CN109048989B - A mechanical arm wrist joint for nuclear environment - Google Patents
A mechanical arm wrist joint for nuclear environment Download PDFInfo
- Publication number
- CN109048989B CN109048989B CN201811147893.7A CN201811147893A CN109048989B CN 109048989 B CN109048989 B CN 109048989B CN 201811147893 A CN201811147893 A CN 201811147893A CN 109048989 B CN109048989 B CN 109048989B
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- telescopic
- motor
- tool
- revolving
- transmission
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002901 radioactive waste Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm wrist joint for a nuclear environment, which rotates relative to a main structure through a revolving body, is driven by a revolving motor through revolving drive, and provides reverse torque through a counter torque motor to eliminate transmission backlash; the telescopic body moves telescopically relative to the main structure, is driven by a telescopic driving motor and realizes guiding and circumferential limiting through the transmission of a gear rack transmission mechanism; under the drive of the revolving body and the telescopic body, the rotation operation of the main structure is realized, so that the whole wrist joint realizes the back clearance-free high-precision motion with two degrees of freedom of revolution and telescopic, the driving force is provided for a tool at the tail end of the wrist joint, and the work under the nuclear environment is completed.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a mechanical arm wrist joint for a nuclear environment.
Background
The working environment of operations such as nuclear facility decommissioning, radioactive waste treatment, nuclear facility maintenance and the like has the characteristics of strong radioactivity and unstructured (the construction size in the environment is variable and unknown), and the mechanical arm working in the environment needs to have strong protection, operability, easy maintenance and high precision.
The wrist joint is the end joint of the mechanical arm and directly influences the overall performance of the mechanical arm. In the prior art, the degrees of freedom of the wrist joint are rotational degrees of freedom, the wrist joint is easy to collide when operated in a narrow unstructured space, and a certain transmission backlash is provided, so that the transmission precision is influenced; in addition, the wrist joint generally forms a whole with other joints of the mechanical arm, and is difficult to disassemble and maintain, and the motor and the speed reducer are generally exposed, so that the protection performance is not strong.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the mechanical arm wrist joint for the nuclear environment, which is not easy to collide when working in a narrow unstructured space, has strong protection performance, is easy to integrally disassemble and maintain, and eliminates transmission errors caused by transmission back clearance.
To achieve the above object, the present invention provides a wrist joint for a robot arm used in a nuclear environment, comprising: a main structure, a revolving body and a telescopic body;
the main structure is provided with a revolving body, a revolving motor, a counter torque motor, a wire inlet end flange and an electric slip ring; the revolving body and the main structure are coaxially arranged and are connected with the main structure through a bearing, so that the revolving body can do revolving motion relative to the main structure; the revolving body is connected with an output shaft of a revolving motor through one-stage or multi-stage gear transmission and is connected with an output shaft of a counter torque motor through one-stage or multi-stage gear transmission;
the electric slip ring comprises a stator part and a rotor part; the stator part is fixed with the main structure, the rotor part is fixed with the rotating body, and the stator part and the rotor part can rotate relatively and realize the conduction of multi-path electric signals; an incoming line terminal of the stator part is connected with an electric slip ring access cable, and an outgoing line terminal of the rotor part is connected with a telescopic motor cable and a tool cable; one end of the electric slip ring access cable is connected with the incoming line terminal, and the other end of the electric slip ring access cable is connected with the incoming line terminal of the stator part; one end of a telescopic motor cable is connected with a wire outlet terminal at the rotor, and the other end of the telescopic motor cable is connected with a wiring terminal of the telescopic driving motor; one end of the tool cable is connected with a wire outlet terminal of the rotor part, is wound on the cable arranging column and penetrates through the telescopic transmission rack to be connected with the tool contact;
the incoming line terminal is provided with an incoming line terminal, a flange guide pin shaft and an incoming line terminal pin shaft bolt; the incoming line terminal is connected with the incoming line terminal pin shaft bolt through an incoming line terminal floating spring, an electric slip ring access cable is connected to the incoming line terminal, and the other end of the electric slip ring access cable is connected with the incoming line terminal of the stator part of the electric slip ring;
the revolving body is provided with a telescopic body, a telescopic driving motor, a rack guide key and a cable arranging column; a telescopic transmission rack is arranged between the telescopic body and the revolving body, and the telescopic transmission rack and the revolving body slide relatively through a bearing; an output shaft of the telescopic driving motor is provided with a telescopic transmission gear, and the telescopic transmission gear is meshed with a telescopic transmission rack to form a gear rack transmission mechanism; the rack guide key is matched with a guide groove structure of the telescopic transmission rack, so that the telescopic body and the revolving body realize a circumferential limiting function; an L-shaped cavity is formed between the revolving body and the telescopic body, the L-shaped cavity is well sealed with the outside, high-pressure gas is filled in the cavity, and the step surface of the telescopic body bears downward axial force under the action of gas pressure intensity, so that the telescopic body always bears a downward pretightening force;
