CN112223246A

CN112223246A - Master-slave joint type manipulator

Info

Publication number: CN112223246A
Application number: CN202011076363.5A
Authority: CN
Inventors: 郑继龙; 冯丽华; 王名飞
Original assignee: Jiangsu Cashh Nuclear Environment Protection Co ltd
Current assignee: Jiangsu Cashh Nuclear Environment Protection Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-15

Abstract

The invention discloses a master-slave joint type manipulator which comprises a base, a first storage box, an auxiliary clamping assembly, an auxiliary fixing assembly, a driving motor, a storage battery and a control box, wherein a moving mechanism is fixed on the lower side of the base, the first storage box, a second storage box, a third storage box and a fourth storage box are all positioned in the base, the second storage box is positioned on the left side of the third storage box, auxiliary supporting assemblies are fixed in the first storage box and the third storage box respectively, the rear side of the fourth storage box is rotatably connected with a second sealing plate, the auxiliary clamping assembly is fixed in the fourth storage box, and the auxiliary fixing assembly is used for fixing a clamping device or other devices. The master-slave joint type manipulator is provided with a self-locking roller and an auxiliary supporting assembly, the self-locking roller can move in multiple directions under the auxiliary action of a moving mechanism, and an auxiliary supporting plate in the supporting assembly can be used for assisting and fixing the whole device under the auxiliary action of a hydraulic cylinder.

Description

Master-slave joint type manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a master-slave joint type manipulator.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

Present principal and subordinate articulated type manipulator can only fix when using and use on the fixed plate, can not remove to the processing equipment on the principal and subordinate articulated type manipulator can not change, and the practicality is not strong, at manipulator during operation, if when operational environment conflagration breaing out, if do not carry out very first time and handle, causes unnecessary casualties at last, when changing the processing equipment on the manipulator of principal and subordinate articulated type simultaneously, can only change after needing operating personnel to look for the instrument, can not handle very first time.

Disclosure of Invention

The invention aims to provide a master-slave joint type manipulator, which solves the problems that the existing master-slave joint type manipulator proposed in the background technology can only be fixed on a fixed plate for use and cannot move when in use, processing equipment on the master-slave joint type manipulator cannot be replaced, when the manipulator works, if a working environment is in a fire disaster, the first time processing is not carried out, and finally unnecessary casualties are caused, and meanwhile, when the processing equipment on the master-slave joint type manipulator is replaced, an operator needs to search for a tool to replace the tool.

In order to achieve the purpose, the invention provides the following technical scheme: a master-slave joint type manipulator comprises a base, a first storage box, an auxiliary clamping assembly, an auxiliary fixing assembly, a driving motor, a storage battery and a control box,

the self-locking device comprises a base, wherein a moving mechanism is fixed on the lower side of the base and is rotatably connected with a self-locking roller;

the first storage box, the second storage box, the third storage box and the fourth storage box are all positioned in the base, the first storage box is positioned on the left side of the second storage box, the second storage box is positioned on the left side of the third storage box, the first storage box is positioned on the lower side of the fourth storage box, auxiliary support assemblies are fixed in the first storage box and the third storage box, the outer walls of the first storage box and the third storage box are both rotatably connected with a first sealing plate, and the rear side of the fourth storage box is rotatably connected with a second sealing plate;

the auxiliary clamping assembly is fixed inside the fourth storage box, and a fire extinguishing assembly is fixed in the auxiliary clamping assembly in an auxiliary mode;

the auxiliary fixing component is used for fixing the clamp or other devices, and the auxiliary fixing component is fixed on the first supporting plate in a threaded mode.

Preferably, the inner wall of the second storage box is connected with a first drawing box and a second drawing box in a sliding mode, and the first drawing box is located on the upper side of the second drawing box.

Preferably, the auxiliary clamping assembly comprises a spring shaft and an auxiliary clamping plate, and the auxiliary clamping plate is fixed at one end of the spring shaft.

Preferably, the subassembly of putting out a fire includes fire extinguisher, conveying pipeline, discharge gate, fixed plate and smoke transducer, conveying pipeline one end is linked together with the fire extinguisher, and the conveying pipeline other end is linked together with the discharge gate, the discharge gate runs through on the fixed plate, and the fixed plate downside is fixed on principal and subordinate articulated type manipulator body, and the fixed plate upside is fixed with smoke transducer simultaneously.

