CN113618701A - Teleoperation manipulator, rotary table thereof and teleoperation equipment - Google Patents
Teleoperation manipulator, rotary table thereof and teleoperation equipment Download PDFInfo
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- CN113618701A CN113618701A CN202111185818.1A CN202111185818A CN113618701A CN 113618701 A CN113618701 A CN 113618701A CN 202111185818 A CN202111185818 A CN 202111185818A CN 113618701 A CN113618701 A CN 113618701A
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- driving wheel
- arm
- turntable
- large arm
- small arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a teleoperation manipulator, a rotary table thereof and teleoperation equipment, wherein the rotary table comprises: rotating the disc; the large arm transmission mechanism comprises a large arm motor and a large arm speed reduction assembly; the small arm transmission mechanism comprises a small arm motor and a small arm speed reduction assembly; the large arm motor and the small arm motor are respectively arranged below the rotating disc. According to the turntable provided by the invention, the large arm motor and the small arm motor are arranged below the rotating disc, so that the gravity center of the turntable can be reduced, the turntable can run more stably, and the operation precision of the teleoperation manipulator is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a teleoperation manipulator, a rotary table thereof and teleoperation equipment.
Background
Teleoperation manipulators have been receiving attention and attention from many research institutes and researchers as an important branch of robots. The teleoperation manipulator is a remote operation robot which can finish complex operation in an environment difficult to be accessed by people under the control of people, and is applied to the fields of aviation, medical treatment, rescue, industry and the like.
The teleoperation equipment comprises a master manipulator and a slave manipulator, an operator manually controls the master manipulator to enable the slave manipulator to move along with the action of the master manipulator to perform task operation, and meanwhile, the working state of the slave manipulator can be fed back to the master manipulator in real time to enable the operator to sense the working state, so that the operator can make a correct decision conveniently.
Referring to fig. 1, patent document CN201510024433.5 discloses a "force sense manipulator with mechanical arm", which includes a rotary disk, a second joint driving mechanism and a third joint driving mechanism, wherein the second joint driving mechanism and the third joint driving mechanism are integrally disposed above the rotary disk, resulting in a high center of gravity of the entire turntable, so that the force sense manipulator is not stable enough during operation.
Disclosure of Invention
The invention mainly aims to provide a rotary table of a teleoperation manipulator, aiming at solving the technical problem that the center of gravity of the rotary table of the existing teleoperation manipulator is higher.
To achieve the above object, the present invention provides a turntable of a teleoperated manipulator, the turntable of the teleoperated manipulator including:
rotating the disc;
the large arm transmission mechanism comprises a large arm motor and a large arm speed reduction assembly; and
the small arm transmission mechanism comprises a small arm motor and a small arm speed reduction assembly;
the large arm motor and the small arm motor are respectively arranged below the rotating disc.
Wherein, the big arm motor and the small arm motor are respectively horizontally arranged at two opposite sides of the rotating disc.
Wherein, the direction of the output shaft of the large arm motor is opposite to that of the output shaft of the small arm motor.
Wherein, big arm speed reduction subassembly and forearm speed reduction subassembly set up the relative both sides at the rolling disc.
The large arm speed reduction assembly comprises a large arm primary speed reduction unit connected with a large arm motor and a large arm secondary speed reduction unit connected with the large arm primary speed reduction unit;
the small arm speed reducing assembly comprises a small arm first-stage speed reducing unit connected with the small arm motor and a small arm second-stage speed reducing unit connected with the small arm first-stage speed reducing unit.
The large arm primary speed reducing unit comprises a large arm first driving wheel and a large arm second driving wheel, the large arm first driving wheel is arranged on an output shaft of the large arm motor, and the large arm second driving wheel is in transmission connection with the large arm first driving wheel;
the large arm secondary speed reduction unit comprises a large arm third driving wheel and a large arm fourth driving wheel, the large arm third driving wheel and the large arm second driving wheel are coaxially arranged, and the large arm fourth driving wheel is in transmission connection with the large arm third driving wheel.
The small arm primary speed reduction unit comprises a small arm first driving wheel and a small arm second driving wheel, the small arm first driving wheel is arranged on an output shaft of the small arm motor, and the small arm second driving wheel is in transmission connection with the small arm first driving wheel;
the small arm secondary speed reduction unit comprises a small arm third driving wheel and a small arm fourth driving wheel, the small arm third driving wheel and the small arm second driving wheel are coaxially arranged, and the small arm fourth driving wheel is in transmission connection with the small arm third driving wheel.
The first driving wheel of the big arm and the second driving wheel of the big arm are gear pairs;
the first driving wheel of the small arm and the second driving wheel of the small arm are gear pairs.
The large arm third driving wheel and the large arm fourth driving wheel are driven by the first rigid rope;
and the small arm third driving wheel and the small arm fourth driving wheel are driven by a second rigid rope.
The first through hole is formed in one side of the rotating disc;
the second through hole is formed in the other side of the rotating disc;
the big arm second driving wheel penetrates through the first through hole, at least one part of the big arm second driving wheel is located above the first through hole, the small arm second driving wheel penetrates through the second through hole, and at least one part of the small arm second driving wheel is located above the second through hole.
The large arm fourth driving wheel and the small arm fourth driving wheel are oppositely arranged above the rotating disc and are positioned between the large arm second driving wheel and the small arm second driving wheel.
Wherein, the revolving stage of teleoperation manipulator still includes:
the first mounting frame is arranged above the rotating disc;
the second mounting frame is arranged at intervals with the first mounting frame;
the big arm fourth driving wheel is arranged on the first mounting frame, and the small arm fourth driving wheel is arranged on the second mounting frame.
Wherein, the revolving stage of teleoperation manipulator still includes:
the first encoder is connected with the large arm motor; and/or the presence of a gas in the gas,
and the second encoder is connected with the fourth transmission wheel of the large arm and is positioned at the outer side of the fourth transmission wheel of the large arm.