the telescopic body is provided with a tool driving motor, a tool motor contact flange and a circuit switching floating ring; a motor shaft connecting sleeve is arranged on an output shaft of the tool driving motor, a tool end connecting sleeve and a torque transmission pin shaft are also arranged on the motor shaft connecting sleeve, and a compression spring is arranged between the tool end connecting sleeve and the motor shaft connecting sleeve; the tool end connecting sleeve can slide relative to the motor shaft connecting sleeve and is provided with a U-shaped guide groove, and a guide matching relation is formed between the torque transmission pin shaft and the U-shaped guide groove, so that the guide and limiting functions of the tool end connecting sleeve are realized; the tool motor contact flange is fixed with the telescopic body and is provided with a tool motor contact, a tool motor cable is connected to the tool motor contact, and the other end of the tool motor cable is connected with a wiring terminal of a tool driving motor; the circuit switching floating ring and the telescopic body can slide relatively, are connected with a tool motor contact flange through a compression spring and are provided with tool contacts; the tool contact can be contacted with the tool motor contact when the circuit switching floating ring slides towards the tool motor contact flange;
the revolving body rotates relative to the main structure, is driven by a revolving driving revolving motor, and provides reverse torque through a counter torque motor to eliminate transmission backlash; the telescopic body moves telescopically relative to the main structure, is driven by a telescopic driving motor and realizes guiding and circumferential limiting through the transmission of a gear rack transmission mechanism; under the drive of the revolving body and the telescopic body, the rotation operation of the main structure is realized, so that the whole wrist joint realizes the back clearance-free high-precision motion with two degrees of freedom of revolution and telescopic motion.
The invention aims to realize the following steps:
the invention relates to a mechanical arm wrist joint for nuclear environment, which rotates relative to a main structure through a revolving body, is driven by a revolving motor through revolving drive, and provides reverse torque through a counter torque motor to eliminate transmission backlash; the telescopic body moves telescopically relative to the main structure, is driven by a telescopic driving motor and realizes guiding and circumferential limiting through the transmission of a gear rack transmission mechanism; under the drive of the revolving body and the telescopic body, the rotation operation of the main structure is realized, so that the whole wrist joint realizes the back clearance-free high-precision motion with two degrees of freedom of revolution and telescopic, the driving force is provided for a tool at the tail end of the wrist joint, and the work under the nuclear environment is completed.
Meanwhile, the mechanical arm wrist joint for the nuclear environment further has the following beneficial effects:
(1) the revolving body is driven by the revolving motor and provides reverse torque by the counter torque motor, so that transmission backlash in the transmission process of the revolving body is eliminated, and transmission precision is ensured;
(2) the telescopic body can perform telescopic motion, and linear motion operation can be performed by using the telescopic motion of the telescopic body when the telescopic body moves in a narrow unstructured space, so that the linear motion operation formed by linkage of a plurality of rotating shafts of a conventional mechanical arm is replaced, and collision possibly caused by rotation of each joint of the mechanical arm is avoided;
(3) the telescopic transmission rack is provided with a cylindrical surface and a guide groove structure, so that the functions of axial sliding and circumferential guiding are realized during transmission of the telescopic transmission rack;
(4) the tool end connecting sleeve and the motor shaft connecting sleeve can relatively slide under the action of the torque transmission pin shaft and the compression spring and have spring force, and when the U-shaped guide groove of the tool end connecting sleeve is not aligned with the transmission pin shaft of an external tool, the tool end connecting sleeve can automatically slide along the axis and automatically rebound after rotation when being aligned, so that the wrist joint can be conveniently connected with the external tool;
(5) the electric slip ring avoids the twisting of the cable when the revolving body revolves, the cable sorting column avoids the entanglement of the cable in the telescopic process of the telescopic body, and the hollow structure of the telescopic transmission rack penetrating along the axis enables the tool cable to be conveniently wired from the inside of the transmission shaft;
(6) the tool motor contact flange, the circuit switching floating ring, the tool electric shock and the tool motor contact can realize the switching of the power supply of a tool cable between the tool and the tool driving motor;
(7) the L-shaped cavity formed between the revolving body and the telescopic body and the high-pressure gas filled in the L-shaped cavity enable the telescopic body to bear an axial pretightening force all the time, the transmission back clearance of the telescopic body is eliminated, and the transmission precision is ensured;
(8) the multiple petal-shaped elastic sheets of the floating spring of the incoming line terminal enable the incoming line terminal and the incoming line terminal flange to float relatively, when the wrist joint is connected with other joints, the incoming line terminal can realize self-adaptive alignment during interface butt joint through the action of the floating spring and the guiding pin shaft of the incoming line terminal, and the condition of inaccurate butt joint caused by over-positioning of the incoming line terminal is avoided;
(9) and each part in the mechanical arm wrist joint can be quickly installed and detached.
