CN113714993B - Joint master-slave manipulator pre-swing compensation device and joint master-slave manipulator - Google Patents
Joint master-slave manipulator pre-swing compensation device and joint master-slave manipulator Download PDFInfo
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- CN113714993B CN113714993B CN202111086044.7A CN202111086044A CN113714993B CN 113714993 B CN113714993 B CN 113714993B CN 202111086044 A CN202111086044 A CN 202111086044A CN 113714993 B CN113714993 B CN 113714993B
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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
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a joint master-slave manipulator pre-swing compensation device and a joint master-slave manipulator, wherein the compensation device comprises: the pressing mechanism is connected with the driving end chain wheel, the driving end chain wheel is used for driving the driving end chain wheel of the transmission mechanism for transmission when the joint master-slave manipulator performs pre-swing motion, the transmission mechanism is used for transmitting the motion of the driving front arm and is also used for transmitting the pre-swing motion of the driving end of the manipulator, the driving front arm is rotationally connected with the driving upper arm through a driving arm connecting shaft, the driving end chain wheel is arranged on the driving arm connecting shaft and is rotationally connected with the driving arm connecting shaft, the pressing mechanism follows along with the motion of the driving end chain wheel during the pre-swing motion, and the pressing mechanism is used for pressing a steel wire rope for transmitting the motion of the manipulator in the following process to perform tensioning compensation on the steel wire rope. The compensation device has the advantages of simple structure, light weight, compact structure, small installation space, easy processing of parts, small abrasion in the use process and more reliable compensation.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a joint master-slave manipulator pre-swing compensation device and a joint master-slave manipulator.
Background
In the field of remote operation technology, the industry engaged in nuclear science research and production is indispensable and requires special remote operation equipment such as a manipulator. In order to expand the operation range, the master and slave manipulators are usually provided with a pre-swing mechanism, and after pre-swing, the master and slave arms generate potential difference and can normally follow up.
In general, after a joint master-slave manipulator pre-swings, because a position difference is generated between a master arm and a slave arm, the wrap angle of a transmission steel wire rope on a pulley at a wrist part can be changed, so that the steel wire rope is loosened, and a pre-swing compensation mechanism is required to be arranged to tension and compensate the steel wire rope. The large joint manipulator for the hot chamber is complex in structure, the pre-swing compensation mechanism needs to be matched with a cam and a pulley block to complete the pre-swing compensation function, a large space is needed for arranging the compensation mechanism, the cam part is complex to process, and the problem of abrasion exists in the using process. The small joint master-slave manipulator is compact in structure, the installation space of the pre-swing compensation mechanism is limited, and the compensation mechanism of the large manipulator for the hot chamber is not suitable for the small joint master-slave manipulator.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a joint master-slave manipulator pre-swing compensation device and a joint master-slave manipulator.
The technical scheme adopted for solving the technical problem of the invention is to provide a joint master-slave manipulator pre-swing compensation device, which comprises: the pressing mechanism is connected with the driving end chain wheel, the driving end chain wheel is used for driving the driving end chain wheel of the transmission mechanism when the joint master-slave manipulator performs pre-swing motion, the transmission mechanism is used for driving the motion of a driving front arm and is also used for driving the pre-swing motion of the driving end of the manipulator, the driving front arm is rotationally connected with a driving upper arm through a driving arm connecting shaft, the driving end chain wheel is arranged on the driving arm connecting shaft and is rotationally connected with the driving arm connecting shaft, the pressing mechanism follows up along with the motion of the driving end chain wheel during the pre-swing motion, and the pressing mechanism is used for pressing a steel wire rope for driving the manipulator to move in the following process to perform tensioning compensation on the steel wire rope.