Wherein, the revolving stage of teleoperation manipulator still includes:
the third encoder is connected with the small arm motor; and/or the presence of a gas in the gas,
and the fourth encoder is connected with the fourth driving wheel of the small arm and is positioned at the outer side of the fourth driving wheel of the small arm.
Wherein, the revolving stage of teleoperation manipulator still includes:
the first mounting seat is relatively fixed with the rotating disc, a reading head of a second encoder is connected with the first mounting seat, and a coded disc of the second encoder is connected with a fourth driving wheel of the large arm; and/or the presence of a gas in the gas,
and the second mounting seat and the first mounting seat are arranged at intervals, a reading head of a fourth encoder is connected with the second mounting seat, and a code wheel of the fourth encoder is connected with a fourth driving wheel of the small arm.
The first encoder is an incremental encoder, and the second encoder is an absolute value encoder; and/or the presence of a gas in the gas,
the third encoder is an incremental encoder and the fourth encoder is an absolute value encoder.
The present invention also proposes a teleoperated manipulator comprising the aforesaid turret, the turret comprising:
rotating the disc;
the large arm transmission mechanism comprises a large arm motor and a large arm speed reduction assembly; and
the small arm transmission mechanism comprises a small arm motor and a small arm speed reduction assembly;
the large arm motor and the small arm motor are respectively arranged below the rotating disc.
Wherein, teleoperation manipulator still includes the base of locating the revolving stage below, and the base includes:
a fixed seat is arranged on the base body,
the rotary table motor is horizontally arranged on the fixed seat;
the rotary table rotating shaft is vertically arranged on the fixed seat; and the number of the first and second groups,
the output shaft of the turntable motor is connected with the turntable rotating shaft through the speed reducing assembly.
The turntable speed reducing assembly comprises a first turntable driving wheel and a second turntable driving wheel, the first turntable driving wheel is coaxially arranged on an output shaft of the turntable motor, and the second turntable driving wheel is horizontally arranged on the fixed seat and is rotatably connected with the fixed seat.
The turntable speed reducing assembly further comprises a turntable third driving wheel and a turntable fourth driving wheel, the turntable third driving wheel and the turntable second driving wheel are coaxially fixed, and the turntable fourth driving wheel and the turntable rotating shaft are coaxially fixed.
The present invention further provides a teleoperation device comprising a slave manipulator and the teleoperation manipulator described above, the teleoperation manipulator being in communication connection with the slave manipulator, the teleoperation manipulator comprising the turntable described above, the turntable comprising:
rotating the disc;
the large arm transmission mechanism comprises a large arm motor and a large arm speed reduction assembly; and
the small arm transmission mechanism comprises a small arm motor and a small arm speed reduction assembly;
the large arm motor and the small arm motor are respectively arranged below the rotating disc.
Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:
according to the turntable provided by the invention, two parts with certain weight, namely the large arm motor and the small arm motor, are particularly arranged below the rotating disc, the large arm speed reduction assembly is connected with the large arm motor, and the structure that at least part of the large arm speed reduction assembly is directly connected with the large arm motor is also arranged below the rotating disc, and the small arm speed reduction assembly is similar to the structure. That is, in the present invention, when designing the turntable, two motors having a relatively heavy weight are particularly disposed below the turntable, and the lower side may be a lower surface of the rotating disk directly or may be another structure capable of following the rotating disk. Therefore, the gravity center of the whole rotary table is reduced, and the low gravity center can improve the running stability of the rotary table, thereby improving the operation precision of the teleoperation manipulator.
Drawings
Fig. 1 is a schematic structural diagram of a conventional teleoperated manipulator;
fig. 2 is a schematic structural diagram of a turntable of a teleoperated manipulator according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the turntable in the embodiment of FIG. 2 from another view angle;
FIG. 4 is an exploded view of the large arm drive mechanism of the embodiment of FIG. 2;
FIG. 5 is an exploded view of the lower arm drive of the embodiment of FIG. 2;
fig. 6 is a schematic structural diagram of a teleoperated manipulator according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a base and a turntable according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of the base in the embodiment of FIG. 7;
fig. 9 is another structural diagram of the base in the embodiment of fig. 7.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" or "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
A teleoperation system, which may also be called teleoperation device, force feedback system, or force feedback device, is a remote control device consisting of at least a master manipulator and a slave manipulator. The main manipulator is manually operated by a user, can be arranged in any environment which does not obstruct the movement of the main manipulator, and has at least 3 degrees of freedom to realize the movement of the tail end joint. The slave manipulator and the master manipulator are separated, are manipulator equipment with independent operation capacity, are mainly used as a role operating along with the operation command of the master manipulator after being matched with the master manipulator, and are generally arranged on a working site.
The master manipulator and the slave manipulator may have substantially the same configuration in overall form. For example, in one case, the master manipulator has a base, a number of joints and a handle; every two joints are connected through a joint arm, wherein the joints can comprise a turntable which can horizontally rotate relative to the base, a first joint (which vertically swings on a certain plane relative to the base), a second joint (which swings or rotates on another plane relative to the first joint), or six joints, seven joints and the like; the handle serves as one end for manipulation by the user (contact means such as gripping can be used), and the distal joint of the plurality of joints moves under the manipulation action of the user. The slave manipulator also comprises a base, a plurality of joints and an end effector arranged on the end joint, wherein the base and the joints can adopt the structure consistent with that of the master manipulator, for example, the joint structure, the relative motion mode and the freedom degree are all completely consistent, and only the structure of the end effector is different from that of the handle. The master robot and the slave robot have substantially the same form, and mainly refer to the same structure as the robot.
