CN114732526A - Double-arm manipulator system - Google Patents

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 mechanical arms in a sliding manner, 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 shoulder joint mechanism comprises a mechanical arm connecting part, a shoulder joint seat and a 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 rocker; the small arm mechanism comprises a small arm main body and a telescopic arm; the manipulator mechanism comprises a manipulator support, a manipulator ring sleeve and a shearing driving mechanism. The manipulator mechanical arm can be adjusted on the supporting beam through the translation locking mechanism, seven degrees of freedom of each manipulator mechanical arm are completely decoupled, the manipulator mechanical arm can be driven through the driving steel wire, and all the degrees of freedom of the main manipulator mechanical arm do not interfere with each other when the main manipulator mechanical arm moves and can move independently.

Description

Double-arm manipulator system

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 surgical robots are provided with double-arm manipulator systems, most of the existing double-arm manipulator systems receive the actions of doctors through electric signal equipment, the actions are transmitted to an execution mechanism of the robot through electric signals, the actions have the possibility of deviation during the execution of the actions due to multiple signal conversions, the accurate action conduction and force feedback cannot be realized, and meanwhile, the mechanical arms of part of the double-arm manipulator systems have the condition that the degrees of freedom are mutually interfered and cannot be decoupled.

Disclosure of Invention

The invention provides a double-arm manipulator system, and aims to solve the problem that the existing double-arm manipulator system cannot realize accurate motion conduction.

To achieve the above object, an embodiment of the present invention provides a dual-arm manipulator system, including:

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 shoulder joint mechanism comprises a mechanical arm connecting part, a shoulder joint seat and a shoulder joint shaft, and 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;

the lower arm mechanism comprises a lower arm main body and a telescopic arm, the telescopic arm is slidably arranged in the lower arm main body, the lower end of the arm telescopic driving connecting rod is rotatably connected with the rear end of the lower arm main body, and the lower end of the arm up-and-down driving connecting rod is rotatably connected with the middle part of the lower arm main body;

the manipulator mechanism includes manipulator support, manipulator ring cover and shearing actuating mechanism, the manipulator support sets up with rotating the front end of flexible arm, 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, shearing actuating mechanism sets up the inner circle of manipulator ring cover is interior.

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 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 is fixedly connected with the arm up-and-down driving shaft.

Wherein, it is in to cut actuating mechanism through shearing the connecting rod setting the inner circle of operation bracelet cover, the inner circle of operation bracelet cover sets up through bearing rotation the outer lane of operation bracelet cover is inboard, the inner circle of operation bracelet cover is provided with the tongs.

The shearing driving mechanism comprises two driving bevel gears, the two driving bevel gears are oppositely arranged, driven bevel gears are arranged on one sides of the two driving bevel gears and are respectively meshed with the two driving bevel gears, the two driving bevel gears are respectively provided with a driving handle, and the ends of the driving handles are respectively provided with a driving ring; the driven bevel gear is provided with a gear end and a roller end, and a shearing driving steel wire is wound at the roller end of the driven bevel gear.

The end of the driving handle is provided with a two-degree-of-freedom ring adjusting joint, the two-degree-of-freedom ring adjusting joint comprises a first adjusting shaft and a second adjusting shaft, the first adjusting shaft is rotatably arranged at the end of the driving handle in a penetrating mode, the second adjusting shaft is rotatably arranged on the first adjusting shaft in a penetrating mode, and the driving ring is fixedly arranged on the second adjusting 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 driving mechanism 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, seven degrees of freedom of each manipulator mechanical arm are completely decoupled, and can be driven by a driving steel wire, and all the degrees of freedom are not interfered with each other when the main operating manipulator moves, and all the degrees of freedom can move independently.

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 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 shear drive mechanism of the dual arm manipulator system of the present invention;

FIG. 9 is a cutaway schematic view of the shear drive configuration of the dual arm manipulator system of the present invention;

FIG. 10 is a schematic view of the manipulator robot arm and support beam attachment of the dual arm manipulator system of the present invention;

FIG. 11 is a schematic view of a partial connection of a manipulator robot arm to a support beam of the dual arm manipulator system of the present invention;

FIG. 12 is a schematic structural view of the braking mechanism of the dual arm manipulator system of the present invention;

fig. 13 is a schematic structural diagram of an unlocking mechanism of the dual-arm manipulator system of the present invention.

[ description of reference ]

1-a supporting 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 driving 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-a shear drive mechanism; 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-shear tie bar; 408-hand grip; 409-drive bevel gear; 410-driven bevel gear; 411-a drive handle; 412-driving the ring; 413-a shear drive wire; 414-shear drive mechanism housing; 415-a first adjustment axis; 416-a second adjustment shaft; 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 6, 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 mode, the two groups of manipulator mechanical arms 2 are symmetrically arranged, and 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; 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; handle mechanism 400, handle mechanism 400 includes handle support 401, handle ring cover 402 and shearing actuating mechanism 403, handle support 401 rotationally sets up the front end of telescopic arm 302, handle ring cover 402 rotationally sets up on the handle support 401, the inner circle of handle ring cover 402 rotationally sets up on the outer lane of handle ring cover 402, shearing actuating mechanism 403 sets up the inner circle of handle ring cover 402 circles.

