CN114569251B - Double arm manipulator system - Google Patents
Double arm manipulator system Download PDFInfo
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- CN114569251B CN114569251B CN202210205063.5A CN202210205063A CN114569251B CN 114569251 B CN114569251 B CN 114569251B CN 202210205063 A CN202210205063 A CN 202210205063A CN 114569251 B CN114569251 B CN 114569251B
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- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 67
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 52
- 239000010959 steel Substances 0.000 claims abstract description 52
- 238000010008 shearing Methods 0.000 claims abstract description 27
- 230000009977 dual effect Effects 0.000 claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 9
- 210000000707 wrist Anatomy 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 description 20
- 230000009471 action Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000004804 winding Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
Classifications
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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)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a dual arm manipulator system comprising: the support beam is provided with two groups of manipulator mechanical arms in a sliding manner, the two groups of manipulator mechanical arms are symmetrically arranged, and each group of manipulator mechanical arms is provided with a shoulder joint mechanism, a large arm mechanism, a small arm mechanism and a manipulator mechanism; the manipulator mechanism comprises a manipulator support, a manipulator sleeve, a gripper and a shearing degree-of-freedom driving handle, wherein the manipulator support is rotationally arranged at the front end of the forearm mechanism, the manipulator sleeve is rotationally arranged on the manipulator support, the inner ring of the manipulator sleeve is rotationally arranged on the outer ring of the manipulator sleeve, the gripper is fixedly arranged on the inner ring of the manipulator sleeve, the shearing degree-of-freedom handle is hinged on the gripper through a lever fulcrum, and driving holes are respectively formed in two ends of the shearing degree-of-freedom handle, and two shearing driving steel wires are respectively connected in the driving holes.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a double-arm manipulator system.
Background
The surgical robot has an increasingly wide application range in surgical operations, and can assist doctors in performing more accurate operations, and in the surgical operation process using the surgical robot, the doctors receive movements by operating the main manipulator mechanical arm, and the slave mechanical arm performs corresponding operations under the control of the main manipulator mechanical arm. In order to accurately receive the actions of doctors, part of surgical robots are provided with a double-arm manipulator system, each main manipulator mechanical arm of the double-arm manipulator system is provided with a main manipulator, and the main manipulator is used for directly receiving the hand actions of the doctors and plays a vital role in the surgical process. The main manipulator of the existing double-arm manipulator system receives the actions of doctors mostly through electric signal equipment, and transmits the actions to an actuating mechanism of a robot through electric signals, and as the actions are subjected to multiple signal conversion, the possibility of deviation exists when the actions are executed, and accurate action conduction and force feedback cannot be realized.
Disclosure of Invention
The invention provides a double-arm manipulator system, which aims to solve the problem that the accurate motion transmission cannot be realized when a main manipulator of the existing double-arm manipulator system receives 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 support beam is provided with two groups of manipulator mechanical arms in a sliding manner, the two groups of manipulator mechanical arms are symmetrically arranged, each group of manipulator mechanical arms is 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 comprises a manipulator support, a manipulator sleeve, a gripper and a shearing degree-of-freedom driving handle, wherein the manipulator support is rotationally arranged at the front end of the forearm mechanism, the manipulator sleeve is rotationally arranged on the manipulator support, the inner ring of the manipulator sleeve is rotationally arranged on the outer ring of the manipulator sleeve, the gripper is fixedly arranged on the inner ring of the manipulator sleeve, the shearing degree-of-freedom handle is hinged on the gripper through a lever fulcrum, and driving holes are respectively formed in two ends of the shearing degree-of-freedom handle, and two shearing driving steel wires are respectively connected in the driving holes.
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-down driving connecting rod and an arm rocker, one end of the arm rocker is rotationally arranged in the shoulder joint seat, the other end of the arm rocker is rotationally connected with the upper end of the arm up-down driving connecting rod, and the upper end of the arm telescopic driving connecting rod is rotationally arranged in the shoulder joint seat;
the arm mechanism comprises an arm main body and a telescopic arm, the telescopic arm is slidably arranged in the arm main body, the lower end of an arm telescopic driving connecting rod is rotationally connected with the rear end of the arm main body, the lower end of an arm up-down driving connecting rod is rotationally connected with the middle part of the arm main body, and the manipulator support is rotationally arranged at the front end of the telescopic arm.