The master manipulator and the slave manipulator may be different in overall form. For example, in one case, a slave manipulator employs a common six-axis cooperative robot. The main manipulator is provided with a base, six joints and a handle which are arranged on the base and connected in series; every two joints are connected through a joint arm. The first joint can horizontally rotate (also called as a turntable), the joint arm of the second joint can swing or rotate in a vertical plane relative to the first joint, the joint arm of the third joint can swing or rotate in a vertical plane relative to the second joint, the fourth joint can rotate around the joint arm of the third joint, the rotating shaft of the fifth joint is vertical to the rotating shaft of the fourth joint, and the sixth joint can rotate around the joint arm of the fifth joint. In this case, the master manipulator and the slave manipulator are different in structure in the arm portion so that the hand grip connected to the end joint of the master manipulator assumes a posture convenient for gripping operation, and the end effector of the slave manipulator assumes a posture convenient for operation.
How to realize interaction between the master manipulator and the slave manipulator: the master manipulator and the slave manipulator can be connected and communicated through cables or a remote wireless communication mode is adopted, a user controls the handle at the tail end of the master manipulator to act to reflect data of each joint of the master manipulator, the pose of the handle of the master manipulator is converted into the pose of the tail end actuator of the slave manipulator through a space mapping method such as a proportional mapping method, a position-speed mapping method and a working space block mapping method, the motion of each joint of the slave manipulator is determined through a kinematic inverse equation of the slave manipulator, and therefore motion control of the slave manipulator is achieved, and the tail end actuator of the slave manipulator can execute corresponding action. During the action of the slave manipulator, data information sensed by the force sensing or touch sensing sensors is also fed back to the master manipulator, and the master manipulator drives the handles to act through the joint motors so that a user can obtain force sensing.
The present invention is mainly optimized for the modification of the structure of a master manipulator, and the manipulators mentioned herein are mainly referred to as master manipulators, but it is not excluded that in some cases, slave manipulators and master manipulators adopt the same structure, so the present invention is also applicable to other manipulators adopting the same structure, including slave manipulators.
Referring to fig. 2 and 3, fig. 2 is a schematic structural diagram of a turntable of a teleoperated manipulator in an embodiment of the present invention, and fig. 3 is a schematic structural diagram of the turntable of the teleoperated manipulator in the embodiment of fig. 2 from another view angle:
the invention provides a turntable of a teleoperation manipulator, which comprises:
a turn disc 1;
the large arm transmission mechanism 2 comprises a large arm motor 21 and a large arm speed reducing assembly 22; and
the small arm transmission mechanism 3 comprises a small arm motor 31 and a small arm speed reducing assembly 32;
wherein, the large arm motor 21 and the small arm motor 31 are respectively arranged below the rotating disc 1.
In this embodiment, the rotating disc 1 is provided with the large arm transmission mechanism 2 and the small arm transmission mechanism 3, the large arm transmission mechanism 2 includes the large arm motor 21, the small arm transmission mechanism 3 includes the small arm motor 31, the large arm motor 21 and the small arm motor 31 are both disposed below the rotating disc 1, and the lower surface of the rotating disc 1 can be directly disposed below the large arm transmission mechanism and the small arm motor 31, or other structures which can follow the rotating disc 1 below the rotating disc 1. According to the invention, two parts with certain weight, namely the large arm motor 21 and the small arm motor 31, are arranged on the lower surface of the rotating disc 1, the large arm speed reducing assembly 22 is connected with the large arm motor 21, and at least part of the structure directly connected with the large arm motor 21 is also arranged on the lower surface of the rotating disc 1, and the small arm speed reducing assembly 32 is similar to the structure, so that the gravity center of the whole rotating table is reduced, the low gravity center can improve the running stability of the rotating table, and the operation precision of the remote operation manipulator is improved.
Referring to fig. 2, the up-down direction according to the present embodiment is based on the use state of the teleoperation manipulator, and in the use state, the teleoperation manipulator is placed on the desktop.
The large arm motor 21 and the small arm motor 31 may be servo motors or stepping motors, including but not limited to them, and those skilled in the art can select them according to the actual situation.
The large arm speed reduction assembly 22 and the small arm speed reduction assembly 32 can be used for reducing speed in one stage or in multiple stages, so that the power can be reduced and steered according to the preset proportion and direction. The large arm speed reducing assembly 22 and the small arm speed reducing assembly 32 may be driven by synchronous pulleys, gears, wire rope pulleys or combinations of synchronous pulleys, gears and wire rope pulleys.
Referring to fig. 3, in some embodiments, the large arm motor 21 and the small arm motor 31 according to the present invention are horizontally disposed at opposite sides of the rotary disk 1, respectively.
In this embodiment, the large arm motor 21 and the small arm motor 31 are horizontally disposed on two opposite sides of the rotating disk 1, so that the mass distribution of the rotating platform is relatively uniform, the center of gravity of the rotating platform is ensured to be located in the middle area of the rotating platform, and the stability of the teleoperation manipulator is further improved.
Referring to fig. 3, in some embodiments, the output shaft of the large arm motor 21 and the output shaft of the small arm motor 31 are oriented in opposite directions as proposed in the present invention.
In this embodiment, the output shaft of large arm motor 21 is oriented toward one side of rotating disc 1, and the output shaft of small arm motor 31 is oriented toward the other opposite side of rotating disc 1, and since the output shafts of large arm motor 21 and small arm motor 31 are oriented in opposite directions, at least a portion of large arm reduction assembly 22 and small arm reduction assembly 32 will be located on opposite sides of rotating disc 1. When the large arm speed reduction assembly 22 is used for speed reduction transmission, a transmission wheel needs to be arranged on the large arm motor 21, and when the small arm speed reduction assembly 32 is used for speed reduction transmission, a transmission wheel needs to be arranged on the small arm motor 31. Therefore, when the output shafts of the large arm motor 21 and the small arm motor 31 are oppositely arranged, at least the driving wheels on the output shafts of the large arm motor 21 and the small arm motor 31 are respectively positioned at two opposite sides of the rotating disc 1, so that the quality of the rotating table is further ensured to be uniformly distributed, and the stability of the teleoperation manipulator is further improved.
