CN114569251A - Double-arm manipulator system - Google Patents
Double-arm manipulator system Download PDFInfo
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- CN114569251A CN114569251A CN202210205063.5A CN202210205063A CN114569251A CN 114569251 A CN114569251 A CN 114569251A CN 202210205063 A CN202210205063 A CN 202210205063A CN 114569251 A CN114569251 A CN 114569251A
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- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 71
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 43
- 239000010959 steel Substances 0.000 claims abstract description 43
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- 238000010008 shearing Methods 0.000 claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims description 23
- 230000009977 dual effect Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 description 17
- 230000009471 action Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention provides a double-arm manipulator system, comprising: the manipulator comprises a support crossbeam, a plurality of manipulator arms and a plurality of manipulator mechanisms, wherein the support crossbeam is provided with two groups of manipulator arms in a sliding manner, the two groups of manipulator arms are symmetrically arranged, and each group of manipulator arms is provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and a manipulator mechanism; the operation hand mechanism includes operation hand support, operation hand ring cover, tongs and cuts degree of freedom drive handle, the operation hand support sets up with rotating the front end of forearm mechanism, operation hand ring cover sets up with rotating on the operation hand support, the inner circle of operation hand ring cover sets up with rotating on the outer lane of operation hand ring cover, the tongs is fixed to be set up the inner circle of operation hand ring cover, it articulates through the lever fulcrum on the tongs to cut the degree of freedom handle, the both ends of shearing the degree of freedom handle all are provided with the drive opening, two be connected with two shearing drive steel wires in the drive opening respectively.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a double-arm manipulator system.
Background
The surgical robot has an increasingly wide application range in surgical operations, the surgical robot can assist doctors to perform more accurate operations, and in the surgical operation process of using the surgical robot, the doctors receive movement by operating the main operating hand mechanical arm and perform corresponding operations under the control of the main operating hand mechanical arm. In order to accurately receive the actions of doctors, part of the surgical robots are provided with double-arm manipulator systems, each main manipulator mechanical arm of the double-arm manipulator systems is provided with a main manipulator, and the main manipulators are used for directly receiving the hand actions of the doctors and play a vital role in the surgical process. The main manipulator of the existing double-arm manipulator system mostly receives the action of a doctor through an electric signal device, the action is transmitted to an executing mechanism of a robot through an electric signal, and because the action is converted through multiple signals, the action executing has the possibility of deviation, and accurate action conduction and force feedback cannot be realized.
Disclosure of Invention
The invention provides a double-arm manipulator system, and aims to solve the problem that a main manipulator of the existing double-arm manipulator system cannot realize accurate motion conduction by receiving the motion of a doctor through an electric signal device.
To achieve the above object, an embodiment of the present invention provides a dual-arm manipulator system, including:
the manipulator comprises a supporting beam, wherein two groups of manipulator mechanical arms are arranged on the supporting beam in a sliding manner and symmetrically arranged, each group of manipulator mechanical arms are provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and a manipulator mechanism, and the shoulder joint mechanism, the large arm mechanism, the small arm mechanism and the manipulator mechanism are connected one by one;
the manipulator mechanism includes manipulator support, manipulator ring cover, tongs and shears degree of freedom drive handle, the manipulator support sets up with rotating the front end of forearm mechanism, manipulator ring cover sets up with rotating on the manipulator support, the inner circle of manipulator ring cover sets up with rotating on the outer lane of manipulator ring cover, the tongs is fixed to be set up the inner circle of manipulator ring cover, it articulates through the lever fulcrum on the tongs to shear the degree of freedom handle, the both ends of shearing the degree of freedom handle all are provided with the drive hole, two be connected with two shearing drive steel wires in the drive hole respectively.