The shoulder joint shaft is wound with an arm rotation driving steel wire, the manipulator support is provided with a wrist left-right rotation driving steel wire, the outer ring of the manipulator sleeve is provided with a wrist up-down rotation driving steel wire, and the inner ring of the manipulator sleeve is provided with a wrist integral rotation driving steel wire.
The arm telescopic driving rod is rotationally arranged in the shoulder joint seat through the arm telescopic driving shaft, and the arm telescopic driving shaft is provided with an arm telescopic driving steel wire in a winding manner; the shoulder joint seat is internally and fixedly provided with an arm telescopic freedom degree balance motor which is fixedly connected with the arm telescopic driving shaft.
The arm rocker is rotationally arranged in the shoulder joint seat through the arm up-down driving shaft, and the arm up-down driving shaft is provided with an arm up-down driving steel wire in a winding manner; the shoulder joint seat is internally and fixedly provided with an arm up-down degree-of-freedom balance motor, and the arm up-down degree-of-freedom balance motor is fixedly connected with an arm up-down driving shaft.
The manipulator mechanical arm is provided with a translation locking mechanism, and is connected with the translation locking supporting shaft through the translation locking mechanism.
The translational locking mechanism comprises a braking mechanism, the braking mechanism is arranged on one side of the top of the manipulator mechanical arm, the braking mechanism is provided with a first braking lever and a second braking lever, the first braking lever and the second braking lever are both rotatably arranged on the rotating pin shaft, the first ends of the first braking lever and the second braking lever are tightly attached to the translational locking supporting shaft, and a translational braking pre-tightening spring is arranged between the second ends of the first braking lever and the second braking 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, wherein 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 mechanism, the large arm mechanism can drive the small arm mechanism to move up and down and move back and forth, the manipulator mechanism can realize wrist left and right rotation, up and down rotation and integral rotation motion, a shearing degree-of-freedom handle arranged on the manipulator mechanism can be used for transmitting shearing motion, the manipulator mechanical arm can adjust the position on the supporting beam through a translation locking mechanism, seven degrees of freedom of each manipulator mechanical arm are completely decoupled, and can realize independent motion through driving steel wires.
Drawings
FIG. 1 is a schematic diagram of the dual arm manipulator system of the present invention;
FIG. 2 is a schematic diagram of a manipulator robot of the dual arm manipulator system of the present invention;
FIG. 3 is a schematic view of the shoulder joint mechanism, the large arm mechanism and the small arm mechanism of the dual arm manipulator system of the present 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 schematic diagram of a shoulder joint mechanism and a forearm mechanism connection of a dual arm manipulator system of the invention;
FIG. 6 is a schematic diagram showing a second connection between a shoulder joint mechanism and a forearm mechanism of the dual arm manipulator system of the invention;
FIG. 7 is a schematic diagram of the manipulator mechanism of the dual arm manipulator system of the present invention;
FIG. 8 is a schematic diagram of the manipulator arm and support beam connection of the dual arm manipulator system of the present invention;
FIG. 9 is a schematic illustration of a partial connection of a manipulator arm and a support beam of the dual arm manipulator system of the present invention;
FIG. 10 is a schematic illustration of the brake mechanism of the dual arm manipulator system of the present invention;
fig. 11 is a schematic diagram of the unlocking mechanism of the dual arm manipulator system of the present invention.