The directions of the output shafts of the large arm motor 21 and the small arm motor 31 according to the present embodiment are perpendicular to the installation directions of the large arm motor 21 and the small arm motor 31 according to the above-described embodiments, the large arm motor 21 and the small arm motor 31 are respectively provided on opposite sides (hereinafter referred to as first opposite sides) of the lower surface of the rotating disc 1, the output shafts of the large arm motor 21 and the small arm motor 31 are respectively directed to the other opposite sides (hereinafter referred to as second opposite sides) of the rotating disc 1, and the second opposite sides are perpendicular to the first opposite sides. The large arm motor 21 and the small arm motor 31 are disposed at the front and rear sides of the rotary plate 1, and the output shafts of the large arm motor 21 and the small arm motor 31 are respectively directed to the left and right sides of the rotary plate 1, where the front, rear, left and right sides are referred to as the use state of the telemanipulator.
Referring to fig. 3, in some embodiments, the large arm reduction assembly 22 and the small arm reduction assembly 32 of the present invention are disposed on opposite sides of the rotating disc 1.
In this embodiment, the large arm deceleration assembly 22 is located on one side of the rotating disc 1, and the small arm deceleration assembly 32 is located on the other opposite side of the rotating disc 1, and since the large arm deceleration assembly 22 and the small arm deceleration assembly 32 are integrally distributed on the rotating disc 1 in a bilateral symmetry manner, the quality of the turntable can be further ensured to be uniformly distributed, so that the center of gravity of the turntable is located in the middle area of the turntable, and the stability of the teleoperation manipulator is further improved.
The installation orientation of the large arm speed reduction unit 22 according to the present embodiment coincides with the orientation of the output shaft of the large arm motor 21, and the installation orientation of the small arm speed reduction unit 32 coincides with the orientation of the output shaft of the small arm motor 31, and is located on both the left and right sides of the rotating disk 1.
Referring to fig. 4 and 5, fig. 4 is a schematic diagram illustrating an exploded structure of the large arm transmission mechanism 2 of the teleoperation manipulator in the embodiment of fig. 2, and fig. 5 is a schematic diagram illustrating an exploded structure of the small arm transmission mechanism 3 of the teleoperation manipulator in the embodiment of fig. 2.
In some embodiments, the big arm speed reduction assembly 22 of the present invention includes a big arm first-stage speed reduction unit 221 connected to the big arm motor 21 and a big arm second-stage speed reduction unit 222 connected to the big arm first-stage speed reduction unit 221; the arm speed reduction assembly 32 includes an arm primary speed reduction unit 321 connected to the arm motor 31 and an arm secondary speed reduction unit 322 connected to the arm primary speed reduction unit 321.
In this embodiment, the boom deceleration assembly 22 includes a boom first-stage deceleration unit 221 and a boom second-stage deceleration unit 222, and during transmission, power is transmitted through the boom first-stage deceleration unit 221 and the boom second-stage deceleration unit 222. The arm speed reducing assembly 32 includes an arm primary speed reducing unit 321 and an arm secondary speed reducing unit 322, and when transmission is performed, power is transmitted through the arm primary speed reducing unit 321 and the arm secondary speed reducing unit 322.
Referring to fig. 4 and 5, in some embodiments, the large arm one-stage reduction unit 221 provided in the present invention includes a large arm first driving wheel 2211 and a large arm second driving wheel 2212, the large arm first driving wheel 2211 is disposed on an output shaft of the large arm motor 21, and the large arm second driving wheel 2212 is in driving connection with the large arm first driving wheel 2211; the large arm secondary speed reducing unit 222 comprises a large arm third driving wheel 2221 and a large arm fourth driving wheel 2222, the large arm third driving wheel 2221 and the large arm second driving wheel 2212 are coaxially arranged, and the large arm fourth driving wheel 2222 is in transmission connection with the large arm third driving wheel 2221.
In this embodiment, the large arm first driving wheel 2211 and the large arm second driving wheel 2212 form the large arm first-stage speed reduction unit 221, and the large arm first driving wheel 2211 and the large arm second driving wheel 2212 may be in transmission connection in a gear engagement manner, in a synchronous belt manner, or in a steel wire rope manner, including but not limited thereto.
The large arm third driving wheel 2221 and the large arm fourth driving wheel 2222 form a large arm secondary reduction unit 222, and the large arm third driving wheel 2221 and the large arm fourth driving wheel 2222 may be in transmission connection in a gear engagement manner, in a synchronous belt manner, or in a steel wire rope manner, including but not limited to this.
The large arm third driving wheel 2221 and the large arm second driving wheel 2212 are coaxially arranged, the large arm third driving wheel 2221 and the large arm second driving wheel 2212 can be of an integrated structure or a split structure, and a person skilled in the art can design the large arm third driving wheel 2221 and the large arm second driving wheel 2212 according to actual conditions.
Referring to fig. 4 and 5, in some embodiments, the small arm primary speed reduction unit 321 provided by the present invention includes a small arm first driving wheel 3211 and a small arm second driving wheel 3212, the small arm first driving wheel 3211 is disposed on an output shaft of the small arm motor 31, and the small arm second driving wheel 3212 is in transmission connection with the small arm first driving wheel 3211; the small arm secondary speed reduction unit 322 comprises a small arm third driving wheel 3221 and a small arm fourth driving wheel 3222, the small arm third driving wheel 3221 and the small arm second driving wheel 3212 are coaxially arranged, and the small arm fourth driving wheel 3222 is in transmission connection with the small arm third driving wheel 3221.