Preferably, the pressing mechanism includes: the compensation movable pulley, the compensation movable pulley shaft and the compensation connecting plate are fixedly connected with the driving end chain wheel, the compensation connecting plate moves along with the driving end chain wheel, the compensation movable pulley shaft is fixedly arranged on the compensation connecting plate, the compensation movable pulley is arranged on the compensation movable pulley shaft, the compensation movable pulley is used for freely rotating around the compensation movable pulley shaft, the compensation movable pulley is also used for following along with the movement of the driving end chain wheel, and the compensation movable pulley is used for pressing a steel wire rope for driving a mechanical arm to move in the following process.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: the driving forearm connecting plate is fixedly connected with the driving forearm, the driving forearm connecting plate is rotatably connected with the driving upper arm through a driving arm connecting shaft, a sliding groove is formed in the driving forearm connecting plate, the compensation movable pulley shaft is matched and slidably connected with the sliding groove, and the compensation movable pulley moves along the sliding groove.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: and the guide mechanism is arranged on the active front arm and used for guiding the movement of the steel wire rope.
Preferably, the guide mechanism is a compensation fixed pulley, the driving end pulley is arranged on the driving arm connecting shaft and is rotatably connected with the driving arm connecting shaft, the compensation fixed pulley, the compensation movable pulley and the driving end pulley are on the same plane along the axial direction, and the steel wire rope moves through the compensation fixed pulley, the compensation movable pulley and the driving end pulley in sequence.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: the driving forearm connecting plate is fixedly connected with the driving forearm, the driving forearm connecting plate is rotatably connected with the driving upper arm through a driving arm connecting shaft, and the compensation fixed pulley is arranged on the driving forearm connecting plate.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: the compensation support plate is arranged on the driving arm connecting shaft and is rotationally connected with the driving arm connecting shaft, and the compensation support plate is fixedly arranged on the compensation movable pulley shaft and follows along with the movement of the compensation movable pulley shaft.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: the driven forearm connecting plate is fixedly connected with the driven forearm, the driven forearm is rotatably connected with the driven upper arm through a driven arm connecting shaft, and the driven forearm connecting plate is rotatably connected with the driven upper arm through a driven arm connecting shaft.
Preferably, the transmission mechanism further includes: the pre-swing transmission mechanism is arranged on the driving front arm and is connected with the driving end chain wheel, and the pre-swing transmission mechanism is used for transmitting pre-swing motion to the driving end chain wheel.
The invention also provides a joint master-slave manipulator, comprising: the joint master-slave manipulator pre-swing compensation device is disclosed.
The joint master-slave manipulator pre-swing compensation device has the following beneficial effects:
1) Simple structure, the device quality is light: the device follows up with the drive end sprocket through hold-down mechanism, compensates wire rope through the effect that compresses tightly, simple structure, and the compensation arrangement quality is light, can effectively reduce the dead weight of manipulator.
2) Compact structure, installation space is little: the device has the advantages of small number of parts, small size, simple and compact structure, small required installation space and capability of installing the pre-swing compensation device under the condition of limited space;
3) The part is workable, and wearing and tearing are little in the use, and the compensation is more reliable: compared with a cam pulley block compensation device of a manipulator for a hot chamber, the compensation device has the advantages that the structure of parts is simple, small and exquisite, the processing is easy, the abrasion problem of a cam is avoided in the using process, the compensation error in the later period is avoided, and the compensation is more reliable.
Drawings
Fig. 1 is a structural diagram of a joint master-slave manipulator pre-swing compensation device in embodiment 2 of the present invention;
FIG. 2 isbase:Sub>A sectional view of an active forearm A-A ofbase:Sub>A pre-oscillation compensating device in embodiment 2 of the invention;
FIG. 3 is a sectional view of a driven forearm B-B of a pre-swing compensating apparatus in embodiment 2 of the invention;
fig. 4 is a state diagram of the compensation device after pre-swinging of the joint master-slave manipulator in embodiment 2 of the present invention.