[ reference numerals description ]
1-supporting a cross beam; 2-manipulator mechanical arm; 10-translating the linear guide rail; 11-translating the locking support shaft; 100-shoulder joint mechanism; 101-a mechanical arm connection; 102-shoulder joint seat; 103-shoulder joint axis; 104, arm rotation driving steel wires; 200-large arm mechanism; 201-arm telescopic driving connecting rod; 202, driving a connecting rod up and down by an arm; 203-arm rocker; 204-arm telescoping drive shaft; 205-arm telescopic driving steel wire; 206, balancing a motor in the arm telescopic degree of freedom; 207-arm up and down drive shaft; 208-arm up-down driving steel wire; 209-balancing motors with upper and lower degrees of freedom of arms; 210-arm telescopic driving roller; 211-driving the roller up and down by the arm; 300-forearm mechanism; 301-forearm body; 302-telescoping arms; 303-fastening bolts; 400-operating a hand mechanism; 401-manipulator support; 402-operating a glove; 403-shear degree of freedom drive handle; 404-wrist left-right rotation driving steel wire; 405-wrist up-down rotation driving steel wire; 406-wrist integral rotation driving steel wire; 407-a gripper; 408-shearing the driving steel wire; 500-translational locking mechanism; 501-a brake mechanism; 502-a first brake lever; 503-a second brake lever; 504-rotating the pin shaft; 505-translational braking pretension spring; 506-unlocking mechanism; 507-unlocking the mount; 508-unlocking the handle; 509-unlocking the steel wire; 510-guide roller.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The invention provides a double-arm manipulator system aiming at the problem of the existing manipulator of a main manipulator.
As shown in fig. 1 to 7, an embodiment of the present invention provides a dual arm manipulator system comprising: the manipulator comprises a support beam 1, wherein two groups of manipulator mechanical arms 2 are slidably arranged on the support beam 1, 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; the manipulator mechanism 400, manipulator mechanism 400 includes manipulator support 401, manipulator sleeve 402, tongs 407 and shearing degree of freedom actuating handle 403, manipulator support 401 rotationally sets up the front end of telescopic arm 302, manipulator sleeve 402 rotationally sets up on manipulator support 401, the inner circle of manipulator sleeve 402 rotationally sets up on the outer lane of manipulator sleeve 402, tongs 407 is fixed to be set up the inner circle of manipulator sleeve 402, shearing degree of freedom handle 403 articulates through lever fulcrum 408 on the tongs, shearing degree of freedom handle 403's both ends all are provided with the drive hole, two respectively be connected with two shearing actuating steel wires 408 in the drive hole, shearing actuating steel wire 408 is used for connecting surgical robot's shearing implementation mechanism.
A shoulder joint mechanism 100, wherein the shoulder joint mechanism 100 comprises a mechanical arm connecting part 101, a shoulder joint seat 102 and a shoulder joint shaft 103, and the shoulder joint seat 102 is rotatably arranged in the mechanical arm connecting part 101 through the shoulder joint shaft 103; the large arm mechanism 200 comprises an arm telescopic driving connecting rod 201, an arm up-down driving connecting rod 202 and an arm rocker 203, one end of the arm rocker 203 is rotatably arranged in the shoulder joint seat 102, the other end of the arm rocker 203 is rotatably connected with the upper end of the arm up-down driving connecting rod 202, and the upper end of the arm telescopic driving connecting rod 202 is rotatably arranged in the shoulder joint seat 102; the arm mechanism 300 comprises an arm main body 301 and a telescopic arm 302, wherein the telescopic arm 302 is slidably arranged in the arm main body 301, the lower end of the arm telescopic driving connecting rod 201 is rotationally connected with the rear end of the arm main body 301, and the lower end of the arm up-down driving connecting rod 202 is rotationally connected with the middle part of the arm main body 301;
the double-arm manipulator system is arranged on a supporting beam of a robot through a mechanical arm connecting part 101, a shoulder joint shaft 103 is arranged in the mechanical arm connecting part 101 through a bearing, a shoulder joint seat 102 is arranged at the bottom of the shoulder joint shaft 103, and the shoulder joint shaft 103 can rotate relative to the mechanical arm connecting part 101 to realize the integral rotation motion of the mechanical arm; the arm telescopic driving connecting rod 201, the arm up-down driving connecting rod 202, the arm rocking rod 203 and the forearm main body 301 together form a quadrilateral mechanism, when the arm telescopic driving connecting rod 201 rotates in the shoulder joint seat 102, the forearm main body 301 can be driven to move back and forth to realize the back-and-forth extension of the mechanical arm, when the arm rocking rod 203 rotates in the shoulder joint seat 102, the arm up-and-down driving connecting rod 202 is driven to lift and further drive the front end of the forearm structure 3 to lift up and down to realize the up-and-down movement of the mechanical arm, the manipulator mechanism 400 is used for receiving the movement of a wrist, the shearing degree-of-freedom driving handle 403 can move around the grip 407 through the lever fulcrum 408, and the shearing driving steel wires 408 at two ends of the manipulator mechanism are respectively used for receiving and transmitting the shearing and expanding movement of the fingers of an operator, wherein the upward rotation is the shearing movement and the downward rotation are the expanding movement; the bottom of the forearm main body 301 is provided with a fastening bolt 303 for fastening the sliding position of the telescopic arm 302.