Preferably, the auxiliary fixing component comprises a bolt and a nut, the bolt penetrates through the first supporting plate and the clamp holder and is in threaded connection with the bolt, and the clamp holder is fixed with the clamping gripper.

Preferably, the output end of the driving motor is rotatably connected with a manipulator base, the manipulator base is rotatably connected with a second supporting plate, a first electric telescopic rod is fixed on the lower side of the second supporting plate, and the lower side of the first electric telescopic rod is fixed on the lower side in the base.

Preferably, the auxiliary supporting assembly comprises a second electric telescopic rod, a fixing plate, a hydraulic cylinder and an auxiliary supporting plate, wherein the fixing plate is fixed at one end of the second electric telescopic rod, the hydraulic cylinder is fixed on the fixing plate, the auxiliary supporting plate is fixed on the lower side of the hydraulic cylinder through a piston rod, and a rubber anti-slip pad is fixed on the lower side of the auxiliary supporting plate.

Preferably, the battery is fixed at the inside upside of third storage box, and battery electric connection has charge mouthful and electric quantity warning light, and electric quantity warning light is located the mouth rear side that charges simultaneously.

Preferably, the control box is fixed on the upper side of the second support plate.

Compared with the prior art, the invention has the beneficial effects that: the master-slave joint type manipulator is provided with a master-slave joint type manipulator,

(1) the automatic joint type manipulator is provided with a self-locking roller and an auxiliary support assembly, the self-locking roller can move in multiple directions under the auxiliary action of a moving mechanism, the master-slave joint type manipulator can move to other places for use when in use, the usability of the master-slave joint type manipulator is improved, and after the master-slave joint type manipulator moves to a required position, the auxiliary support plate in the support assembly can perform auxiliary fixing on the whole device under the auxiliary action of a hydraulic cylinder, so that the normal use of the master-slave joint type manipulator is ensured;

(2) the auxiliary clamping assembly and the fire extinguishing assembly are arranged, the auxiliary clamping assembly can be used for auxiliary fixing of the fire extinguisher, the situation that the fire extinguisher collides in a second storage box when the whole device is moved to damage the shell of the fire extinguisher and influence the service life is avoided, and dry powder in the fire extinguisher is sprayed out through the discharge hole when a fire disaster occurs, so that the fire extinguisher can be extinguished at the first time, and unnecessary loss is avoided;

(3) the auxiliary fixing component is arranged, and the first supporting plate, the clamp holder or other processing equipment can be disassembled and assembled by the bolt and the nut in the auxiliary fixing component, so that different equipment can be conveniently replaced, and the practicability of the whole device is improved;

(4) be provided with first pull box and second pull box, separate into four looks isospaces in two first pull boxes, can place the instrument classification of difference in first pull box like this, the later stage operating personnel of being convenient for like this seek or take the instrument fast, and fire extinguisher or other article can be deposited in setting up of second pull box, multiplicable device's storage function like this.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a rear view of the present invention;

FIG. 3 is a left side view of the present invention;

FIG. 4 is a schematic diagram of the right-view structure of the present invention;

FIG. 5 is a schematic view of the distribution structure of the auxiliary supporting components in the base according to the present invention;

FIG. 6 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

fig. 7 is a schematic structural view of the first drawer box of the present invention.