In the figure: 1-driving front arm, 2-driving front arm connecting plate, 3-compensating fixed pulley, 4-preoscillating transmission chain, 5-driving front arm, 6-wall penetrating pipe, 7-driven front arm, 8-driven front arm connecting plate, 9-driven front arm, 10-steel wire rope, 11-compensating movable pulley, 12-compensating supporting plate, 13-driving arm connecting shaft, 14-driving end pulley, 15-driving end chain wheel, 16-compensating connecting plate, 17-compensating movable pulley shaft, 18-preoscillating worm wheel, 19-preoscillating worm, 20-preoscillating worm support, 21-driven end pulley, 22-driven arm connecting shaft and 23-driven end chain wheel.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Reference will now be made in detail to embodiments of the present patent, 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 illustrative only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
The embodiment provides a joint master-slave manipulator pre-swing compensation device, which comprises: the pressing mechanism is connected with the driving end chain wheel, the driving end chain wheel is used for driving the driving end chain wheel of the transmission mechanism for transmission when the joint master-slave manipulator performs pre-swing motion, the transmission mechanism is used for transmitting the motion of the driving front arm and is also used for transmitting the pre-swing motion of the driving end of the manipulator, the driving front arm is rotationally connected with the driving upper arm through a driving arm connecting shaft, the driving end chain wheel is arranged on the driving arm connecting shaft and is rotationally connected with the driving arm connecting shaft, the pressing mechanism follows along with the motion of the driving end chain wheel during the pre-swing motion, and the pressing mechanism is used for pressing a steel wire rope for transmitting the motion of the manipulator in the following process to perform tensioning compensation on the steel wire rope.
This embodiment still provides a joint master slave manipulator, still includes: the joint master-slave manipulator pre-swing compensation device is disclosed.
The joint master-slave manipulator pre-swing compensation device in the embodiment has the following beneficial effects:
1) Simple structure, the device quality is light: the device follows up with the drive end sprocket through hold-down mechanism, compensates wire rope through the effect that compresses tightly, simple structure, and the compensation arrangement quality is light, can effectively reduce the dead weight of manipulator.
2) Compact structure, installation space is little: the device has the advantages of small number of parts, small size, simple and compact structure, small required installation space and capability of installing the pre-swing compensation device under the condition of limited space;
3) The part is workable, and wearing and tearing are little in the use, and the compensation is more reliable: compared with a cam pulley block compensation device of a manipulator for a hot chamber, the cam pulley block compensation device has the advantages that the structure of parts is simple, small and exquisite, the processing is easy, the abrasion problem of a cam does not exist in the using process, the compensation error in the later period does not exist, and the compensation is more reliable.
Example 2
As shown in fig. 1 to 4, the present embodiment provides a joint master-slave manipulator pre-swing compensation device, including: the pressing mechanism is connected with a driving end chain wheel 15, the driving end chain wheel 15 is a driving end chain wheel 15 of a transmission mechanism used for transmission when the joint master-slave manipulator performs pre-swing motion, the transmission mechanism is used for transmitting motion of a driving front arm 1 and is also used for transmitting pre-swing motion of a driving end of the manipulator, the driving front arm 1 is rotatably connected with a driving upper arm 5 through a driving arm connecting shaft 13, the driving end chain wheel 15 is arranged on the driving arm connecting shaft 13 and is rotatably connected with the driving arm connecting shaft 13, the pressing mechanism follows along with the motion of the driving end chain wheel 15 during the pre-swing motion, and the pressing mechanism is used for pressing a steel wire rope 10 used for transmitting the motion of the manipulator in the following process to perform tensioning compensation on the steel wire rope 10.