The shoulder joint shaft 103 is provided with an arm rotation driving steel wire 104 in a winding manner, the manipulator support 401 is provided with a wrist left-right rotation driving steel wire 404, the outer ring of the manipulator sleeve 402 is provided with a wrist up-down rotation driving steel wire 405, and the inner ring of the manipulator sleeve 402 is provided with a wrist whole rotation driving steel wire 406.
The shoulder joint shaft 103 is wound with the arm rotation driving steel wire 104, 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 rotate along with the shoulder joint shaft 103, and two ends of the arm rotation driving steel wire 104 can respectively move in opposite directions; the bottom of the manipulator support 401 is fixedly provided with a manipulator support rotating shaft, the manipulator support rotating shaft is rotatably arranged at the front end of the telescopic arm 302, a wrist left-right rotation driving steel wire 404 is wound on the manipulator support rotating shaft, two ends of the wrist left-right rotation driving steel wire 404 are led out from two through holes on the front end surface of the telescopic arm 302, and along with the rotation of the manipulator support rotating shaft, two ends of the wrist left-right rotation driving steel wire 404 can respectively move in opposite directions; the two sides of the outer ring of the operation glove 402 are respectively provided with a rotating shaft, the rotating shafts on the two sides of the outer ring of the operation glove 402 are respectively rotatably arranged on the two sides of the operation glove support 401 through deep groove ball bearings, one side rotating shaft of the operation glove 402 is provided with the wrist up-and-down rotation driving steel wire 405 in a winding manner, two ends of the wrist up-and-down rotation driving steel wire 405 are led out from two through holes on the front end of one side of the operation glove support 401, and along with the rotation of the operation glove 402 relative to the operation glove support 401, the two ends of the wrist up-and-down rotation driving steel wire 405 can respectively move in opposite directions; two groups of deep groove ball bearings are arranged between the inner ring and the outer ring of the operation glove 402, the inner ring of the operation glove 402 is wound with the wrist integral rotation driving steel wire 406, two ends of the wrist integral rotation driving steel wire 406 are respectively led out from through holes on two sides of the operation glove support 401, and along with the relative rotation of the inner ring and the outer ring of the operation glove 402, two ends of the wrist integral rotation driving steel wire 406 can respectively move in opposite directions;
as shown in fig. 4 and 5, an arm telescopic driving shaft 204 is rotatably disposed in the shoulder joint seat 102, the arm telescopic driving link 201 is rotatably disposed in the shoulder joint seat 102 through the arm telescopic driving shaft 204, and the arm telescopic driving shaft 204 is provided with an arm telescopic driving wire 205.
The shoulder joint seat 102 is fixedly provided with an arm telescopic degree of freedom balance motor 206, and the arm telescopic degree of freedom balance motor 206 is fixedly connected with the arm telescopic driving shaft 204.
The shoulder joint seat 102 is rotatably provided with an arm up-down driving shaft 207, the arm rocker 203 is rotatably provided in the shoulder joint seat 102 through the arm up-down driving shaft 207, and the arm up-down driving shaft 207 is provided with an arm up-down driving wire 208.
The shoulder joint seat 102 is fixedly provided with an arm up-down degree of freedom balancing motor 209, and the arm up-down degree of freedom balancing motor 209 is fixedly connected with the arm up-down driving shaft 207.