The shoulder joint mechanism comprises a mechanical arm connecting part, a shoulder joint seat and a shoulder joint shaft, wherein the shoulder joint seat is rotationally arranged in the mechanical arm connecting part through the shoulder joint shaft;
the large arm mechanism comprises an arm telescopic driving connecting rod, an arm up-and-down driving connecting rod and an arm rocking rod, wherein one end of the arm rocking rod is rotatably arranged in the shoulder joint seat, the other end of the arm rocking rod is rotatably connected with the upper end of the arm up-and-down driving connecting rod, and the upper end of the arm telescopic driving connecting rod is rotatably arranged in the shoulder joint seat;
wherein, forearm mechanism includes forearm main part and flexible arm, flexible arm sets up with sliding in the forearm main part, the lower extreme of the flexible drive connecting rod of arm is connected with rotating the rear end of forearm main part, the lower extreme of drive connecting rod is connected with rotating about the arm the middle part of forearm main part, the operative hand support sets up with rotating the front end of flexible arm.
Wherein, around being equipped with arm rotation drive steel wire on the shoulder joint axle, the operation handle support is provided with the wrist and controls rotation drive steel wire, the outer lane of operation handle ring cover is provided with wrist rotation drive steel wire from top to bottom, the inner circle of operation handle ring cover is provided with the whole rotation drive steel wire of wrist.
An arm telescopic driving shaft is rotatably arranged in the shoulder joint seat, the arm telescopic driving connecting rod is rotatably arranged in the shoulder joint seat through the arm telescopic driving shaft, and an arm telescopic driving steel wire is wound on the arm telescopic driving shaft; an arm telescopic freedom degree balance motor is fixedly arranged in the shoulder joint seat, and the arm telescopic freedom degree balance motor is fixedly connected with the arm telescopic driving shaft.
The shoulder joint seat is rotatably provided with an arm up-and-down driving shaft, the arm rocker is rotatably arranged in the shoulder joint seat through the arm up-and-down driving shaft, and the arm up-and-down driving shaft is wound with an arm up-and-down driving steel wire; an arm up-and-down freedom degree balance motor is fixedly arranged in the shoulder joint seat, and the arm up-and-down freedom degree balance motor is fixedly connected with the arm up-and-down driving shaft.
Wherein, be provided with translation linear guide and translation locking back shaft on the supporting beam, the operative hand arm passes through translation linear guide sets up with sliding on the supporting beam, the operative hand arm is provided with translation locking mechanical system, the operative hand arm passes through translation locking mechanical system with translation locking back shaft is connected.
Wherein, translation locking mechanical system includes brake mechanism, brake mechanism sets up top one side of operative employee arm, brake mechanism is provided with first brake lever and second brake lever, first brake lever and second brake lever all set up on the swivel pin axle with rotating, the first end of first brake lever and second brake lever is hugged closely translation locking back shaft sets up, be provided with translation braking pretension spring between the second end of first brake lever and second brake lever.
The translation locking mechanism further comprises an unlocking mechanism, the unlocking mechanism is arranged on one side of the shoulder joint seat, the unlocking mechanism is provided with an unlocking handle, the unlocking handle is connected with one end of an unlocking steel wire, and the other end of the unlocking steel wire is connected to the bottom of the second end of the first brake lever.
The scheme of the invention has the following beneficial effects:
the double-arm manipulator system is provided with a supporting beam and two groups of manipulator mechanical arms which are arranged on the supporting beam in a sliding manner, each manipulator mechanical arm is provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and a manipulator mechanism, the mechanical arms can realize arm rotation motion through the shoulder joint mechanisms, the large arm mechanism can drive the small arm mechanisms to move up and down and move back and forth, the manipulator mechanisms can realize wrist left and right rotation, up and down rotation and integral rotation motion, a shearing freedom handle arranged on the manipulator mechanisms can be used for transmitting shearing motion, the manipulator mechanical arms can be adjusted on the supporting beam through a translation locking mechanism, and each manipulator mechanical arm is completely decoupled among seven degrees of freedom, and can be through the drive wire transmission, each degree of freedom mutually noninterfere when main manipulator arm motion, all can independent motion.