In the figure: 1. a base, 2, a moving mechanism, 3, a self-locking roller, 4, a first storage box, 5, a second storage box, 6, a third storage box, 7, a fourth storage box, 8, an auxiliary clamping component, 801, a spring shaft, 802, an auxiliary clamping plate, 9, a fire extinguishing component, 901, a fire extinguisher, 902, a conveying pipeline, 903, a discharge port, 904, a fixed plate, 905, a smoke sensor, 10, a master-slave articulated manipulator body, 11, a first supporting plate, 12, an auxiliary fixing component, 1201, a bolt, 1202, a nut, 13, a clamper, 14, a clamping gripper, 15, a manipulator base, 16, a driving motor, 17, a second supporting plate, 18, a first electric telescopic rod, 19, an auxiliary supporting component, 1901, a second electric telescopic rod, 1902, a fixed plate, 1903, a hydraulic cylinder, 1904, an auxiliary supporting plate, 20, a first sealing plate, 21, a storage battery, 22, a first drawing box, 23. the second pull box 24, the second sealing plate 25, the charging port 26, the electric quantity reminding lamp 27 and the control box.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a master-slave joint type manipulator is disclosed, as shown in figure 1, figure 3, figure 4, figure 5 and figure 7, a moving mechanism 2 is fixed on the lower side of a base 1, a self-locking roller 3 is connected on the moving mechanism 2 in a rotating way, a first storage box 4, a second storage box 5, a third storage box 6 and a fourth storage box 7 are all positioned in the base 1, the first storage box 4 is positioned on the left side of the second storage box 5, the second storage box 5 is positioned on the left side of the third storage box 6, the first storage box 4 is positioned on the lower side of the fourth storage box 7, a first drawing box 22 and a second drawing box 23 are connected on the inner wall of the second storage box 5 in a sliding way, the first drawing box 22 is positioned on the upper side of the second drawing box 23, a control box 27 is fixed on the upper side of a second supporting plate 17, the first drawing box 22 is provided with two, the two first drawing boxes 22 are divided into four same spaces, the instrument convenient to later stage is look for needs fast, the setting of second pull box 23 can be placed inside second pull box 23 with other longer article or longer instrument, be convenient for store, increase the practicality, just can carry out dismouting installation to holder 13 after need not artificially prepare the toolbox alone, all be fixed with auxiliary stay subassembly 19 in first storage box 4 and the third storage box 6, and first storage box 4 and the 6 outer wall of third storage box all rotate and be connected with first closing plate 20, auxiliary stay subassembly 19 includes second electric telescopic handle 1901, fixed plate 1902, pneumatic cylinder 1903 and auxiliary support plate 1904, second electric telescopic handle 1901 one end is fixed with fixed plate 1902, and be fixed with pneumatic cylinder 1903 on the fixed plate 1902, the pneumatic cylinder 1903 downside is fixed with auxiliary support plate 1904 through the piston rod simultaneously, the auxiliary support plate 1904 downside is fixed with the rubber slipmat, auto-lock gyro wheel 3 can drive the whole device of upside articulated type manipulator and move to institute's principal and subordinate joint type manipulator and subordinate under moving mechanism 2's auxiliary action Need the position, fixed plate 1902 outwards removes to required position under the synergism of second electric telescopic handle 1901, auxiliary support plate 1904 removes downwards under the synergism of pneumatic cylinder 1903 on fixed plate 1902, last auxiliary support plate 1904 and ground laminating, just so can assist fixedly to whole device, and the auxiliary support plate 1904 downside is fixed with the rubber slipmat, can play anti-skidding effect like this, avoid whole device to take place to remove at the during operation, influence master slave joint type manipulator normal work at last, fourth storage box 7 rear side rotation is connected with second closing plate 24.

As shown in fig. 1, 2, 5 and 6, the auxiliary clamping assembly 8 is fixed inside the fourth storage box 7, and the fire extinguishing assembly 9 is fixed in the auxiliary clamping assembly 8 in an auxiliary manner, the auxiliary clamping assembly 8 includes a spring shaft 801 and an auxiliary clamping plate 802, one end of the spring shaft 801 is fixed with the auxiliary clamping plate 802, the fire extinguishing assembly 9 includes a fire extinguisher 901, a material conveying pipe 902, a material outlet 903, a fixing plate 904 and a smoke sensor 905, one end of the material conveying pipe 902 is communicated with the fire extinguisher 901, the other end of the material conveying pipe 902 is communicated with the material outlet 903, the material outlet 903 penetrates through the fixing plate 904, the lower side of the fixing plate 904 is fixed on the master-slave joint type manipulator body 10, the smoke sensor 905 is fixed on the upper side of the fixing plate 904, the auxiliary clamping plate 802 can perform auxiliary fixing on the fire extinguisher 901 under the action of the spring force of the spring shaft 801, influences the normal service life of fire extinguisher 901, when the operational environment conflagration breaks out, dry powder in fire extinguisher 901 gets into discharge gate 903 through conveying pipeline 902, and dry powder just can put out a fire the treatment to the scene through discharge gate 903 blowout, does not need the manual operation, avoids unnecessary casualties.