Drawings
FIG. 1 is a schematic diagram of the general configuration of a robot wrist for a nuclear environment of the present invention;
FIG. 2 is a schematic view of a telescopic driving rack
FIG. 3 is a schematic cable layout of the wrist joint of the robot arm;
FIG. 4 is a schematic view of a tool end coupling sleeve configuration;
FIG. 5 is a schematic view of an L-shaped cavity structure;
FIG. 6 is a schematic view of a line inlet end structure;
FIG. 7 is a schematic diagram of a floating spring structure for a line terminal.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
FIG. 1 is a schematic diagram of the general architecture of a robot wrist for a nuclear environment of the present invention.
In this embodiment, as shown in fig. 1, the wrist joint of a robot arm for a nuclear environment of the present invention mainly includes: a main structure 1, a revolving body 2 and a telescopic body 12;
the main structure 1 is provided with a revolving body 2, a revolving driving motor 3, a counter torque motor 7, a wire inlet end flange 39 and an electric slip ring 29; the revolving body 2 and the main structure 1 are coaxially arranged and are connected with the main structure 1 through a bearing, so that the revolving body 2 can do revolving motion relative to the main structure 1; the revolving body 2 is connected with an output shaft of the revolving motor 3 through one-stage or multi-stage gear transmission and is connected with an output shaft of the counter torque motor 7 through one-stage or multi-stage gear transmission;
in the present embodiment, a deep groove ball slewing bearing 10 and a needle roller slewing bearing 11 are provided between the slewing body 2 and the main structure 1; a primary rotary driving gear 4 is arranged on an output shaft of a rotary driving motor 3, a secondary rotary driving gear 5 is arranged on the main structure 1 through a bearing and has a gear meshing relationship with the primary rotary driving gear 4; a rotary reaction moment primary gear 8 is arranged on an output shaft of a rotary reaction moment motor 7, a rotary reaction moment secondary gear 9 is arranged on the main structure 1 through a bearing and has a gear meshing relationship with the rotary reaction moment primary gear 8, a rotary driving tertiary gear 6 is fixedly arranged on the rotary body 2 and has a gear meshing relationship with the rotary driving secondary gear 5 and the rotary reaction moment secondary gear 9;
the electrical slip ring 29 comprises a stator part and a rotor part; the stator part is fixed with the main structure 1, the rotor part is fixed with the revolving body 2, and the stator part and the rotor part can rotate relatively and realize the conduction of multi-path electric signals; an incoming line terminal of the stator part is connected with an electric slip ring access cable 28, and an outgoing line terminal of the rotor part is connected with a telescopic motor cable 30 and a tool motor cable 37;
one end of an electric slip ring access cable 28 is connected with a wire inlet terminal 27, and the other end of the electric slip ring access cable is connected with a wire inlet terminal of the stator part; one end of the telescopic motor cable 30 is connected with a wire outlet terminal at the rotor position, and the other end is connected with a wiring terminal of the telescopic driving motor 13; one end of a tool cable 32 is connected with an outlet terminal of the rotor part, is wound on the cable arranging column 31, penetrates through the hollow structure of the telescopic transmission rack 15, and the other end of the tool cable is connected with a tool contact 34;
as shown in fig. 6, a line inlet terminal 27, a flange guide pin 42 and a line inlet terminal pin bolt 43 are mounted on the line inlet terminal flange 39, and a line inlet terminal guide pin 44 is mounted on the line inlet terminal 27; the incoming line terminal 27 is connected with the incoming line terminal pin bolt 43 through an incoming line terminal floating spring 45, the incoming line terminal 27 is connected with an electric slip ring access cable 28, and the other end of the electric slip ring access cable 28 is connected with an incoming line terminal of a stator part of the electric slip ring; as shown in fig. 7, the incoming terminal floating spring 45 is a hollow spindle-shaped structure having a plurality of petal-shaped spring pieces 46 independent of each other; the petal-shaped spring pieces 46 are made of an elastic metal material, deform in the direction of the external force when receiving the external force, and are reset after the external force disappears.