In this embodiment, the small arm first driving wheel 3211 and the small arm second driving wheel 3212 form a small arm first-stage reduction unit 321, and the small arm first driving wheel 3211 and the small arm second driving wheel 3212 may be connected in a gear engagement manner, may also be connected in a synchronous belt manner, and may also be connected in a steel wire rope manner, including but not limited thereto.
The arm third driving wheel 3221 and the arm fourth driving wheel 3222 form an arm secondary reduction unit 322, and the arm third driving wheel 3221 and the arm fourth driving wheel 3222 may be in transmission connection in a gear engagement manner, may also be in transmission connection in a synchronous belt manner, and may also be in transmission connection in a wire rope manner, including but not limited to this.
The small arm third driving wheel 3221 and the small arm second driving wheel 3212 are coaxially disposed, and the small arm third driving wheel 3221 and the small arm second driving wheel 3212 may be integrated or separated, and those skilled in the art may design the driving device according to actual conditions.
In some embodiments, the large arm third driving wheel 2221 and the large arm fourth driving wheel 2222 provided by the present invention are driven by a first rigid rope, and the small arm third driving wheel 3221 and the small arm fourth driving wheel 3222 are driven by a second rigid rope.
In this embodiment, the large arm third driving wheel 2221 and the large arm fourth driving wheel 2222 are driven by the first rigid ropes, the number of the first rigid ropes is two, the two first rigid ropes are wound on the large arm third driving wheel 2221 and the large arm fourth driving wheel 2222, respectively, the first ends and the last ends of the first rigid ropes are fixed on the large arm third driving wheel 2221 and the large arm fourth driving wheel 2222, and during driving, the two first rigid ropes perform retraction and release actions, respectively, so as to achieve transmission of power.
The small arm third driving wheel 3221 and the small arm fourth driving wheel 3222 are driven by second rigid ropes, the number of the second rigid ropes is two, the two second rigid ropes are wound on the small arm third driving wheel 3221 and the small arm fourth driving wheel 3222 respectively, the head end and the tail end of each second rigid rope are fixed on the small arm third driving wheel 3221 and the small arm fourth driving wheel 3222 respectively, and when transmission is performed, the two second rigid ropes perform retraction and release actions respectively to achieve power transmission.
Because the rigid ropes are arranged into two ropes and are driven by the pulling force between the two ropes, friction is not generated between the rigid ropes and the driving wheels, so that abnormal transmission occurs between the two driving wheels, and the control precision of the teleoperation manipulator can be improved. In addition, because the transmission wheels are driven by rigid ropes, the rigid ropes are rigid, so that the deformation is not easy to generate, and the control precision of the teleoperation manipulator can be further improved.
Referring to fig. 2 and 3, in some embodiments, the turntable of the teleoperated manipulator further includes a first through hole 4 and a second through hole 5, the first through hole 4 is disposed on one side of the rotary disk 1, the second through hole 5 is disposed on the other side of the rotary disk 1, the large-arm second driving wheel 2212 is disposed through the first through hole 4, at least a portion of the large-arm second driving wheel 2212 is located above the first through hole 4, the small-arm second driving wheel 3212 is disposed through the second through hole 5, and at least a portion of the small-arm second driving wheel 3212 is located above the second through hole 5.
In this embodiment, a first through hole 4 and a second through hole 5 are respectively formed on two opposite sides of the rotating disc 1, the large arm second driving wheel 2212 is inserted into the first through hole 4, a part of the large arm second driving wheel 2212 is located on the upper surface of the rotating disc 1, and the other part is located on the lower surface of the rotating disc 1; the small arm second transmission wheel 3212 penetrates the second through hole 5, a portion of the small arm second transmission wheel 3212 is located on the upper surface of the rotating disc 1, and another portion of the small arm second transmission wheel 3212 is located on the lower surface of the rotating disc 1.
In the present embodiment, at least a portion of the large arm second transmission wheel 2212 and a portion of the small arm second transmission wheel 3212 are both located in the space below the rotating disk 1, so that the overall center of gravity of the rotating platform can be lowered, and the stability of the teleoperation manipulator can be improved. In addition, since the large arm second transmission wheel 2212 and the small arm second transmission wheel 3212 according to the present embodiment are installed by using the space below the rotating disc 1, and the large arm second transmission wheel 2212 and the small arm second transmission wheel 3212 are respectively located at two opposite sides of the rotating disc 1, which correspond to the structural arrangement of the large arm motor 21 and the small arm motor 31, the overall structure can be made more compact.
The positions of the first through hole 4 and the second through hole 5 according to the present embodiment correspond to the orientations of the output shafts of the large arm motor 21 and the small arm motor 31, respectively, that is, the first through hole 4 and the second through hole 5 are located on the left and right sides of the rotating disk 1, respectively.
Referring to fig. 2 and 3, in a preferred embodiment, half of the large arm second driving wheel 2212 is located on the upper surface of the rotary disk 1, and the other half is located on the lower surface of the rotary disk 1, and half of the small arm second driving wheel 3212 is located on the upper surface of the rotary disk 1, and the other half is located on the lower surface of the rotary disk 1.
Referring to fig. 2, 4 and 5, in some embodiments, the large arm fourth transmission wheel 2222 and the small arm fourth transmission wheel 3222 according to the present invention are disposed above the rotary disk 1. The large arm fourth driving wheel 2222 and the small arm fourth driving wheel 3222 are located above the rotating disc 1, and the large arm fourth driving wheel 2222 and the small arm fourth driving wheel 3222 are symmetrically arranged. The large arm fourth transmission wheel 2222 and the small arm fourth transmission wheel 3222 are arranged between the large arm second transmission wheel 2212 and the small arm second transmission wheel 3212, and the structure is compact.
