanical arm are connected with pedestal, the most attractive in appearance, and avoid cable and machinery
The contingent winding of hands, can reduce the radiation harm to circuit simultaneously to greatest extent, affect the work of mechanical hand.
The dual action mechanical hands that technique scheme is provided is to change filtration core by the cooperation of paw and electric wrench, uses
It is advantageous in that, attendant, without direct and the old filter contacts of polluter, not only increases working performance, and keeps in repair
The personal safety of personnel have also been obtained guarantee.
The present invention does not addresses part and is applicable to prior art.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；Although ginseng
According to foregoing embodiments, the present invention is described in detail, it will be understood by those within the art that: it is the most permissible
Technical scheme described in foregoing embodiments is modified, or the most some or all of technical characteristic is carried out equivalent replaces
Change；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the application scope of the claims.
Claims (3)
1. a dual action mechanical hands, including pedestal, waist, large arm, forearm and end effector, wherein pedestal, waist,
Pass sequentially through hollow joint axle between large arm, forearm and end effector to connect, and at mechanical hand internal wiring；I.e. pedestal and waist
Portion is connected by waist hollow joint axle, and waist is connected by shoulder hollow joint axle with large arm, and large arm and forearm are by ancon
Empty joint shaft connects, and forearm is connected by wrist pitching hollow joint axle with end effector, it is characterised in that waist hollow joint
Axle is vertical with the axis of shoulder joints axle and intersects at a bit；In shoulder hollow joint axle, ancon hollow joint axle and wrist pitching
Empty joint shaft three is parallel to each other；
Described end effector includes electric wrench, paw, end effector casing, paw rotary DC servomotor and paw
Folding DC servo motor；Electric wrench and end effector casing are connected by wrist deflection hollow joint axle；Paw folding is straight
Flow servo motor is installed in the middle part of end effector casing by electric machine support, and paw rotary DC servomotor passes through electric machine support
Being installed on end effector casing rear portion, the axis of paw folding DC servo motor and paw rotary DC servomotor is all with last
End executor's casing axis overlap, the output shaft of paw rotary DC servomotor through the first spur gear, power transmission shaft, second
Spur gear is connected with paw；Paw folding DC servo motor is connected with paw by shaft coupling；
Described electric wrench include Universal sleeves, tighten axle, dynamic torque sensor, Hall element, brshless DC motor,
Electric wrench DC servo motor and electric wrench casing, wherein brshless DC motor is installed on electric wrench case by electric machine support
Body is anterior, and electric wrench DC servo motor is arranged on electric wrench casing rear portion, the axle of brshless DC motor by electric machine support
The axis of line and electric wrench DC servo motor all overlaps with electric wrench casing axis, and the output shaft of brshless DC motor leads to
Cross and tighten axle and be connected with Universal sleeves, tightening, dynamic torque sensor is installed on axle, install in electric wrench casing front portion
Hall element；The output shaft of described electric wrench DC servo motor deflects hollow by a pair electric wrench bevel gear with wrist
Joint shaft is connected, and drives the unitary rotation of electric wrench；
Described paw includes finger, finger connecting rod, paw support, pull bar, pull bar support and sleeve；The quantity of described finger is
Two, two fingers are symmetrical V-structure, and each finger is connected with paw support one end by finger connecting rod respectively, described
The middle part of finger connecting rod is connected with one end of pull bar, and the other end of two pull bars is connected by pull bar support, another of pull bar support
Side and sleeve connection, be provided with sleeve mandrel and ball-screw in sleeve, sleeve lining is connected with the nut on ball-screw, sleeve
One end of mandrel is connected with paw folding DC servo motor by shaft coupling, and the other end is connected with ball-screw；Described paw props up
The other end of frame is connected with power transmission shaft by wrist turning hollow joint shaft.
Dual action mechanical hands the most according to claim 1, it is characterised in that described finger is provided with pressure transducer.
Dual action mechanical hands the most according to claim 1 and 2, it is characterised in that described pedestal includes pedestal casing, pedestal
Being disposed with pedestal radioprotective stereotype on the inwall of casing, pedestal casing lower end is mechanically connected with mobile platform；
Described waist includes that waist casing, waist hollow joint axle, the first bevel gear, motor driver and waist rotary DC are watched
Taking motor, described waist casing is square, and waist lower box is by being perpendicular to the waist hollow joint of plane on pedestal casing
Axle is connected with pedestal casing, and waist rotary DC servomotor and motor driver are all arranged in pedestal box house, and waist rotates
DC servo motor is connected with waist hollow joint axle by the first bevel gear；
Described large arm include large arm casing, shoulder hollow joint axle, large arm rotary DC servomotor, ancon hollow joint axle and
Forearm rotary DC servomotor, described large arm casing is cylinder, and large arm rotary DC servomotor and forearm rotary DC are watched
Take motor to be arranged in large arm casing, and the axis of the two overlaps with large arm casing axis, large arm rotary DC servomotor
Being arranged on large arm lower box by electric machine support, the outfan of large arm rotary DC servomotor passes through the second bevel gear and shoulder
Hollow joint axle connects, and is connected with waist casing by large arm casing by shoulder hollow joint axle；Forearm rotary DC servomotor
Being arranged in large arm casing top by electric machine support, the output shaft of forearm rotary DC servomotor passes through third hand tap gear and ancon
Hollow joint axle is connected, and large arm is connected with forearm by ancon hollow joint axle；
Described forearm includes forearm casing, wrist pitching hollow joint axle and end effector rotary DC servomotor, described little
Arm casing is cylinder, and end effector rotary DC servomotor is arranged on forearm casing top by electric machine support, and end is held
The axis of row device rotary DC servomotor overlaps with forearm casing axis, the output of end effector rotary DC servomotor
Axle is connected with wrist pitching hollow joint axle by the 4th bevel gear, is performed with end by forearm by wrist pitching hollow joint axle
Device connects.
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| CN201610330802.8A CN105835052B (en) | 2016-05-18 | 2016-05-18 | A kind of dual action mechanical hand |
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| CN201610330802.8A CN105835052B (en) | 2016-05-18 | 2016-05-18 | A kind of dual action mechanical hand |
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| CN105835052B CN105835052B (en) | 2017-08-25 |
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| CN107564599A (en) * | 2017-09-19 | 2018-01-09 | 中国科学院合肥物质科学研究院 | A kind of drive device and robot with gamma ray safeguard function |
| CN107571252A (en) * | 2017-06-02 | 2018-01-12 | 佛山华数机器人有限公司 | A kind of bispin articulated robot |
| CN109732302A (en) * | 2019-01-25 | 2019-05-10 | 佛山隆深机器人有限公司 | A kind of multifunction flexible puts together machines people |
| CN113500612A (en) * | 2021-07-27 | 2021-10-15 | 广西大学 | Robot nut loosening device for drainage wire breaking operation |
| CN116571998A (en) * | 2023-04-11 | 2023-08-11 | 深圳昱拓智能有限公司 | Filter element mounting device, filter element replacing device and replacing method thereof |
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|---|---|
| CN105835052B (en) | 2017-08-25 |
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