The revolving body 2 is provided with a telescopic body 12, a telescopic driving motor 13, a rack guide key 20 and a cable arranging column; in this embodiment, the telescopic body 12 is provided with an outer cylindrical surface, the revolving body 2 is provided with an inner cylindrical surface, and the outer cylindrical surface of the telescopic body 12 and the inner cylindrical surface of the revolving body 2 are mutually matched to realize relative sliding;
a telescopic transmission rack 15 is arranged between the telescopic body 12 and the revolving body 2, and the telescopic transmission rack 15 and the revolving body 2 slide relatively through a bearing; an output shaft of the telescopic driving motor 13 is provided with a telescopic transmission gear 14, and the telescopic transmission gear 14 is meshed with a telescopic transmission rack 15 to form a gear rack transmission mechanism; the rack guide key 20 is matched with the guide groove structure of the telescopic transmission rack 15, so that the peripheral limiting function between the telescopic body 12 and the revolving body 2 is realized; an L-shaped cavity 40 is formed between the telescopic body 12 and the revolving body 2, as shown in fig. 5, the L-shaped cavity is well sealed from the outside, high-pressure gas is filled in the cavity, and under the action of gas pressure, the step surface 41 of the telescopic body 12 bears downward axial force, so that the telescopic body 12 always bears a downward pretightening force;
as shown in fig. 2, the telescopic driving rack 15 is of a hollow structure penetrating along an axis, and has a cylindrical surface 16, one side of the cylindrical surface 16 is provided with a tooth-shaped structure 17, and the other side is provided with a guide groove structure 18, a linear bearing 19 is arranged between the telescopic driving rack 15 and the revolving body 2, a matching relationship is provided between the inner surface of the linear bearing 19 and the cylindrical surface 16, and the cylindrical surface 16 is connected with the revolving body 2 through the linear bearing, so that a sliding pair is formed between the telescopic driving rack 15 and the revolving body 2, and relative sliding is realized; the tooth-shaped structure 17 is matched with a gear on the telescopic driving motor 13 to realize telescopic driving; the guide groove structure 18 is matched with a rack guide key 20 on the revolving body 2 to realize circumferential limit.
A telescopic body 12 mounted with a tool driving motor 21, a tool motor contact flange 38 and a circuit switching floating ring 33; a motor shaft connecting sleeve 22 is installed on an output shaft of the tool driving motor 21, a tool end connecting sleeve 23 and a torque transmission pin shaft 24 are installed on the motor shaft connecting sleeve 22, a first compression spring 25 is installed between the tool end connecting sleeve 23 and the motor shaft connecting sleeve 22, a certain distance is kept between the tool end connecting sleeve 23 and the motor shaft connecting sleeve 22 under the elastic force action of the first compression spring 25 under the normal condition, and when an external tool is not aligned with the tool end connecting sleeve 23, self-adaptive alignment during interface butt joint can be achieved through the first compression spring 25 so as to adapt to the external tool;
as shown in fig. 4, the tool end connecting sleeve 23 can slide relative to the motor shaft connecting sleeve 22, and is provided with a U-shaped guide groove 26, as shown in fig. 3, a guide fit relationship is formed between the torque transmission pin shaft 24 and the U-shaped guide groove 26, so that the guide and limit functions of the tool end connecting sleeve 23 are realized; the tool motor contact flange 38 is fixed with the telescopic body 12 and is provided with a tool motor contact 36, a tool motor cable 37 is connected to the tool motor contact 36, and the other end of the tool motor cable 37 is connected with a wiring terminal of the tool driving motor 21; the circuit switching floating ring 33 and the telescopic body 12 can slide relatively, are connected with a tool motor contact flange 38 through a second compression spring 35, and are provided with tool contacts 34; the tool contacts 34 are adapted to contact the tool motor contacts 36 when the circuit-switching floating ring 33 slides in the direction of the tool motor contact flange 38;
the revolving body 2 rotates relative to the main structure 1, is driven by a revolving driving motor 3, and provides reverse torque to eliminate transmission backlash by a revolving counter torque motor 7; the telescopic body 12 telescopically moves relative to the main structure 1, is driven by a telescopic driving motor 13, and realizes guiding and circumferential limiting through the transmission of a gear rack transmission mechanism; under the drive of the revolving body 2 and the telescopic body 12, the main structure 1 can rotate, so that the whole wrist joint can realize the back clearance-free high-precision motion with two degrees of freedom of revolution and telescopic motion.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (3)
1. A wrist joint for a robot arm for use in a nuclear environment, comprising: a main structure, a revolving body and a telescopic body;