Referring to fig. 2, in some embodiments, the turntable of the teleoperated robot further includes a first mounting bracket 6 and a second mounting bracket 7, the first mounting bracket 6 is disposed above the rotary plate 1, the second mounting bracket 7 is spaced apart from the first mounting bracket 6, a large arm fourth driving wheel 2222 is disposed on the first mounting bracket 6, and a small arm fourth driving wheel 3222 is disposed on the second mounting bracket 7. The first mounting rack 6 and the second mounting rack 7 are arranged on the rotating disc 1 at intervals, wherein the large arm fourth driving wheel 2222 is arranged on the first mounting rack 6, and the small arm fourth driving wheel 3222 is arranged on the second mounting rack 7.
Referring to fig. 3, in some embodiments, the turret of the teleoperated manipulator of the present invention further includes a first encoder 8 and/or a second encoder 9, the first encoder 8 is connected to the upper arm motor 21, and the second encoder 9 is connected to and located outside the upper arm fourth driving wheel 2222. In this embodiment, the first encoder 8 is used to detect the rotation data of the large arm motor 21, and the second encoder 9 is used to detect the rotation data of the large arm fourth transmission wheel 2222. The first encoder 8 and the second encoder 9 may be incremental encoders or absolute encoders, including but not limited to, and may be designed by those skilled in the art according to the actual situation.
In the present embodiment, the outer side refers to a side of the large arm fourth transmission wheel 2222 away from the second mounting rack 7, and correspondingly, the inner side refers to a side of the large arm fourth transmission wheel 2222 close to the second mounting rack 7.
Referring to fig. 2, in some embodiments, the turntable of the teleoperated manipulator further includes a third encoder 10 and/or a fourth encoder 20, the third encoder 10 is connected to the arm motor 31, and the fourth encoder 20 is connected to and located outside the arm fourth transmission wheel 3222. In this embodiment, the third encoder 10 is used to detect the rotation data of the arm motor 31, and the fourth encoder 20 is used to detect the rotation data of the arm fourth transmission wheel 3222. The third encoder 10 and the fourth encoder 20 may be incremental encoders or absolute value encoders, including but not limited to, and may be designed by those skilled in the art according to the actual situation.
The outer side of the present embodiment refers to the side of the arm fourth transmission wheel 3222 away from the second mounting rack 7, and correspondingly, the inner side refers to the side of the arm fourth transmission wheel 3222 close to the second mounting rack 7.
Referring to fig. 2, 4 and 5, in some embodiments, the turntable of the teleoperated manipulator further includes a first mounting seat 30 and/or a second mounting seat 40, the first mounting seat 30 is fixed relative to the rotary disk 1, the reading head of the second encoder 9 is connected to the first mounting seat 30, and the code wheel of the second encoder 9 is connected to the upper arm fourth transmission wheel 2222; the second mounting seat 40 is spaced apart from the first mounting seat 30, the reading head of the fourth encoder 20 is connected to the second mounting seat 40, and the code wheel of the fourth encoder 20 is connected to the forearm fourth driving wheel 3222.
In this embodiment, the first mounting seat 30 and the second mounting seat 40 are fixed to the rotary disk 1, respectively, the first mounting seat 30 is used for fixing the second encoder 9, and the second mounting seat 40 is used for fixing the fourth encoder 20. The coded disc of the second encoder 9 is connected with a fourth driving wheel 2222 of the large arm, and the reading head of the second encoder 9 is connected with the first mounting base 30; the code wheel of the fourth encoder 20 is connected with a small arm fourth transmission wheel 3222, and the reading head of the fourth encoder 20 is connected with the second mounting seat 40.
In some embodiments, the first encoder 8 is an incremental encoder, the second encoder 9 is an absolute value encoder; and/or the third encoder 10 is an incremental encoder and the fourth encoder 20 is an absolute value encoder. The incremental encoder does not have a power-off maintaining function, namely after power-off, data recorded by the incremental encoder are completely lost, while the absolute value encoder has the power-off maintaining function and can record rotating data before power-off after power-on again, so that the current positions of the large arm and the small arm can be obtained without resetting.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a teleoperation manipulator according to an embodiment of the present invention. The present invention further provides a teleoperation manipulator, which includes the rotary table 100 described in the foregoing embodiments, and the specific structure of the rotary table 100 refers to the foregoing embodiments, and since the teleoperation manipulator adopts all technical solutions of the foregoing embodiments, the teleoperation manipulator at least has all technical effects brought by the technical solutions of the foregoing embodiments, and details are not repeated herein. The teleoperation manipulator further comprises a base 200, a large arm 300, a small arm 400, a tail end 500 and a handle 600, the rotary table 100 is arranged on the base 200, one end of the large arm 300 is connected with the rotary table 100, the other end of the large arm 300 is connected with one end of the small arm 400, the other end of the small arm 400 is connected with the tail end 500, and the handle 600 is arranged on the tail end 500 and used for controlling the rotary table 100, the large arm 300, the small arm 400 and the tail end 500 to move.
Referring to fig. 7 and 8, fig. 7 is a schematic structural diagram of a base and a turntable according to an embodiment of the present invention, and fig. 8 is a schematic structural diagram of the base according to the embodiment of fig. 7. In some embodiments, the teleoperated manipulator further comprises a base 01 disposed below the turntable, the base 01 comprising:
the fixing base 100A is provided with a fixing base,
a turntable motor 200A horizontally disposed on the fixing base 100A;
the rotary table rotating shaft 300A is vertically arranged on the fixed seat 100A; and the number of the first and second groups,
the output shaft of the turntable motor 200A is connected to the turntable rotating shaft 300A through the speed reduction assembly 400A of the turntable speed reduction assembly 400A.