As shown in fig. 1 and 6, the auxiliary fixing component 12 is used for fixing the gripper 13 or other devices, and the auxiliary fixing component 12 is screwed on the first supporting plate 11, the auxiliary fixing component 12 comprises a bolt 1201 and a nut 1202, the bolt 1201 is screwed through the first supporting plate 11 and the gripper 13, the gripper 13 is fixed with a gripping hand 14, the output end of the driving motor 16 is rotatably connected with the manipulator base 15, the manipulator base 15 is rotatably connected with the second supporting plate 17, the lower side of the second supporting plate 17 is fixed with the first electric telescopic rod 18, the lower side of the first electric telescopic rod 18 is fixed on the lower side of the interior of the base 1, the storage battery 21 is fixed on the upper side of the interior of the third storage box 6, the storage battery 21 is electrically connected with the charging port 25 and the electric quantity reminding lamp 26, the electric quantity reminding lamp 26 is located on the rear side of the charging port 25, the first electric telescopic rod 18 is arranged to adjust the height of, the battery 21 converts the direct current to the alternating current through the dc-to-ac converter and provides the electric energy for whole device, and setting up of electric quantity warning light 26 can remind the electric quantity, avoids battery 21 electric capacity insufficient influence principal and subordinate articulated type manipulator normal work, artificial rotatory nut 1202 and bolt 1201, and bolt 1201 and first backup pad 11 and holder 13 separation just so can be with other equipment thread tightening on first backup pad 11, and the later stage of being convenient for is used, increases the practicality of whole device.

The working principle is as follows: when the master-slave articulated manipulator is used, an external power supply is switched on, a second sealing plate 24 at the rear side of a base 1 is manually opened, a fire extinguisher 901 is manually placed between auxiliary clamping plates 802 in a fourth storage box 7, the fire extinguisher 901 is secondarily fixed under the action of the elastic force of a spring shaft 801 on the auxiliary clamping plates 802, a conveying pipe 902 is manually communicated with the fire extinguisher 901, other charging wires are manually inserted into a charging port 25, so that the storage battery 21 can be charged, an electric quantity reminding lamp 26 can remind the electric quantity, after the whole work is finished, a self-locking roller 3 can drive the whole device of the master-slave articulated manipulator at the upper side to move to a required position under the auxiliary action of a moving mechanism 2, a second electric telescopic rod 1901 and a hydraulic cylinder 1903 are started under the action of a control box 27, and a fixing plate 1902 moves left and right under the auxiliary action of the second electric telescopic rod 1901, the fixing plate 1902 pushes the first sealing plate 20 to open, the fixing plate 1902 moves to a desired position, the auxiliary supporting plate 1904 moves downward under the auxiliary action of the hydraulic cylinder 1903 on the fixing plate 1902, and finally the auxiliary supporting plate 1904 is attached to the ground, so that the whole device can be fixed in an auxiliary manner, and a rubber anti-slip pad is fixed on the lower side of the auxiliary supporting plate 1904, so that an anti-slip effect can be achieved, and the phenomenon that the whole device moves during operation and normal operation of the master-slave articulated manipulator is affected is avoided, the manipulator base 15 rotates in multiple angles under the auxiliary action of the driving motor 16 on the manipulator base 15, the gripper 13 fixed on the first supporting plate 11 can be driven to move to a desired position under the auxiliary action of the gripper 13, the gripper 14 can perform gripping operation under the auxiliary action of the gripper 13, and the first drawer 22 and the second drawer 23 in the second storage box 5 can be pulled apart manually, the desired tool is manually taken, the bolt 1201 and the nut 1202 are manually rotated by the tool, so that the first support plate 11 is separated from the holder 13, so that other devices can be replaced for use, the main-slave joint type manipulator body 10 on the second supporting plate 17 can be driven to carry out height adjustment under the auxiliary action of the first electric telescopic rod 18 in the first storage box 4 and the third storage box 6, in the event of a fire at the operating site, the smoke sensor 905 transmits information to the control box 27, the valve of the fire extinguisher 901 is opened under the action of the control box 27, the dry powder in the fire extinguisher 901 enters the discharge hole 903 on the fixed plate 904 through the conveying pipe 902, finally the dry powder is sprayed out through the discharge hole 903, the fire extinguishing treatment can be performed in multiple angles under the auxiliary action of the master-slave joint type manipulator body 10, and the content which is not described in detail in the specification belongs to the prior art which is well known to those skilled in the art.