the main structure is provided with a revolving body, a revolving motor, a counter torque motor, a wire inlet end flange and an electric slip ring; the revolving body and the main structure are coaxially arranged and are connected with the main structure through a bearing, so that the revolving body can do revolving motion relative to the main structure; the revolving body is connected with an output shaft of a revolving motor through one-stage or multi-stage gear transmission and is connected with an output shaft of a counter torque motor through one-stage or multi-stage gear transmission;
the electric slip ring comprises a stator part and a rotor part; the stator part is fixed with the main structure, the rotor part is fixed with the rotating body, and the stator part and the rotor part can rotate relatively and realize the conduction of multi-path electric signals; an incoming line terminal of the stator part is connected with an electric slip ring access cable, and an outgoing line terminal of the rotor part is connected with a telescopic motor cable and a tool cable; one end of the electric slip ring access cable is connected with the incoming line terminal, and the other end of the electric slip ring access cable is connected with the incoming line terminal of the stator part; one end of a telescopic motor cable is connected with a wire outlet terminal at the rotor, and the other end of the telescopic motor cable is connected with a wiring terminal of the telescopic driving motor; one end of the tool cable is connected with a wire outlet terminal of the rotor part, is wound on the cable arranging column and penetrates through the telescopic transmission rack to be connected with the tool contact;
the incoming line terminal is provided with an incoming line terminal, a flange guide pin shaft and an incoming line terminal pin shaft bolt; the incoming line terminal is connected with the incoming line terminal pin shaft bolt through an incoming line terminal floating spring, an electric slip ring access cable is connected to the incoming line terminal, and the other end of the electric slip ring access cable is connected with the incoming line terminal of the stator part of the electric slip ring;
the revolving body is provided with a telescopic body, a telescopic driving motor, a rack guide key and a cable arranging column; a telescopic transmission rack is arranged between the telescopic body and the revolving body, and the telescopic transmission rack and the revolving body slide relatively through a bearing; an output shaft of the telescopic driving motor is provided with a telescopic transmission gear, and the telescopic transmission gear is meshed with a telescopic transmission rack to form a gear rack transmission mechanism; the rack guide key is matched with a guide groove structure of the telescopic transmission rack, so that the telescopic body and the revolving body realize a circumferential limiting function; an L-shaped cavity is formed between the revolving body and the telescopic body, the L-shaped cavity is well sealed with the outside, high-pressure gas is filled in the cavity, and the step surface of the telescopic body bears downward axial force under the action of gas pressure intensity, so that the telescopic body always bears a downward pretightening force;
the telescopic body is provided with a tool driving motor, a tool motor contact flange and a circuit switching floating ring; a motor shaft connecting sleeve is arranged on an output shaft of the tool driving motor, a tool end connecting sleeve and a torque transmission pin shaft are also arranged on the motor shaft connecting sleeve, and a compression spring is arranged between the tool end connecting sleeve and the motor shaft connecting sleeve; the tool end connecting sleeve can slide relative to the motor shaft connecting sleeve and is provided with a U-shaped guide groove, and a guide matching relation is formed between the torque transmission pin shaft and the U-shaped guide groove, so that the guide and limiting functions of the tool end connecting sleeve are realized; the tool motor contact flange is fixed with the telescopic body and is provided with a tool motor contact, a tool motor cable is connected to the tool motor contact, and the other end of the tool motor cable is connected with a wiring terminal of a tool driving motor; the circuit switching floating ring and the telescopic body can slide relatively, are connected with a tool motor contact flange through a compression spring and are provided with tool contacts; the tool contact can be contacted with the tool motor contact when the circuit switching floating ring slides towards the tool motor contact flange;
the revolving body rotates relative to the main structure, is driven by a revolving driving revolving motor, and provides reverse torque through a counter torque motor to eliminate transmission backlash; the telescopic body moves telescopically relative to the main structure, is driven by a telescopic driving motor and realizes guiding and circumferential limiting through the transmission of a gear rack transmission mechanism; under the drive of the revolving body and the telescopic body, the rotation operation of the main structure is realized, so that the whole wrist joint realizes the back clearance-free high-precision motion with two degrees of freedom of revolution and telescopic motion.