In this embodiment, the fixing base 100A is a mounting base of the base 01, the structural components in the base 01 are mounted on the fixing base 100A, and the turntable motor 200A and the turntable rotating shaft 300A are both disposed on the fixing base 100A. The turntable motor 200A is horizontally arranged, the output shaft of the turntable motor 200A is in a horizontal state, the turntable rotating shaft 300A is vertically arranged, the output shaft of the turntable motor 200A is connected with the turntable rotating shaft 300A through the speed reducing assembly 400A, the speed reducing assembly 400A transmits motion and power between the output shaft of the turntable motor 200A and the turntable rotating shaft 300A, and mutual transmission between the output shaft of the turntable motor 200A and the turntable rotating shaft 300A is achieved.
The speed reduction assembly 400A also performs a speed reduction function, and transmits the rotation of the output shaft of the turntable motor 200A to the turntable rotating shaft 300A in a speed reduction manner, or transmits the rotation of the turntable rotating shaft 300A to the output shaft of the turntable motor 200A in a speed reduction manner, so that the stability of the motion transmission between the output shaft of the turntable motor 200A and the turntable rotating shaft 300A is better.
The base 01 of this embodiment adopts fixing base 100A to go up the level and sets up revolving stage motor 200A and vertical revolving stage pivot 300A to link to each other revolving stage motor 200A's output shaft and revolving stage pivot 300A through speed reduction unit 400A, in order to transmit motion and the power between revolving stage motor 200A's output shaft and revolving stage pivot 300A, realize the mutual transmission between the two. In the base 01 of the present embodiment, the turntable motor 200A shares the vertical dimension space occupied by the turntable rotating shaft 300A, and the vertical dimension of the base 01 is not increased by the turntable motor 200A. Compare in prior art adoption, the vertical dimension that the revolving stage motor 200A and the revolving stage pivot 300A of this embodiment base 01 occupy reduces by a wide margin, and base 01's height reduces by a wide margin, and base 01 stability is better, has promoted the operating stability of teleoperation manipulator.
In some embodiments, the rotating shaft 300A of the rotary table is substantially located at the center of the fixing base 100A, so that the overall stress distribution of the fixing base 100A is more balanced, the rotary table is more stable when rotating relative to the fixing base 100A, and the stability of the operation of the teleoperation manipulator is ensured. The rotating shaft 300A is located substantially at the center of the fixing base 100A, which means that the axis of the rotating shaft 300A is located in a preset range area around the center of the fixing base 100A. The preset range area may be: a circular area with a radius less than one sixth or one eighth or one tenth of the radius of the holder 100A (or the distance from the center of the holder 100A to the edge thereof); the preset range region may also be: a square area with an edge length less than one sixth, one eighth or one tenth of the radius of the anchor 100A (or the distance from the center of the anchor 100A to its edge).
Referring to fig. 9, in some embodiments, the turntable speed reduction assembly 400A includes a turntable first transmission wheel 410A and a turntable second transmission wheel 420A, the turntable first transmission wheel 410A is coaxially disposed on the output shaft of the turntable motor 200, and the turntable second transmission wheel 420A is horizontally disposed on the holder 100 and is rotatably coupled to the holder 100. The first turntable driving wheel 410A is coaxial with the output shaft of the turntable motor 200, namely, the axis of the first turntable driving wheel 410A is horizontal, and the second turntable driving wheel 420A is horizontally arranged, namely, the axis of the second turntable driving wheel 420A is vertical, so that the transmission of the motion between the rotation around the horizontal axis and the rotation around the vertical axis is realized through the transmission matching of the first turntable driving wheel 410A and the second turntable driving wheel 420A.
In some embodiments, the turntable first transmission wheel 410A and the turntable second transmission wheel 420A are combined to form a bevel gear pair, that is, the turntable first transmission wheel 410A and the turntable second transmission wheel 420A are two mutually meshed bevel gears. The first transmission wheel 410A of the rotary table and the second transmission wheel 420A of the rotary table are in transmission through bevel gears, and transmission is more stable. Of course, in other embodiments, other transmission wheel components can be used for the turntable first transmission wheel 410A and the turntable second transmission wheel 420A to achieve the same transmission function.
Referring to fig. 8 and 9, in some embodiments, turntable reduction assembly 400A further includes a turntable third drive wheel 430A and a turntable fourth drive wheel 440A, turntable third drive wheel 430A being coaxially secured with turntable second drive wheel 420A, and turntable fourth drive wheel 440A being coaxially secured with turntable shaft 300. Namely, the third driving wheel 430A of the turntable and the second driving wheel 420A of the turntable rotate together, the fourth driving wheel 440A of the turntable and the rotating shaft 300A of the turntable rotate together, and the transmission between the output shaft of the turntable motor 200A and the rotating shaft 300A of the turntable is realized through the transmission coordination of the third driving wheel 430A of the turntable and the fourth driving wheel 440A of the turntable and the transmission coordination of the first driving wheel 410A of the turntable and the second driving wheel 420A of the turntable.
The invention further provides a teleoperation device, which comprises a slave manipulator and the teleoperation manipulator described above, wherein the teleoperation manipulator is in communication connection with the slave manipulator or the mechanical arm, and comprises a rotary table described in each embodiment.
The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (21)
1. A turret for a teleoperated manipulator, comprising:
rotating the disc;
the large arm transmission mechanism comprises a large arm motor and a large arm speed reduction assembly; and
the small arm transmission mechanism comprises a small arm motor and a small arm speed reduction assembly;
the large arm motor and the small arm motor are respectively arranged below the rotating disc.
2. Turntable as claimed in claim 1,
the large arm motor and the small arm motor are respectively horizontally arranged on two opposite sides of the rotating disc.
3. Turntable as claimed in claim 2,
the direction of the output shaft of the large arm motor is opposite to that of the output shaft of the small arm motor.
