CN108262764A - A kind of radiation hardness mechanical arm - Google Patents
A kind of radiation hardness mechanical arm Download PDFInfo
- Publication number
- CN108262764A CN108262764A CN201711498068.7A CN201711498068A CN108262764A CN 108262764 A CN108262764 A CN 108262764A CN 201711498068 A CN201711498068 A CN 201711498068A CN 108262764 A CN108262764 A CN 108262764A
- Authority
- CN
- China
- Prior art keywords
- arm
- rotary
- servo motor
- gear
- articulated arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
A kind of radiation hardness mechanical arm, the mechanism for carrying out pitching movement includes rotary articulated arm A and rotary articulated arm B, the top of rotary articulated arm A is connect with the lower part of rotary articulated arm B, common work servo motor a is installed on rotary articulated arm A, gear in common work servo motor a connection motor backup gear-boxes, gear connection shaft coupling in motor backup gear-box, shaft coupling connects worm gear mechanism, worm gear mechanism reconnects hollow type harmonic speed reducer, hollow type harmonic speed reducer connection rotary articulated arm B, so as to by commonly using the rotation of work servo motor and then rotary articulated arm B being driven to carry out pitching movement；The mechanism rotated horizontally includes rotary joint arm C and rotary joint arm D, and wherein rotary joint arm C is by commonly using work servo motor b turn spurs transmission mechanism 9, and Spur Gear Driving mechanism drives rotary joint arm D to be rotated.
Description
Technical field
The invention belongs to mechanical arm fields, and in particular to a kind of radiation hardness mechanical arm.
Background technology
The present invention is directed to design a kind of novel radiation hardness mechanical arm.It has monitoring in real time, live video image acquisition
Etc. functions, have and complete remote operation, sensor under the conditions of being distributed more complicated semiclosed environment in height radiation, spatial position
Data acquire the ability of transformation task.This requires：Mechanical arm when breaking down in using way, to be easy to field maintenance and from
Open site environment；The structure of mechanical arm is simple, size is compact, compact-sized, can carry correlate meter, and field operation time is most
It measures short, avoids field maintenance, ensure zero failure rate.According to finding, structure, the control essence of mechanical arm currently on the market
Degree, operating environment and stability be all unsatisfactory for it is mentioned above go out environment demand, and radiation hardness machinery proposed by the invention
Arm, the high radiant matter actual conditions in the more complicated semiclosed environment of space exploration position distribution and the task for subsequent processing
In have more prominent superior function.
Invention content
The purpose of the present invention is to provide a kind of radiation hardness mechanical arm, to solve existing operation in height radiation, spatial position
The mechanical arm of more complicated semiclosed environment is distributed existing for structure, control accuracy, operating environment and stability etc.
It is insufficient.
Technical scheme is as follows：A kind of radiation hardness mechanical arm, the mechanism for carrying out pitching movement include cradle head
Arm A and rotary articulated arm B, the top of rotary articulated arm A connect with the lower part of rotary articulated arm B, is installed on rotary articulated arm A
There is common work servo motor a, commonly use the gear in work servo motor a connection motor backup gear-boxes, motor backup gear
Gear connection shaft coupling in case, shaft coupling connection worm gear mechanism, worm gear mechanism reconnect hollow type harmonic reduction
Device, hollow type harmonic speed reducer connection rotary articulated arm B, so as to by commonly using the rotation of work servo motor and then rotation being driven to close
Joint arm B carries out pitching movement；
The mechanism rotated horizontally includes rotary joint arm C and rotary joint arm D, and wherein rotary joint arm C passes through normal
With work servo motor b turn spurs transmission mechanism 9, and Spur Gear Driving mechanism drive rotary joint arm D rotated.
Spare servo motor a is further included, as the spare of common work servo motor a.
Spare motor b is further included, as the spare of common work servo motor b.
Rotary joint arm D is equipped with quick-release connector, carries particular device and carries out operation.
The particular device includes γ cameras, laser range finder, the camera probe of resistance to irradiation.
Whole mechanical arm whole body is equipped with multiple cameras.
Whole device has control system, and control system is placed in inside the mobile platform with lead protection layer.
The remarkable result of the present invention is：The requirement that can be detected according to operating environmental condition and radioactive source, is mounted in shifting
Work is detected and handled on moving platform.On the basis of having Ability of emergency management, it is provided simultaneously with remote operation, sensor
The functions such as data acquisition transmission.
Description of the drawings
Fig. 1 is radiation hardness mechanical arm schematic diagram of the present invention
Fig. 2 radiation hardness mechanical arm rotary joint arm schematic diagrames of the present invention
Fig. 3 radiation hardness mechanical arm rotary joint arm main views of the present invention are intended to
In figure：1st, rotary articulated arm A；2nd, work servo motor a is commonly used；3rd, motor backup gear-box；4th, shaft coupling；5th, snail
Worm and gear mechanism；6th, hollow type harmonic speed reducer；7th, rotary articulated arm B；8th, rotary joint arm C；9th, Spur Gear Driving mechanism；
10th, rotary joint arm D；11st, spare servo motor.