In the dual-arm manipulator system according to the embodiment of the present invention, the arm telescopic driving shaft 204 and the arm up-down driving shaft 207 are rotatably disposed in the shoulder joint seat 102 through bearings, the weight of the arm telescopic driving link 201 is balanced by the arm telescopic degree of freedom balancing motor 206, and the weight of the arm up-down driving link 202 is balanced by the arm up-down degree of freedom balancing motor 209; an arm telescopic driving roller 210 is arranged on the outer side of the arm telescopic driving shaft 204, the arm telescopic driving steel wire 205 is wound on the arm telescopic driving roller 210, and along with the rotation of the arm telescopic driving connecting rod 201 relative to the shoulder joint seat 102, two ends of the arm telescopic driving steel wire 205 can respectively move in opposite directions; the outer side of the arm up-down driving shaft 207 is provided with an arm up-down driving roller 211, the arm up-down driving wire 208 is wound on the arm up-down driving roller 211, and along with the rotation of the arm rocker 203 relative to the shoulder joint seat 102, two ends of the arm up-down driving wire 208 can respectively move in opposite directions.
As shown in fig. 1, 8, 9, 10 and 11, the support beam 1 is provided with a translational linear guide rail 10 and a translational locking support shaft 11, the manipulator mechanical arm 2 is slidably disposed on the support beam 1 through the translational linear guide rail 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.
The translational locking mechanism 500 comprises a braking mechanism 501, the braking mechanism 501 is arranged on one side of the top of the manipulator mechanical arm 2, the braking mechanism 501 is provided with a first braking lever 502 and a second braking lever 503, the first braking lever 502 and the second braking lever 503 are both rotatably arranged on a rotating pin shaft 504, first ends of the first braking lever 502 and the second braking lever 503 are tightly attached to the translational locking supporting shaft 11, and a translational braking pre-tightening spring 505 is arranged between second ends of the first braking lever 502 and the second braking lever 503.
The translational locking mechanism further comprises an unlocking mechanism 506, the unlocking mechanism 506 is arranged on one side of the shoulder joint seat 102, the unlocking mechanism 506 is provided with an unlocking mounting seat 507, an unlocking handle 508 is hinged to the unlocking mounting seat 507, one end of the unlocking handle 508 is connected with one end of an unlocking steel wire 509, and the other end of the unlocking steel wire 509 is connected to the bottom of the second end of the first brake lever 502.
According to the double-arm manipulator system, the manipulator connecting part 101 of the manipulator 2 is provided with the sliding block, the sliding block 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 clip-shaped structure through the rotating pin 504, and meanwhile, the translational braking pre-tightening spring 505 can enable the first brake lever 502 and the second brake lever 503 to always clamp the translational locking support shaft 11 under the action of no external force, and at the moment, the manipulator 2 cannot slide along the support beam 1; the unlocking handle 508 is in a lever-shaped structure, the unlocking steel wire 509 is arranged at the upper end of the unlocking handle 508, the unlocking steel wire 509 is guided to the brake mechanism 501 along the guide roller 510 in the unlocking mounting seat 507, the unlocking steel wire 509 passes through the bottom of the second end of the first brake lever 502 from the second end of the second brake lever 503, when the lower end of the unlocking handle 508 is pressed, the unlocking steel wire 509 is driven to move, and then the second end of the second brake lever 503 is driven to move downwards to compress the translational brake pre-tightening spring 505, meanwhile, the first brake lever 502 and the second brake lever 503 unlock the translational locking support shaft 11, and at the moment, the manipulator mechanical arm 2 can slide freely along the support beam 1.