Drawings
FIG. 1 is a schematic diagram of a dual arm manipulator system of the present invention;
FIG. 2 is a schematic view of a manipulator robot arm configuration of the dual arm manipulator system of the present invention;
FIG. 3 is a schematic structural diagram of a shoulder joint mechanism, a large arm mechanism and a small arm mechanism of the dual-arm manipulator system of the invention;
FIG. 4 is a schematic view of the shoulder joint mechanism of the dual arm manipulator system of the present invention;
FIG. 5 is a first schematic view of the connection between the shoulder joint mechanism and the large arm mechanism of the dual-arm manipulator system of the present invention;
FIG. 6 is a second schematic view of the connection between the shoulder joint mechanism and the large arm mechanism of the dual-arm manipulator system of the present invention;
FIG. 7 is a schematic view of the manipulator mechanism of the dual arm manipulator system of the present invention;
FIG. 8 is a schematic view of the manipulator robot arm and support beam connection of the dual arm manipulator system of the present invention;
FIG. 9 is a schematic view of a partial connection of a manipulator arm to a support beam of the dual arm manipulator system of the present invention;
FIG. 10 is a schematic diagram of the braking mechanism of the dual arm manipulator system of the present invention;
fig. 11 is a schematic structural diagram of an unlocking mechanism of the dual-arm manipulator system of the present invention.
[ description of reference ]
1-supporting a beam; 2, operating a manipulator mechanical arm; 10-translation linear guide; 11-translating the locking support shaft; 100-a shoulder joint mechanism; 101-a robot arm connection; 102-shoulder joint seat; 103-shoulder joint axis; 104-arm rotation driving steel wire; 200-big arm mechanism; 201-arm telescopic driving connecting rod; 202-arm up-and-down driving connecting rod; 203-arm rocker; 204-arm telescopic driving shaft; 205-arm extension driving steel wire; 206-arm extension freedom degree balance motor; 207-arm up-down driving shaft; 208-driving the steel wire up and down by the arm; 209-arm up-down freedom balance motor; 210-arm telescopic driving roller; 211-arm up and down drive roller; 300-a small arm mechanism; 301-forearm body; 302-telescopic arm; 303-fastening bolts; 400-manipulator mechanism; 401-manipulator support; 402-operating a hand ring sleeve; 403-cutting degree of freedom drive handle; 404-the wrist rotates left and right to drive the steel wire; 405-driving the steel wire by the vertical rotation of the wrist; 406-wrist integral rotation drive wire; 407-hand grip; 408-cutting the drive wire; 500-a translational locking mechanism; 501-a brake mechanism; 502-a first brake lever; 503-a second brake lever; 504-rotating pin; 505-translational braking pretension spring; 506-an unlocking mechanism; 507-unlocking the mounting seat; 508-an unlocking handle; 509-unlocking the steel wire; 510-guide rollers.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a double-arm manipulator system aiming at the problem of the mechanical arm of the existing main manipulator.
As shown in fig. 1 to 7, an embodiment of the present invention provides a two-arm manipulator system, including: the manipulator robot comprises a supporting beam 1, wherein two groups of manipulator mechanical arms 2 are arranged on the supporting beam 1 in a sliding manner, the two groups of manipulator mechanical arms 2 are symmetrically arranged, each group of manipulator mechanical arms 2 is provided with a shoulder joint mechanism 100, a large arm mechanism 200, a small arm mechanism 300 and a manipulator mechanism 400, and the shoulder joint mechanism 100, the large arm mechanism 200, the small arm mechanism 300 and the manipulator mechanism 400 are connected one by one; handle mechanism 400, handle mechanism 400 includes handle support 401, handle ring cover 402, tongs 407 and cuts degree of freedom drive handle 403, handle support 401 sets up with rotating the front end of flexible arm 302, handle ring cover 402 sets up with rotating on the handle support 401, the inner circle of handle ring cover 402 sets up with rotating on the outer lane of handle ring cover 402, tongs 407 is fixed to be set up the inner circle of handle ring cover 402, it articulates through lever fulcrum 408 on the tongs to cut degree of freedom handle 403, the both ends of cutting degree of freedom handle 403 all are provided with the drive opening, two be connected with two respectively in the drive opening and cut drive steel wire 408, it implements the mechanism to cut the shearing that drive steel wire 408 is used for connecting surgical robot.