Preferably, the pressing mechanism includes: the compensation movable pulley 11, the compensation movable pulley shaft 17 and the compensation connecting plate 16 are arranged on the compensation movable pulley shaft 17, the compensation connecting plate 16 is fixedly connected with the driving end chain wheel 15, the compensation connecting plate 16 moves along with the driving end chain wheel 15, the compensation movable pulley shaft 17 is fixedly arranged on the compensation connecting plate 16, the compensation movable pulley 11 is arranged on the compensation movable pulley shaft 17, the compensation movable pulley 11 is used for freely rotating around the compensation movable pulley shaft 17, the compensation movable pulley 11 is also used for following along with the movement of the driving end chain wheel 15, and the compensation movable pulley 11 is used for pressing the steel wire rope 10 for driving the mechanical arm to move in the following process.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: the driving forearm connecting plate 2 is fixedly connected with the driving forearm 1, the driving forearm connecting plate 2 is rotatably connected with the driving upper arm 5 through a driving arm connecting shaft 13, and the driving forearm connecting plate 2 and the driving upper arm can swing relatively. The driving forearm connecting plate 2 is provided with a sliding groove, the compensation movable pulley shaft 17 is in sliding connection with the sliding groove in a matching way, and the compensation movable pulley 11 moves along the sliding groove. The driving forearm 1 is a tubular structure, and the steel wire rope 10 can pass through the driving forearm 1.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: and the guide mechanism is arranged on the active front arm 1 and is used for guiding the movement of the steel wire rope 10.
Preferably, the guiding mechanism is a compensating fixed pulley 3, the driving end pulley 14 is arranged on the driving arm connecting shaft 13 and is rotatably connected with the driving arm connecting shaft 13, the compensating fixed pulley 3, the compensating movable pulley 11 and the driving end pulley 14 are on the same plane along the axial direction, and the steel wire rope 10 sequentially passes through the compensating fixed pulley 3, the compensating movable pulley 11 and the driving end pulley 14 to move.
The driven end pulley 21 is arranged on the driven arm connecting shaft 22 and is rotatably connected with the driven arm connecting shaft 22, and the steel wire rope 10 sequentially passes through the compensation fixed pulley 3, the compensation movable pulley 11, the driving end pulley 14 and the driven end pulley 21 to move.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: the driving forearm connecting plate 2 is fixedly connected with the driving forearm 1, the driving forearm connecting plate 2 is rotatably connected with the driving upper arm 5 through a driving arm connecting shaft 13, and the compensating fixed pulley 3 is arranged on the driving forearm connecting plate 2.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: and the compensation support plate 12 is arranged on the driving arm connecting shaft 13, is rotatably connected with the driving arm connecting shaft 13, and is fixedly arranged on the compensation movable pulley shaft 17 and follows along with the movement of the compensation movable pulley shaft 17.
Preferably, the joint master-slave manipulator pre-swing compensation device further comprises: driven forearm connecting plate 8, driven forearm connecting plate 8 and driven forearm 9 fixed connection, driven forearm 9 and driven upper arm 7 are connected through driven arm connecting axle 22 rotation, and driven forearm connecting plate 8 and driven upper arm 7 are connected through driven arm connecting axle 22 rotation. The driven forearm 9 is of a tubular structure and the wire rope 10 can pass through the driven forearm 9.
Preferably, the transmission mechanism further includes: the pre-swing transmission mechanism is arranged on the driving front arm 1 and is connected with the driving end chain wheel 15, and the pre-swing transmission mechanism is used for transmitting pre-swing motion to the driving end chain wheel 15.
The present embodiment provides a joint master-slave manipulator including: the wall-penetrating pipe comprises a driving end component, a driven arm component and a wall-penetrating pipe 6, wherein the driving end of the wall-penetrating pipe 6 is connected with the driving end component, and the driven end of the wall-penetrating pipe 6 is connected with the driven arm component. The active end assembly comprises: the device comprises a driving forearm 1, a driving upper arm 5 hinged with the driving forearm 1 and a main arm manipulator arranged at the end part of the driving forearm 1, wherein the driving upper arm 5 is connected with the driving end of a wall penetrating pipe 6. The driven arm assembly includes: the wall-through pipe comprises a driven forearm 9, a driven upper arm 7 hinged with the driven forearm 9 and a driven arm manipulator arranged at the end part of the driven forearm 9, wherein the driven upper arm 7 is connected with the driven end of the wall-through pipe 6. The main arm manipulator is connected with a steel wire rope 10, the steel wire rope 10 transmits the motion of the main arm manipulator to the slave arm manipulator through the driving forearm 1, the driving upper arm 5, the wall penetrating pipe 6, the slave upper arm 7 and the slave forearm 9, and the slave arm manipulator and the main arm manipulator move in a consistent manner.