According to the double-arm manipulator system, the position of the manipulator mechanical arm on the supporting beam can be adjusted through the translation locking mechanism, the manipulator mechanical arm realizes the whole rotation motion of the arm, the telescopic motion, the up-and-down motion and the front-and-back motion of the small arm mechanism, the manipulator mechanism can realize the left-and-right rotation, the up-and-down rotation and the whole rotation motion of the wrist, the shearing driving mechanism arranged on the manipulator mechanism can be used for transmitting the shearing motion, the seven degrees of freedom are completely decoupled, the driving steel wire transmission is used, and all the degrees of freedom are not interfered with each other when the main manipulator mechanical arm moves, and the independent motion can be realized.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (8)
1. A dual arm manipulator system, comprising:
the support beam is provided with two groups of manipulator mechanical arms in a sliding manner, the two groups of manipulator mechanical arms are symmetrically arranged, each group of manipulator mechanical arms is 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 comprises a manipulator support, a manipulator sleeve, a gripper and a shearing degree-of-freedom driving handle, wherein the manipulator support is rotationally arranged at the front end of the forearm mechanism, the manipulator sleeve is rotationally arranged on the manipulator support, the inner ring of the manipulator sleeve is rotationally arranged on the outer ring of the manipulator sleeve, the gripper is fixedly arranged on the inner ring of the manipulator sleeve, the shearing degree-of-freedom driving handle is hinged on the gripper through a lever fulcrum, driving holes are formed in two ends of the shearing degree-of-freedom driving handle, and two shearing driving steel wires are respectively connected in the driving holes;
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 shoulder joint shaft is wound with an arm rotation driving steel wire, the manipulator support is provided with a wrist left-right rotation driving steel wire, the outer ring of the manipulator sleeve is provided with a wrist up-down rotation driving steel wire, and the inner ring of the manipulator sleeve is provided with a wrist integral rotation driving steel wire.
2. The dual arm manipulator system of claim 1, wherein the large arm mechanism comprises an arm telescoping drive link, an arm up and down drive link, and an arm rocker, one end of the arm rocker is rotatably disposed within the shoulder joint mount, the other end of the arm rocker is rotatably connected to an upper end of the arm up and down drive link, and an upper end of the arm telescoping drive link is rotatably disposed within the shoulder joint mount.
3. The dual arm manipulator system of claim 2, wherein the arm mechanism comprises an arm body and a telescoping arm slidably disposed within the arm body, the lower end of the arm telescoping drive link rotatably coupled to the rear end of the arm body, the lower end of the arm up and down drive link rotatably coupled to the middle of the arm body, and the manipulator support rotatably disposed at the front end of the telescoping arm.
4. The dual arm manipulator system of claim 2, wherein an arm extension drive shaft is rotatably disposed within the shoulder joint housing, the arm extension drive link being rotatably disposed within the shoulder joint housing by the arm extension drive shaft, the arm extension drive shaft being provided with an arm extension drive wire therearound; the shoulder joint seat is internally and fixedly provided with an arm telescopic freedom degree balance motor which is fixedly connected with the arm telescopic driving shaft.
5. The double-arm manipulator system according to claim 2, wherein an arm up-and-down driving shaft is rotatably provided in the shoulder joint seat, the arm rocker is rotatably provided in the shoulder joint seat by the arm up-and-down driving shaft, and the arm up-and-down driving shaft is provided with an arm up-and-down driving wire around the arm up-and-down driving shaft; the shoulder joint seat is internally and fixedly provided with an arm up-down degree-of-freedom balance motor, and the arm up-down degree-of-freedom balance motor is fixedly connected with an arm up-down driving shaft.
6. 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 arm is slidably disposed on the support beam via the translational linear guide, the manipulator arm is provided with a translational locking mechanism, and the manipulator arm is coupled to the translational locking support shaft via the translational locking mechanism.
7. The dual arm manipulator system of claim 6, wherein the translational locking mechanism comprises a brake mechanism disposed on a top side of the manipulator arm, the brake mechanism being provided with a first brake lever and a second brake lever, the first brake lever and the second brake lever both rotatably disposed on the swivel pin, first ends of the first brake lever and the second brake lever disposed proximate the translational locking support shaft, and a translational braking pretension spring disposed between second ends of the first brake lever and the second brake lever.
8. The dual arm manipulator system of claim 7, wherein the translational locking mechanism further comprises an unlocking mechanism disposed on one side of the shoulder seat, the unlocking mechanism being provided with an unlocking handle, the unlocking handle being 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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| Publication Number | Publication Date |
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| CN114569251A CN114569251A (en) | 2022-06-03 |
| CN114569251B true 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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| JP2003175484A (en) * | 2001-12-13 | 2003-06-24 | Japan Science & Technology Corp | Man type robot arm |
| US10405929B1 (en) * | 2015-11-18 | 2019-09-10 | Bradley S. Seltmann | Attachment mechanism for surgical tool tracking system |
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