2. The wrist joint for a nuclear environment according to claim 1, wherein said floating spring of the incoming terminal is a hollow spindle-shaped structure having a plurality of independent petal-shaped spring leaves; the petal-shaped elastic sheet is made of elastic metal materials, deforms towards the direction of external force when receiving the external force, and resets after the external force disappears.
3. The wrist joint for a nuclear environment, according to claim 1, wherein the telescopic driving rack is of a hollow structure penetrating along an axis and has a cylindrical surface, one side of the cylindrical surface is provided with a tooth-shaped structure, the other side of the cylindrical surface is provided with a guide groove structure, and the cylindrical surface is connected with the revolving body through a linear bearing, so that a sliding pair is formed between the telescopic driving rack and the revolving body; the tooth-shaped structure is matched with a gear on a telescopic driving motor to realize telescopic driving; the guide groove structure is matched with a rack guide key on the revolving body to realize circumferential limiting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811147893.7A CN109048989B (en) | 2018-09-29 | 2018-09-29 | A mechanical arm wrist joint for nuclear environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811147893.7A CN109048989B (en) | 2018-09-29 | 2018-09-29 | A mechanical arm wrist joint for nuclear environment |
Publications (2)
| Publication Number | Publication Date |
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| CN109048989A CN109048989A (en) | 2018-12-21 |
| CN109048989B true CN109048989B (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811147893.7A Expired - Fee Related CN109048989B (en) | 2018-09-29 | 2018-09-29 | A mechanical arm wrist joint for nuclear environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109927071A (en) * | 2019-03-18 | 2019-06-25 | 广东工业大学 | A kind of main robot single-degree-of-freedom revolute joint |
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| CN205237681U (en) * | 2015-10-27 | 2016-05-18 | 重庆航天职业技术学院 | Automatic many joints digit control machine tool arm of material is got to centering |
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| US4518308A (en) * | 1982-03-01 | 1985-05-21 | Acrobe Technology Inc. | Manipulator apparatus |
| FR2818450B1 (en) * | 2000-12-20 | 2004-12-10 | Fci France | TELEMANIPULABLE SHEET |
| JP2007151220A (en) * | 2005-11-24 | 2007-06-14 | Central Japan Railway Co | Multiple magnetic pole generating mechanism and claw pole motor-generator |
| CN100544903C (en) * | 2007-08-29 | 2009-09-30 | 哈尔滨工业大学 | Spacing mechanical arm parallel modularization joint |
| CN101982051B (en) * | 2010-08-25 | 2012-11-07 | 广西大学 | Hedgerow pruning manipulator with six degrees of freedom (DOP) |
| CN103753601B (en) * | 2013-12-18 | 2016-07-06 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN105252549B (en) * | 2015-11-30 | 2017-03-22 | 东莞理工学院 | Suspension telescopic cylinder and mechanical arm fast installing and uninstalling system under nuclear radiation environment |
| CN106782730B (en) * | 2016-12-02 | 2019-01-25 | 中国东方电气集团有限公司 | A kind of radiation resistance dynamic power machine hand |
| CN106737642A (en) * | 2017-01-10 | 2017-05-31 | 江门市蚂蚁机器人有限公司 | Speed reducing driving device, drive system and control method based on Dual-Servo Motor |
| CN207359116U (en) * | 2017-09-22 | 2018-05-15 | 中国东方电气集团有限公司 | A kind of mechanical arm simple joint module of internal cabling |
| CN207359113U (en) * | 2017-09-22 | 2018-05-15 | 中国东方电气集团有限公司 | A kind of modularization high-accuracy mechanical arm cradle head |
| CN107662195A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of mechanical hand principal and subordinate isomery remote operating control system and control method with telepresenc |
| CN107443417A (en) * | 2017-09-22 | 2017-12-08 | 中国东方电气集团有限公司 | A kind of wrist joint with the flexible free degree |
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2018
- 2018-09-29 CN CN201811147893.7A patent/CN109048989B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205237681U (en) * | 2015-10-27 | 2016-05-18 | 重庆航天职业技术学院 | Automatic many joints digit control machine tool arm of material is got to centering |
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