The joint master-slave manipulator in this embodiment further includes: a pre-pendulous transmission, the pre-pendulous transmission comprising:
the transmission mechanism is connected with the driving front arm 1 and the driven front arm 9, and is used for transmitting the motion of the driving front arm 1 to the driven front arm 9 and driving the driven front arm 9 to move in a follow-up manner;
the driving mechanism is arranged on the driving front arm 1 and is connected with the pre-swing transmission mechanism;
the pre-swing transmission mechanism is connected with the transmission mechanism, the pre-swing transmission mechanism is arranged on the driving front arm 1, and the pre-swing transmission mechanism is used for transmitting the motion of the driving mechanism to the transmission mechanism and then to the driven front arm 9 to drive the driven front arm 9 to perform pre-swing motion.
The transmission mechanism includes: the driving end chain wheel 15, the driving end chain wheel shaft, the pre-swing transmission chain 4, the driven end chain wheel 23 and the driven end chain wheel shaft, the driving front arm 1 is hinged with the driving upper arm 5 through the driving end chain wheel shaft, the driven front arm 9 is hinged with the driven upper arm 7 through the driven end chain wheel shaft, the driving front arm 1 is fixedly connected with the driving end chain wheel shaft, the driven end front arm is fixedly connected with the driven end chain wheel shaft, the driving end chain wheel 15 is fixedly connected with the driving end chain wheel shaft, the driven end chain wheel 23 is fixedly connected with the driven end chain wheel shaft, and the driving end chain wheel 15 and the driven end chain wheel 23 are respectively meshed with the pre-swing transmission chain 4. The pre-swing transmission chain 4 and the steel wire rope 10 are transmitted to a driven end assembly from a driving end assembly through the wall penetrating pipe 6.
The pre-swing transmission mechanism includes: the pre-swing worm gear 18 is meshed with the pre-swing worm 19, the pre-swing worm gear 18 is fixedly connected with the driving end chain wheel 15, the pre-swing worm 19 is connected with the driving mechanism, and the driving mechanism drives the pre-swing worm 19 to rotate, so that the pre-swing worm gear 18 is driven to rotate, and the driving end chain wheel 15 is driven to rotate.
The pre-swing worm 19 is arranged on a pre-swing worm support 20, the pre-swing worm support 20 is fixed on the driving forearm connecting plate 2, the pre-swing worm wheel 18 is meshed with the pre-swing worm 19 in a self-locking state, and the driving end chain wheel 15 moves along with the driving forearm connecting plate 2 at the moment. By adjusting the meshing position of the pre-swing worm wheel 18 and the pre-swing worm 19, the position relation between the driving end chain wheel 15 and the driving forearm connecting plate 2 can be adjusted, and the relative movement of the two is realized.
A driven end chain wheel 23 is fixedly arranged on the driven forearm connecting plate 8, and the driven forearm connecting plate 8 moves along with the driven end chain wheel 23 to follow. The driven forearm connecting plate 8 and the driven upper arm 7 are connected by a driven arm connecting shaft 22, and can swing relatively. The driven end pulley 21 is mounted on the driven arm connecting shaft 22 so as to be freely rotatable about the shaft. The steel wire rope 10 passes through the driving forearm 1 by the main arm manipulator, passes through the compensation fixed pulley 3, the compensation movable pulley 11, the driving end pulley 14, the wall penetrating pipe 6, the driven end pulley 21 and the driven forearm 9 to reach the driven arm manipulator, and is transmitted in motion. The compensation fixed pulley 3, the compensation movable pulley 11, the driving end pulley 14 and the driven end pulley 21 are all on the same plane, and the compensation fixed pulley 3 is used for guiding the steel wire rope 10, so that the rope pressing reliability of the compensation movable pulley 11 is guaranteed.