Specific embodiment
A kind of radiation hardness mechanical arm closes as shown in the figure, the mechanism for carrying out pitching movement includes rotary articulated arm A1 with rotation
The top of joint arm B7, rotary articulated arm A1 are connect with the lower part of rotary articulated arm B7, and common work is equipped on rotary articulated arm A
Make servo motor a2, commonly use the gear in work servo motor a2 connection motor backups gear-box 3, in motor backup gear-box 3
Gear connection shaft coupling 4, shaft coupling 4 connect worm gear mechanism 5, worm gear mechanism 5 reconnect hollow type harmonic reduction
Device 6, hollow type harmonic speed reducer 6 connect rotary articulated arm B7, so as to by commonly using the rotation of work servo motor and then with turn
Movable joint arm B7 carries out pitching movement.
Spare servo motor a11 is further included, as the spare of common work servo motor a2
The mechanism rotated horizontally includes rotary joint arm C8 and rotary joint arm D10, and wherein rotary joint arm C8 leads to
Cross common work servo motor b12 turn spurs transmission mechanism 9, and Spur Gear Driving mechanism 9 drive rotary joint arm D10 into
Row rotation, further includes spare motor b13, as the spare of common work servo motor b12
Rotary joint arm D10 is equipped with quick-release connector, can carry particular device (such as γ cameras, Laser Measuring according to user demand
Distance meter, resistance to irradiation camera probe etc.) carry out operation.
Whole mechanical arm whole body are equipped with multiple cameras.
Whole device has control system, and control system is placed in inside the mobile platform with lead protection layer.
Claims (7)
1. a kind of radiation hardness mechanical arm, it is characterised in that：The mechanism for carrying out pitching movement includes rotary articulated arm A (1) and rotation
The top of joint arm B (7), rotary articulated arm A (1) are connect with the lower part of rotary articulated arm B (7), are installed on rotary articulated arm A
There is common work servo motor a (2), commonly use the gear in work servo motor a (2) connection motor backup gear-boxes (3), motor
Gear connection shaft coupling (4) in backup gear-box (3), shaft coupling (4) connection worm gear mechanism (5), worm gear mechanism
(5) hollow type harmonic speed reducer (6), hollow type harmonic speed reducer (6) connection rotary articulated arm B (7), so as to by commonly using are reconnected
The rotation and then drive rotary articulated arm B (7) progress pitching movements of work servo motor；
The mechanism rotated horizontally includes rotary joint arm C (8) and rotary joint arm D (10), wherein rotary joint arm C (8)
By commonly using work servo motor b (12) turn spur transmission mechanism (9), and Spur Gear Driving mechanism (9) drives rotation to close
Joint arm D (10) is rotated.
2. according to claim 1 a kind of radiation hardness mechanical arm, it is characterised in that：Spare servo motor a (11) is further included,
As the spare of common work servo motor a (2).
3. according to claim 1 a kind of radiation hardness mechanical arm, it is characterised in that：Further include spare motor b (13), conduct
Common work servo motor b's (12) is spare.
4. according to claim 1 a kind of radiation hardness mechanical arm, it is characterised in that：Rotary joint arm D (10) is equipped with fast changing-over
Head carries particular device and carries out operation.
5. according to claim 4 a kind of radiation hardness mechanical arm, it is characterised in that：The particular device includes γ cameras, swashs
Optar, the camera probe of resistance to irradiation.
6. according to claim 1 a kind of radiation hardness mechanical arm, it is characterised in that：Whole mechanical arm whole body is equipped with
Multiple cameras.
7. according to claim 1 a kind of radiation hardness mechanical arm, it is characterised in that：Whole device has control system, control system
System is placed in inside the mobile platform with lead protection layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711498068.7A CN108262764A (en) | 2017-12-28 | 2017-12-28 | A kind of radiation hardness mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711498068.7A CN108262764A (en) | 2017-12-28 | 2017-12-28 | A kind of radiation hardness mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108262764A true CN108262764A (en) | 2018-07-10 |
Family
ID=62773067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711498068.7A Pending CN108262764A (en) | 2017-12-28 | 2017-12-28 | A kind of radiation hardness mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108262764A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171796A (en) * | 2018-09-18 | 2019-01-11 | 柳州友助科技有限公司 | Articulated type intelligence CT scan bed |
| CN110780308A (en) * | 2019-10-28 | 2020-02-11 | 西南科技大学 | Three-dimensional point cloud data acquisition system and method under turbid water environment |
| CN111185934A (en) * | 2020-01-10 | 2020-05-22 | 佛山市鼎科科技发展有限公司 | Mechanical arm with rotating mechanism |
| CN113334423A (en) * | 2021-06-07 | 2021-09-03 | 核工业西南物理研究院 | Long-arm unfolding mechanical arm joint in large-magnetic-field high-vacuum strong-radiation environment |
| CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4828453A (en) * | 1987-04-21 | 1989-05-09 | The United States Of America As Represented By The United States Department Of Energy | Modular multimorphic kinematic arm structure and pitch and yaw joint for same |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN202684916U (en) * | 2012-06-07 | 2013-01-23 | 中国东方电气集团有限公司 | Mechanical arm for source clamping accident emergency robot |
| CN104057441A (en) * | 2014-04-29 | 2014-09-24 | 中国科学院等离子体物理研究所 | Multi-joint mechanical arm for complex environment |
| CN105987153A (en) * | 2015-02-06 | 2016-10-05 | 迈格钠磁动力股份有限公司 | Dual-power input speed reducer based on permanent magnet driving technique and power switching method of dual-power input speed reducer |
| CN205964376U (en) * | 2016-06-29 | 2017-02-22 | 武汉瑞福宁科技有限公司 | Nuclear radiation and radioactive accident emergency treatment dolly |
-
2017
- 2017-12-28 CN CN201711498068.7A patent/CN108262764A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4828453A (en) * | 1987-04-21 | 1989-05-09 | The United States Of America As Represented By The United States Department Of Energy | Modular multimorphic kinematic arm structure and pitch and yaw joint for same |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN202684916U (en) * | 2012-06-07 | 2013-01-23 | 中国东方电气集团有限公司 | Mechanical arm for source clamping accident emergency robot |
| CN104057441A (en) * | 2014-04-29 | 2014-09-24 | 中国科学院等离子体物理研究所 | Multi-joint mechanical arm for complex environment |
| CN105987153A (en) * | 2015-02-06 | 2016-10-05 | 迈格钠磁动力股份有限公司 | Dual-power input speed reducer based on permanent magnet driving technique and power switching method of dual-power input speed reducer |
| CN205964376U (en) * | 2016-06-29 | 2017-02-22 | 武汉瑞福宁科技有限公司 | Nuclear radiation and radioactive accident emergency treatment dolly |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171796A (en) * | 2018-09-18 | 2019-01-11 | 柳州友助科技有限公司 | Articulated type intelligence CT scan bed |
| CN110780308A (en) * | 2019-10-28 | 2020-02-11 | 西南科技大学 | Three-dimensional point cloud data acquisition system and method under turbid water environment |
| CN110780308B (en) * | 2019-10-28 | 2020-11-24 | 西南科技大学 | Three-dimensional point cloud data acquisition system and method under turbid water environment |
| CN111185934A (en) * | 2020-01-10 | 2020-05-22 | 佛山市鼎科科技发展有限公司 | Mechanical arm with rotating mechanism |
| CN111185934B (en) * | 2020-01-10 | 2021-02-26 | 佛山市鼎科科技发展有限公司 | Mechanical arm with rotating mechanism |
| CN113334423A (en) * | 2021-06-07 | 2021-09-03 | 核工业西南物理研究院 | Long-arm unfolding mechanical arm joint in large-magnetic-field high-vacuum strong-radiation environment |
| CN113334423B (en) * | 2021-06-07 | 2023-01-24 | 核工业西南物理研究院 | Long-arm unfolding mechanical arm joint in large-magnetic-field high-vacuum strong-radiation environment |
| CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN113561215B (en) * | 2021-09-26 | 2021-12-07 | 西南科技大学 | Posture-changing articulated dexterous hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108262764A (en) | A kind of radiation hardness mechanical arm | |
| US11571821B2 (en) | System and method for a robotic manipulator system | |
| CN107150329A (en) | A kind of mobile robot and its control method based on Three Degree Of Freedom vision platform | |
| CN103672293B (en) | The amphibious working pipe pipeline robot of a kind of multi-dimensions test | |
| CN105014654A (en) | Intelligent inspection robot | |
| CN103895022A (en) | Wearable type somatosensory control mechanical arm | |
| CN103672296B (en) | A kind of integrated frame type pipeline robot | |
| CN203650506U (en) | Underwater multi-degree-of-freedom remote control manipulator | |
| CN102720503A (en) | Active-type automatic deviation rectification device of pipe-jacking tunneling machine | |
| CN102705632A (en) | Bionic robot capable of extending to avoid obstacles | |
| CN104385274B (en) | For tackling the emergency disposal robot of Metro Emergency Event | |
| CN105128032A (en) | Snake-shaped robot with nuclear equipment pipeline detecting function | |
| CN111015681A (en) | Communication machine room inspection robot system | |
| CN112281972B (en) | Remote monitoring structure based on unmanned excavator and excavator | |
| CN103753586A (en) | Method for coarse-fine composite closed-loop control of position of mechanical arm | |
| CN107414474A (en) | A kind of narrow space bolt location and installation machine people and control method | |
| CN210555589U (en) | Unmanned aerial vehicle lofting measurement system | |
| KR20140099011A (en) | Multi Joint Borescope Camera | |
| CN108032926B (en) | Remote control trolley for measuring depth of mud feet in paddy field | |
| CN204270054U (en) | The supervisory system of image application supervisory-controlled robot | |
| CN218825279U (en) | Mobile numerical control vehicle for remotely monitoring production site | |
| CN207030938U (en) | A kind of high-risk fluid fillers robot | |
| CN208906503U (en) | Robot system for livewire work | |
| CN203371557U (en) | Robot video system | |
| CN207983339U (en) | Radiography mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180710 |