A shoulder joint mechanism 100, the shoulder joint mechanism 100 including a robot arm connecting portion 101, a shoulder joint base 102, and a shoulder joint shaft 103, the shoulder joint base 102 being rotatably provided in the robot arm connecting portion 101 by the shoulder joint shaft 103; the large arm mechanism 200 comprises an arm stretching driving connecting rod 201, an arm up-and-down driving connecting rod 202 and an arm rocking rod 203, one end of the arm rocking rod 203 is rotatably arranged in the shoulder joint seat 102, the other end of the arm rocking rod 203 is rotatably connected with the upper end of the arm up-and-down driving connecting rod 202, and the upper end of the arm stretching driving connecting rod 202 is rotatably arranged in the shoulder joint seat 102; the forearm mechanism 300 comprises a forearm main body 301 and a telescopic arm 302, wherein the telescopic arm 302 is slidably arranged in the forearm main body 301, the lower end of the arm telescopic driving connecting rod 201 is rotatably connected with the rear end of the forearm main body 301, and the lower end of the arm up-and-down driving connecting rod 202 is rotatably connected with the middle part of the forearm main body 301;
the double-arm manipulator system disclosed by the embodiment of the invention is arranged on a supporting beam of a robot through a mechanical arm connecting part 101, the shoulder joint shaft 103 is arranged in the mechanical arm connecting part 101 through a bearing, the shoulder joint seat 102 is arranged at the bottom of the shoulder joint shaft 103, and the shoulder joint shaft 103 can realize the integral rotary motion of the mechanical arm by rotating relative to the mechanical arm connecting part 101; the arm extension driving connecting rod 201, the arm up-down driving connecting rod 202, the arm rocker 203 and the small arm main body 301 form a quadrilateral mechanism together, when the arm extension driving connecting rod 201 rotates in the shoulder joint seat 102, the arm extension driving connecting rod can drive the small arm main body 301 to move back and forth, so as to realize the back and forth extension of the mechanical arm, when the arm rocker 203 rotates in the shoulder joint seat 102, the arm up-and-down driving link 202 is driven to lift and further drive the front end of the small arm structure 3 to lift up and down to realize the up-and-down motion of the mechanical arm, the manipulator mechanism 400 is used to receive the movement of the wrist, the shear freedom actuation handle 403 is able to move about the hand grip 407 via the fulcrum 408, the cutting driving steel wires 408 at the two ends are respectively used for receiving and transmitting the cutting and opening movement of the fingers of the operator, wherein the upward rotation is cutting, and the downward rotation is opening; a fastening bolt 303 is provided at the bottom of the arm main body 301 to fasten the sliding position of the telescopic arm 302.
Wherein, around being equipped with arm rotation drive steel wire 104 on the shoulder joint axle 103, operative hand support 401 is provided with wrist and controls rotation drive steel wire 404, the outer lane of operative hand ring cover 402 is provided with wrist rotation drive steel wire 405 from top to bottom, the inner circle of operative hand ring cover 402 is provided with wrist integral rotation drive steel wire 406.