This embodiment still provides a joint master slave manipulator, still includes: the joint master-slave manipulator pre-swing compensation device is disclosed.
The joint master-slave manipulator in the embodiment is in a master-slave motion mode, namely the driving front arm 1 swings back and forth by a certain angle, and the driven front arm 9 swings by the same angle along with the driving front arm. The joint master-slave manipulator is driven by hands, and a person controls the movement of the driven forearm 9 by operating the driving forearm 1. When a driving front arm 1 of the joint master-slave manipulator normally moves in a master-slave mode, a driving end chain wheel 15 moves along with a driving front arm connecting plate 2, the driving end chain wheel 15 drives a pre-swing transmission chain 4 to move, the pre-swing transmission chain 4 is a full-circle closed structure and mainly comprises a pre-swing steel wire rope and a chain, the pre-swing steel wire rope is connected with the chain to form a closed structure, forward and reverse rotation motion of the driving end chain wheel 15 can be transmitted to a driven end chain wheel 23, motion and power are transmitted to the driven end chain wheel 23 through the pre-swing transmission chain 4, the driven end chain wheel 23 is fixedly connected with a driven front arm connecting plate 8, the driven end chain wheel 23 drives a driven front arm 9 to move, the driving front arm 1 and the driven front arm 9 swing together at the same angle, the wrap angle of a steel wire rope 10 on a driving end pulley 14 is increased or decreased equal to the wrap angle of the steel wire rope 10 on a driven end pulley 21, the tensioning state of the steel wire rope 10 is unchanged, the relative positions of a compensating fixed pulley 3 and a compensating movable pulley 11 and the steel wire rope 10 are unchanged, and the two pulleys do not influence the tensioning state of the steel wire rope 10 in the same motion process; the joint master-slave manipulator needs to perform pre-swing under certain conditions, and when the joint master-slave manipulator performs pre-swing and the driving front arm 1 is kept in a vertical state, the driven front arm 9 swings forwards by a certain angle. When the joint master-slave manipulator needs pre-swinging, the position relation between the driving end chain wheel 15 and the driving forearm connecting plate 2 can be adjusted by adjusting the meshing positions of the pre-swinging worm wheel 18 and the pre-swinging worm 19, the driving end chain wheel 15 rotates for a certain angle relative to the driving forearm connecting plate 2 and is transmitted to a driven end component through the pre-swinging transmission chain 4, the driven end chain wheel 23 is driven to drive the driven forearm 9 to swing for the same angle, at the moment, the wrap angle of the steel wire rope 10 on the driven end pulley 21 is reduced, and the steel wire rope 10 tends to be loosened. The driving end chain wheel 15 rotates relative to the driving front arm connecting plate 2 and simultaneously drives the compensation connecting plate 16 fixed on the driving end chain wheel to move, the compensation movable pulley 11 is driven to move along the sliding groove, the steel wire rope 10 is pressed tightly, the length of the steel wire rope 10 released by the driven end component is compensated, and pre-swing compensation is completed. The pre-swing compensation device state is shown in fig. 4.
The joint master-slave manipulator pre-swing compensation device in the embodiment has the following beneficial effects:
1) Simple structure, the device quality is light: the compensating movable pulley 11 of the device follows up with the driving end chain wheel 15 through the compensating connecting plate 16, compensates the steel wire rope 10 through the compressing effect, has a simple structure, is light in weight, and can effectively reduce the dead weight of the manipulator.