4. Turntable as claimed in claim 1,
the large arm speed reducing assembly and the small arm speed reducing assembly are arranged on two opposite sides of the rotating disc.
5. Turntable as claimed in claim 1,
the large arm speed reduction assembly comprises a large arm primary speed reduction unit connected with the large arm motor and a large arm secondary speed reduction unit connected with the large arm primary speed reduction unit;
the small arm speed reduction assembly comprises a small arm first-stage speed reduction unit connected with the small arm motor and a small arm second-stage speed reduction unit connected with the small arm first-stage speed reduction unit.
6. Turntable as claimed in claim 5,
the large arm primary speed reducing unit comprises a large arm first driving wheel and a large arm second driving wheel, the large arm first driving wheel is arranged on an output shaft of the large arm motor, and the large arm second driving wheel is in transmission connection with the large arm first driving wheel;
the large arm secondary speed reduction unit comprises a large arm third driving wheel and a large arm fourth driving wheel, the large arm third driving wheel and the large arm second driving wheel are coaxially arranged, and the large arm fourth driving wheel is in transmission connection with the large arm third driving wheel.
7. Turntable as claimed in claim 6,
the small arm primary speed reduction unit comprises a small arm first driving wheel and a small arm second driving wheel, the small arm first driving wheel is arranged on an output shaft of the small arm motor, and the small arm second driving wheel is in transmission connection with the small arm first driving wheel;
the small arm secondary speed reduction unit comprises a small arm third driving wheel and a small arm fourth driving wheel, the small arm third driving wheel and the small arm second driving wheel are coaxially arranged, and the small arm fourth driving wheel is in transmission connection with the small arm third driving wheel.
8. The turntable according to claim 7,
the large arm first driving wheel and the large arm second driving wheel are gear pairs;
the small arm first driving wheel and the small arm second driving wheel are gear pairs.
9. The turntable according to claim 7,
the large arm third driving wheel and the large arm fourth driving wheel are driven by a first rigid rope;
and the small arm third driving wheel and the small arm fourth driving wheel are driven by a second rigid rope.
10. The turntable of claim 7, further comprising:
the first through hole is formed in one side of the rotating disc;
the second through hole is formed in the other side of the rotating disc;
the large arm second driving wheel penetrates through the first through hole, at least one part of the large arm second driving wheel is located above the first through hole, the small arm second driving wheel penetrates through the second through hole, and at least one part of the small arm second driving wheel is located above the second through hole.
11. The turntable according to claim 7,
the large arm fourth driving wheel and the small arm fourth driving wheel are oppositely arranged above the rotating disc and are positioned between the large arm second driving wheel and the small arm second driving wheel.
12. The turntable of claim 7, further comprising:
the first mounting frame is arranged above the rotating disc;
the second mounting frame is arranged at an interval with the first mounting frame;
the large arm fourth driving wheel is arranged on the first mounting frame, and the small arm fourth driving wheel is arranged on the second mounting frame.
13. The turntable of claim 7, further comprising:
the first encoder is connected with the large arm motor; and/or the presence of a gas in the gas,
and the second encoder is connected with the fourth transmission wheel of the large arm and is positioned at the outer side of the fourth transmission wheel of the large arm.
14. The turntable of claim 13, further comprising:
the third encoder is connected with the small arm motor; and/or the presence of a gas in the gas,
and the fourth encoder is connected with the fourth driving wheel of the small arm and positioned at the outer side of the fourth driving wheel of the small arm.
15. The turntable of claim 14, further comprising:
the first mounting seat is relatively fixed with the rotating disc, a reading head of the second encoder is connected with the first mounting seat, and a coded disc of the second encoder is connected with a fourth driving wheel of the large arm; and/or the presence of a gas in the gas,
and the second mounting seat is arranged at an interval with the first mounting seat, a reading head of the fourth encoder is connected with the second mounting seat, and a code wheel of the fourth encoder is connected with a fourth driving wheel of the small arm.
16. Turntable as claimed in claim 14,
the first encoder is an incremental encoder, and the second encoder is an absolute value encoder; and/or the presence of a gas in the gas,
the third encoder is an incremental encoder and the fourth encoder is an absolute value encoder.
17. A teleoperated manipulator comprising a turret according to any of claims 1-16.
18. The teleoperated manipulator of claim 17, further comprising a base disposed below the turret, the base comprising:
a fixed seat is arranged on the base body,
the rotary table motor is horizontally arranged on the fixed seat;
the rotary table rotating shaft is vertically arranged on the fixed seat and is connected with the bottom of the rotary disc; and the number of the first and second groups,
and the output shaft of the rotary table motor is connected with the rotary table rotating shaft through the speed reducing assembly.
19. The teleoperational manipulator of claim 18,
the turntable speed reduction assembly comprises a first turntable driving wheel and a second turntable driving wheel, the first turntable driving wheel is coaxially arranged on an output shaft of the turntable motor, and the second turntable driving wheel is horizontally arranged on the fixed seat and is rotatably connected with the fixed seat.
20. The teleoperational manipulator of claim 19,
the turntable speed reducing assembly further comprises a turntable third driving wheel and a turntable fourth driving wheel, the turntable third driving wheel and the turntable second driving wheel are coaxially fixed, and the turntable fourth driving wheel and the turntable rotating shaft are coaxially fixed.
21. Teleoperated device, characterized in that it comprises a slave manipulator and a teleoperated manipulator according to any of claims 17-20, which teleoperated manipulator is in communicative connection with the slave manipulator.
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| CN202111185818.1A CN113618701B (en) | 2021-10-12 | 2021-10-12 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
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| CN202111185818.1A CN113618701B (en) | 2021-10-12 | 2021-10-12 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
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| CN113618701B CN113618701B (en) | 2022-11-29 |
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| CN113618701B (en) | 2022-11-29 |
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