The shoulder joint shaft 103 is provided with the arm rotation driving steel wire 104 in a winding manner, two ends of the arm rotation driving steel wire 104 are respectively led out from two through holes on the mechanical arm connecting part 101, and the two ends of the arm rotation driving steel wire 104 can respectively move in different directions along with the rotation of the shoulder joint shaft 103; an operating hand support rotating shaft is fixedly arranged at the bottom of the operating hand support 401 and is rotationally arranged at the front end of the telescopic arm 302, a wrist left-right rotation driving steel wire 404 is wound on the operating hand support rotating shaft, two ends of the wrist left-right rotation driving steel wire 404 are led out from two through holes in the front end surface of the telescopic arm 302, and two ends of the wrist left-right rotation driving steel wire 404 can respectively move in different directions along with the rotation of the operating hand support rotating shaft; two rotating shafts are respectively arranged on two sides of the outer ring of the operating hand ring sleeve 402, the rotating shafts on two sides of the outer ring of the operating hand ring sleeve 402 are respectively rotatably arranged on two sides of the operating hand support 401 through deep groove ball bearings, a rotating shaft on one side of the operating hand ring sleeve 402 is wound with the wrist up-and-down rotation driving steel wire 405, two ends of the wrist up-and-down rotation driving steel wire 405 are led out from two through holes at the front end of one side of the operating hand support 401, and two ends of the wrist up-and-down rotation driving steel wire 405 can respectively move in different directions along with the rotation of the operating hand ring sleeve 402 relative to the operating hand support 401; two groups of deep groove ball bearings are arranged between the inner ring and the outer ring of the operating hand ring sleeve 402, the wrist integral rotation driving steel wire 406 is wound on the inner ring of the operating hand ring sleeve 402, two ends of the wrist integral rotation driving steel wire 406 are respectively led out from through holes at two sides of the operating hand support 401, and two ends of the wrist integral rotation driving steel wire 406 can respectively move in different directions along with the relative rotation of the inner ring and the outer ring of the operating hand ring sleeve 402;
as shown in fig. 4 and 5, an arm extension drive shaft 204 is rotatably provided in the shoulder joint base 102, the arm extension drive link 201 is rotatably provided in the shoulder joint base 102 via the arm extension drive shaft 204, and an arm extension drive wire 205 is wound around the arm extension drive shaft 204.
An arm stretching freedom degree balance motor 206 is fixedly arranged in the shoulder joint seat 102, and the arm stretching freedom degree balance motor 206 is fixedly connected with the arm stretching driving shaft 204.
An arm up-and-down driving shaft 207 is rotatably disposed in the shoulder joint seat 102, the arm rocker 203 is rotatably disposed in the shoulder joint seat 102 via the arm up-and-down driving shaft 207, and an arm up-and-down driving wire 208 is wound around the arm up-and-down driving shaft 207.
An arm up-and-down degree of freedom balance motor 209 is fixedly arranged in the shoulder joint seat 102, and the arm up-and-down degree of freedom balance motor 209 is fixedly connected with the arm up-and-down driving shaft 207.
In the dual-arm manipulator system according to the embodiment of the present invention, the arm extension/contraction driving shaft 204 and the arm up/down driving shaft 207 are both rotatably disposed in the shoulder joint seat 102 through bearings, the gravity of the arm extension/contraction driving link 201 is balanced by the arm extension/contraction freedom degree balancing motor 206, and the gravity of the arm up/down driving link 202 is balanced by the arm up/down freedom degree balancing motor 209; an arm extension driving roller 210 is arranged on the outer side of the arm extension driving shaft 204, the arm extension driving steel wire 205 is wound on the arm extension driving roller 210, and as the arm extension driving connecting rod 201 rotates relative to the shoulder joint seat 102, two ends of the arm extension driving steel wire 205 move in different directions respectively; an arm up-and-down driving roller 211 is disposed at an outer side of the arm up-and-down driving shaft 207, the arm up-and-down driving wire 208 is wound around the arm up-and-down driving roller 211, and two ends of the arm up-and-down driving wire 208 move in different directions along with the rotation of the arm rocker 203 relative to the shoulder joint seat 102.
As shown in fig. 1, 8, 9, 10 and 11, a translational linear guide 10 and a translational locking support shaft 11 are provided on the support beam 1, the manipulator mechanical arm 2 is slidably disposed on the support beam 1 through the translational linear guide 10, the manipulator mechanical arm 2 is provided with a translational locking mechanism 500, and the manipulator mechanical arm 2 is connected with the translational locking support shaft 11 through the translational locking mechanism 500.