2) Compact structure, installation space is little: the device has the advantages of small number of parts, small size, simple and compact structure, small required installation space and capability of installing the pre-swing compensation device under the condition of limited space;
3) The part is workable, and wearing and tearing are little in the use, and the compensation is more reliable: compared with a cam pulley block compensation device of a manipulator for a hot chamber, the compensation device has the advantages that the structure of parts is simple, small and exquisite, the processing is easy, the abrasion problem of a cam is avoided in the using process, the compensation error in the later period is avoided, and the compensation is more reliable.
It will be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and scope of the invention, and such modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a joint master slaver manipulator is pendulum compensation arrangement in advance which characterized in that includes: the pressing mechanism is connected with the driving end chain wheel, the driving end chain wheel is used for driving the driving end chain wheel of the transmission mechanism when the joint master-slave manipulator performs pre-swing motion, the transmission mechanism is used for driving the driving forearm to move to the driven forearm to drive the driven forearm to perform follow-up motion, and is also used for driving the pre-swing motion of the driving end of the manipulator, when the driving forearm keeps a vertical state during the pre-swing motion, the driven forearm swings forwards by a certain angle, the driving forearm is rotatably connected with the driving upper arm through a driving arm connecting shaft, the driving end chain wheel is arranged on the driving arm connecting shaft and is rotatably connected with the driving arm connecting shaft, the pressing mechanism follows up with the motion of the driving end chain wheel during the pre-swing motion, and the pressing mechanism is used for pressing a steel wire rope for driving the manipulator to move during the follow-up motion and performing tensioning compensation on the steel wire rope.
2. The joint master-slave manipulator pre-swing compensation device according to claim 1, wherein the pressing mechanism comprises: the compensation movable pulley, the compensation movable pulley shaft and the compensation connecting plate are fixedly connected with the driving end chain wheel, the compensation connecting plate moves along with the driving end chain wheel, the compensation movable pulley shaft is fixedly arranged on the compensation connecting plate, the compensation movable pulley is arranged on the compensation movable pulley shaft, the compensation movable pulley is used for freely rotating around the compensation movable pulley shaft, the compensation movable pulley is also used for following along with the movement of the driving end chain wheel, and the compensation movable pulley is used for pressing a steel wire rope for driving a mechanical arm to move in the following process.
3. The joint master-slave manipulator pre-swing compensation device according to claim 2, further comprising: the driving forearm connecting plate is fixedly connected with the driving forearm, the driving forearm connecting plate is rotatably connected with the driving upper arm through a driving arm connecting shaft, a sliding groove is formed in the driving forearm connecting plate, the compensation movable pulley shaft is matched and slidably connected with the sliding groove, and the compensation movable pulley moves along the sliding groove.
4. The joint master-slave manipulator pre-swing compensation device according to claim 2, further comprising: and the guide mechanism is arranged on the active front arm and used for guiding the movement of the steel wire rope.
5. The pre-swing compensation device for the joint master-slave manipulator according to claim 4, wherein the guide mechanism is a compensation fixed pulley, the drive end pulley is arranged on the drive arm connecting shaft and is rotationally connected with the drive arm connecting shaft, the compensation fixed pulley, the compensation movable pulley and the drive end pulley are on the same plane along the axial direction, and the steel wire rope sequentially passes through the compensation fixed pulley, the compensation movable pulley and the drive end pulley to move.
6. The joint master-slave manipulator pre-swing compensation device according to claim 5, further comprising: the driving forearm connecting plate is fixedly connected with the driving forearm, the driving forearm connecting plate is rotatably connected with the driving upper arm through a driving arm connecting shaft, and the compensating fixed pulley is arranged on the driving forearm connecting plate.
7. The joint master-slave manipulator pre-swing compensation device according to claim 2, further comprising: the compensation support plate is arranged on the driving arm connecting shaft and is rotationally connected with the driving arm connecting shaft, and the compensation support plate is fixedly arranged on the compensation movable pulley shaft and follows along with the movement of the compensation movable pulley shaft.