The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for simplicity of description only and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be considered limiting of the claimed invention.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a master slaver joint type manipulator, includes base (1), first storage box (4), supplementary centre gripping subassembly (8), supplementary fixed subassembly (12), driving motor (16), battery (21) and control box (27), its characterized in that:

the device comprises a base (1), wherein a moving mechanism (2) is fixed on the lower side of the base (1), and a self-locking roller (3) is rotatably connected to the moving mechanism (2);

the first storage box (4), the second storage box (5), the third storage box (6) and the fourth storage box (7) are all located in the base (1), the first storage box (4) is located on the left side of the second storage box (5), the second storage box (5) is located on the left side of the third storage box (6), the first storage box (4) is located on the lower side of the fourth storage box (7), auxiliary supporting components (19) are fixed in the first storage box (4) and the third storage box (6), the outer walls of the first storage box (4) and the third storage box (6) are rotatably connected with first sealing plates (20), and the rear side of the fourth storage box (7) is rotatably connected with second sealing plates (24);

the auxiliary clamping assembly (8) is fixed inside the fourth storage box (7), and a fire extinguishing assembly (9) is fixed inside the auxiliary clamping assembly (8) in an auxiliary mode;

the auxiliary fixing component (12), the auxiliary fixing component (12) is used for fixing the clamp (13) or other devices, and the auxiliary fixing component (12) is fixed on the first supporting plate (11) in a threaded mode.

2. A master-slave articulated manipulator according to claim 1, characterized in that: the inner wall of the second storage box (5) is connected with a first drawing box (22) and a second drawing box (23) in a sliding mode, and the first drawing box (22) is located on the upper side of the second drawing box (23).

3. A master-slave articulated manipulator according to claim 1, characterized in that: the auxiliary clamping assembly (8) comprises a spring shaft (801) and an auxiliary clamping plate (802), wherein the auxiliary clamping plate (802) is fixed at one end of the spring shaft (801).

4. A master-slave articulated manipulator according to claim 1, characterized in that: fire extinguishing assembly (9) are including fire extinguisher (901), conveying pipeline (902), discharge gate (903), fixed plate (904) and smoke transducer (905), conveying pipeline (902) one end is linked together with fire extinguisher (901), and conveying pipeline (902) other end is linked together with discharge gate (903), discharge gate (903) run through on fixed plate (904), and fixed plate (904) downside is fixed on master-slave articulated type manipulator body (10), and fixed plate (904) upside is fixed with smoke transducer (905) simultaneously.

5. A master-slave articulated manipulator according to claim 1, characterized in that: the auxiliary fixing component (12) comprises a bolt (1201) and a nut (1202), the bolt (1201) penetrates through the first supporting plate (11) and the clamp holder (13) and is in threaded connection with the bolt (1201), and a clamping gripper (14) is fixed on the clamp holder (13).

6. A master-slave articulated manipulator according to claim 1, characterized in that: the manipulator mechanism is characterized in that the output end of the driving motor (16) is rotatably connected with a manipulator base (15), the manipulator base (15) is rotatably connected with a second supporting plate (17), a first electric telescopic rod (18) is fixed on the lower side of the second supporting plate (17), and the lower side of the first electric telescopic rod (18) is fixed on the inner lower side of the base (1).

7. A master-slave articulated manipulator according to claim 1, characterized in that: the auxiliary supporting assembly (19) comprises a second electric telescopic rod (1901), a fixing plate (1902), a hydraulic cylinder (1903) and an auxiliary supporting plate (1904), wherein one end of the second electric telescopic rod (1901) is fixed with the fixing plate (1902), the hydraulic cylinder (1903) is fixed on the fixing plate (1902), the lower side of the hydraulic cylinder (1903) is fixed with the auxiliary supporting plate (1904) through a piston rod, and the lower side of the auxiliary supporting plate (1904) is fixed with a rubber anti-slip pad.

8. A master-slave articulated manipulator according to claim 1, characterized in that: the storage battery (21) is fixed on the upper side inside the third storage box (6), the storage battery (21) is electrically connected with a charging port (25) and an electric quantity reminding lamp (26), and the electric quantity reminding lamp (26) is located on the rear side of the charging port (25).

9. A master-slave articulated manipulator according to claim 1, characterized in that: the control box (27) is fixed on the upper side of the second support plate (17).