Wherein, translation locking mechanical system 500 includes brake mechanism 501, brake mechanism 501 sets up top one side of operative hand arm 2, brake mechanism 501 is provided with first brake lever 502 and second brake lever 503, first brake lever 502 and second brake lever 503 all set up on swivel pin 504 with rotating, the first end of first brake lever 502 and second brake lever 503 is hugged closely translation locking back shaft 11 sets up, be provided with translation braking pretension spring 505 between the second end of first brake lever 502 and second brake lever 503.
Wherein, translation locking mechanical system still includes release mechanism 506, release mechanism 506 sets up one side of shoulder joint seat 102, release mechanism 506 is provided with unblock mount pad 507, it has unblock handle 508 to articulate on the unblock mount pad 507, the one end of unblock steel wire 509 is connected to the one end of unblock handle 508, the second end bottom at first brake lever 502 is connected to the other end of unblock steel wire 509.
In the double-arm manipulator system, the manipulator connecting part 101 of the manipulator 2 is provided with a slider, the slider is arranged on the translational linear guide rail 10, the first ends of the first brake lever 502 and the second brake lever 503 are clamped and locked on the translational locking support shaft 11, the first brake lever 502 and the second brake lever 503 form a clamp-shaped structure through rotating a pin 504, and meanwhile, a translational brake pre-tightening spring 505 can enable the first brake lever 502 and the second brake lever 503 to be always clamped on the translational locking support shaft 11 under the condition of no external force, and at the moment, the manipulator 2 cannot slide along the support beam 1; the unlocking handle 508 is a lever-shaped structure, the upper end of the unlocking handle 508 is provided with the unlocking steel wire 509, the unlocking steel wire 509 is guided to the brake mechanism 501 along a guide roller 510 in the unlocking installation seat 507, the second end of the second brake lever 503 passes through and is connected to the bottom of the second end of the first brake lever 502, when the lower end of the unlocking handle 508 is pressed, the unlocking steel wire 509 is driven to move, the second end of the second brake lever 503 is driven to move downwards to compress the translation braking pre-tightening spring 505, meanwhile, the first brake lever 502 and the second brake lever 503 unlock the translation locking support shaft 11, and at the moment, the manipulator mechanical arm 2 can freely slide along the support beam 1.
The double-arm manipulator system can adjust the position of a manipulator mechanical arm on a supporting beam through a translation locking mechanism, the manipulator mechanical arm realizes the integral rotation motion of the arm, the extension, the up-and-down motion and the front-and-back motion of a small arm mechanism, the manipulator mechanism can realize the left-and-right rotation, the up-and-down rotation and the integral rotation motion of a wrist, and a shearing driving mechanism arranged on the manipulator mechanism can be used for transmitting the shearing motion.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A dual arm manipulator system comprising:
the manipulator comprises a supporting beam, wherein two groups of manipulator mechanical arms are arranged on the supporting beam in a sliding manner and symmetrically arranged, each group of manipulator mechanical arms are provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and a manipulator mechanism, and the shoulder joint mechanism, the large arm mechanism, the small arm mechanism and the manipulator mechanism are connected one by one;
the manipulator mechanism includes manipulator support, manipulator ring cover, tongs and shears degree of freedom drive handle, the manipulator support sets up with rotating the front end of forearm mechanism, manipulator ring cover sets up with rotating on the manipulator support, the inner circle of manipulator ring cover sets up with rotating on the outer lane of manipulator ring cover, the tongs is fixed to be set up the inner circle of manipulator ring cover, it articulates through the lever fulcrum on the tongs to shear the degree of freedom handle, the both ends of shearing the degree of freedom handle all are provided with the drive hole, two be connected with two shearing drive steel wires in the drive hole respectively.
2. The dual arm manipulator system of claim 1, wherein the shoulder joint mechanism includes a robot arm link, a shoulder joint mount, and a shoulder joint shaft, the shoulder joint mount being rotatably disposed within the robot arm link by the shoulder joint shaft.