8. The joint master-slave manipulator pre-swing compensation device according to any one of claims 1 to 7, further comprising: the driven forearm connecting plate is fixedly connected with the driven forearm, the driven forearm is rotatably connected with the driven upper arm through a driven arm connecting shaft, and the driven forearm connecting plate is rotatably connected with the driven upper arm through a driven arm connecting shaft.
9. The joint master-slave manipulator pre-swing compensation device according to any one of claims 1 to 7, wherein the transmission mechanism further comprises: the pre-swing transmission mechanism is arranged on the driving front arm and is connected with the driving end chain wheel, and the pre-swing transmission mechanism is used for transmitting pre-swing motion to the driving end chain wheel.
10. A joint master slave manipulator, comprising: the joint master-slave manipulator pre-swing compensation device of any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111086044.7A CN113714993B (en) | 2021-09-16 | 2021-09-16 | Joint master-slave manipulator pre-swing compensation device and joint master-slave manipulator |
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| CN202111086044.7A CN113714993B (en) | 2021-09-16 | 2021-09-16 | Joint master-slave manipulator pre-swing compensation device and joint master-slave manipulator |
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| CN113714993B true CN113714993B (en) | 2023-02-24 |
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| US4030376A (en) * | 1975-03-06 | 1977-06-21 | Commissariat A L'energie Atomique | Device for applying tension to belts or cables for a remote manipulation |
| US4549839A (en) * | 1982-02-03 | 1985-10-29 | Commissariat A L'energie Atomique | Master-slave telescopic remote manipulator |
| CN104358848A (en) * | 2014-10-14 | 2015-02-18 | 浙江大学 | Automatic adjustment type steel wire rope tensioning device |
| CN105500379A (en) * | 2016-01-28 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Telescopic manipulator |
| CN105904446A (en) * | 2016-07-07 | 2016-08-31 | 成都航天烽火精密机电有限公司 | Automatic balancing type manipulator |
| KR101814926B1 (en) * | 2016-07-08 | 2018-02-21 | (주)월성티엠피 | Strand tension reducing apparatus of wire cable for manipulator device for remote control |
| CN113043259A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rope transmission mechanism and rope transmission mechanism of manipulator |
| CN113246090A (en) * | 2021-06-03 | 2021-08-13 | 中国核电工程有限公司 | Master-slave manipulator and operation room in nuclear industry |
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2021
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|---|---|---|---|---|
| US3570816A (en) * | 1968-05-22 | 1971-03-16 | Central Research Lab Inc | Manipulator handle |
| US4030376A (en) * | 1975-03-06 | 1977-06-21 | Commissariat A L'energie Atomique | Device for applying tension to belts or cables for a remote manipulation |
| US4549839A (en) * | 1982-02-03 | 1985-10-29 | Commissariat A L'energie Atomique | Master-slave telescopic remote manipulator |
| CN104358848A (en) * | 2014-10-14 | 2015-02-18 | 浙江大学 | Automatic adjustment type steel wire rope tensioning device |
| CN105500379A (en) * | 2016-01-28 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Telescopic manipulator |
| CN105904446A (en) * | 2016-07-07 | 2016-08-31 | 成都航天烽火精密机电有限公司 | Automatic balancing type manipulator |
| KR101814926B1 (en) * | 2016-07-08 | 2018-02-21 | (주)월성티엠피 | Strand tension reducing apparatus of wire cable for manipulator device for remote control |
| CN113043259A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Rope transmission mechanism and rope transmission mechanism of manipulator |
| CN113246090A (en) * | 2021-06-03 | 2021-08-13 | 中国核电工程有限公司 | Master-slave manipulator and operation room in nuclear industry |
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|---|---|
| CN113714993A (en) | 2021-11-30 |
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