3. The dual arm manipulator system of claim 2, wherein the large arm mechanism includes an arm telescopic drive link, an arm up and down drive link, and an arm rocker having one end rotatably disposed within the shoulder joint seat and the other end rotatably connected to an upper end of the arm up and down drive link, the upper end of the arm telescopic drive link being rotatably disposed within the shoulder joint seat.
4. The dual arm manipulator system of claim 3, wherein the forearm mechanism includes a forearm body and a telescoping arm slidably disposed within the forearm body, the lower end of the arm telescoping drive link being pivotally connected to the rear end of the forearm body, the lower end of the arm up and down drive link being pivotally connected to the middle of the forearm body, the manipulator support being pivotally disposed at the front end of the telescoping arm.
5. The dual arm manipulator system according to claim 4, wherein arm rotation driving wires are wound around the shoulder joint shaft, wrist left and right rotation driving wires are provided on the manipulator support, wrist up and down rotation driving wires are provided on the outer ring of the manipulator ring, and wrist integral rotation driving wires are provided on the inner ring of the manipulator ring.
6. The dual arm manipulator system of claim 3, wherein the shoulder joint mount has an arm extension drive shaft rotatably disposed therein, the arm extension drive link being rotatably disposed within the shoulder joint mount via the arm extension drive shaft, the arm extension drive shaft being wound with an arm extension drive wire; an arm telescopic freedom degree balance motor is fixedly arranged in the shoulder joint seat and is fixedly connected with the arm telescopic driving shaft.
7. The dual arm manipulator system of claim 3, wherein the shoulder joint mount is rotatably disposed with an arm up-down drive shaft, the arm rocker is rotatably disposed within the shoulder joint mount via the arm up-down drive shaft, the arm up-down drive shaft is wrapped with an arm up-down drive wire; an arm up-and-down freedom degree balance motor is fixedly arranged in the shoulder joint seat and is fixedly connected with the arm up-and-down driving shaft.
8. The dual arm manipulator system of claim 1, wherein the support beam is provided with a translational linear guide and a translational locking support shaft, the manipulator robot arm is slidably disposed on the support beam via the translational linear guide, the manipulator robot arm is provided with a translational locking mechanism, and the manipulator robot arm is connected with the translational locking support shaft via the translational locking mechanism.
9. The dual arm manipulator system of claim 8, wherein the translational locking mechanism comprises a brake mechanism disposed on a top side of the manipulator arm, the brake mechanism having a first brake lever and a second brake lever, the first and second brake levers both rotationally disposed on a rotating pin, a first end of the first and second brake levers disposed proximate the translational lock support shaft, a translational brake pre-tension spring disposed between a second end of the first and second brake levers.
10. The dual arm manipulator system of claim 9, wherein the translational locking mechanism further comprises an unlocking mechanism disposed on one side of the shoulder joint seat, the unlocking mechanism having an unlocking handle connected to one end of an unlocking wire, the other end of the unlocking wire being connected to the bottom of the second end of the first brake lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210205063.5A CN114569251B (en) | 2022-03-02 | 2022-03-02 | Double arm manipulator system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210205063.5A CN114569251B (en) | 2022-03-02 | 2022-03-02 | Double arm manipulator system |
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| CN114569251A true CN114569251A (en) | 2022-06-03 |
| CN114569251B CN114569251B (en) | 2023-12-05 |
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| CN202210205063.5A Active CN114569251B (en) | 2022-03-02 | 2022-03-02 | Double arm manipulator system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114732526A (en) * | 2022-03-02 | 2022-07-12 | 中南大学 | Double-arm manipulator system |
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| JP2003175484A (en) * | 2001-12-13 | 2003-06-24 | Japan Science & Technology Corp | Man type robot arm |
| US20170056118A1 (en) * | 2014-02-21 | 2017-03-02 | Intuitive Surgical Operations, Inc. | Articulatable members having constrained motion and related devices and methods |
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| CN114569251B (en) | 2023-12-05 |
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