The double-arm manipulator system disclosed by the embodiment of the invention is arranged on a supporting beam 1 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 stretching driving connecting rod 201, the arm up-down driving connecting rod 202, the arm rocker 203 and the forearm main body 301 jointly form a quadrilateral mechanism, when the arm stretching driving connecting rod 201 rotates in the shoulder joint seat 102, the forearm main body 301 can be driven to move back and forth, so that the front and back stretching of the mechanical arm is realized, when the arm rocker 203 rotates in the shoulder joint seat 102, the arm up-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, so that the up-down movement of the mechanical arm is realized, the manipulator mechanism 400 is used for receiving the movement of a wrist, and the shearing driving mechanism 403 can receive and transmit the shearing movement of fingers of an operator; 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 extension freedom degree balance motor 206 is fixedly arranged in the shoulder joint seat 102, and the arm extension freedom degree balance motor 206 is fixedly connected with the arm extension 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. 6 to 8, the shearing driving mechanism 403 is disposed at an inner ring of the operating handle ring sleeve 402 through a shearing connecting rod 407, the inner ring of the operating handle ring sleeve 402 is rotatably disposed at an inner side of an outer ring of the operating handle ring sleeve 402 through a bearing, and the inner ring of the operating handle ring sleeve 402 is provided with a hand grip 408.

According to the double-arm manipulator system disclosed by the embodiment of the invention, the hand grip 408 can be conveniently and fixedly gripped by an operator.

The shearing driving mechanism 403 comprises two driving bevel gears 409, the two driving bevel gears 409 are arranged oppositely, one side of each driving bevel gear 409 is provided with a driven bevel gear 410, the driven bevel gear 410 is respectively meshed with the two driving bevel gears 409, the two driving bevel gears 409 are both provided with driving handles 411, and the ends of the driving handles 411 are respectively provided with driving finger rings 412; the driven bevel gear 410 is provided with a gear end and a roller end, and the roller end of the driven bevel gear 410 is wound with a shearing driving steel wire 413.

In the dual-arm manipulator system according to the embodiment of the present invention, the shearing driving mechanism 403 is provided with a shearing driving mechanism housing 414, the driving bevel gear 409 and the driven bevel gear 410 are both rotatably disposed in the shearing driving mechanism housing 414, the driving finger ring 412 is controlled by the fingers of an operator, when the operator controls the two driving handles 411 to open through the driving finger ring 412, the driven bevel gear 410 rotates in one direction, when the driving finger ring 412 controls the two driving handles 411 to close, the driven bevel gear 410 rotates in the opposite direction, and since the roller end of the driven bevel gear 410 is wound with the shearing driving steel wire 413, the two ends of the shearing driving steel wire 413 transmit motion signals along with the rotation of the driven bevel gear.

As shown in fig. 7 and 8, a two-degree-of-freedom finger ring adjusting joint is provided at the tip of the driving handle 411, and the driving finger ring 412 is connected to the driving handle 411 through the two-degree-of-freedom finger ring adjusting joint.

The two-degree-of-freedom finger ring adjusting joint comprises a first adjusting shaft 415 and a second adjusting shaft 416, the first adjusting shaft 415 is rotatably arranged at the end of the driving handle 411 in a penetrating manner, the second adjusting shaft 416 is rotatably arranged on the first adjusting shaft 415 in a penetrating manner, and the driving finger ring 412 is fixedly arranged on the second adjusting shaft 416.

In the dual arm manipulator system according to the embodiment of the present invention, the driving finger ring 412 can be turned outwards by the first adjusting shaft 415, and turned backwards and forwards by the second adjusting shaft 416, so that the driving finger ring 412 can be adjusted to an angle most suitable for the operator.

As shown in fig. 1, 10, 11, 12 and 13, 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.

According to the double-arm manipulator system, a slider is arranged on the manipulator connecting part 101 of the manipulator 2, 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 the rotating pin 504, and meanwhile, the 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; unlock handle 508 is lever-shaped structure, unlock handle 508's upper end is provided with unlock steel wire 509, unlock steel wire 509 follows the direction of guide roller 510 in the unblock mount pad 507 extremely brake mechanism 501, follows the second end of second brake lever 503 passes to be connected to the second end bottom of first brake lever 502, when pressing unlock handle 508's lower extreme can drive unlock steel wire 509 moves, and then drives second end downstream compression of second brake lever 503 translation braking pretension spring 505, simultaneously first brake lever 502 and second brake lever 503 unblock translation locking back shaft 11, this moment operating arm 2 can follow supporting beam 1 free slip.

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 cross beam, wherein two groups of manipulator mechanical arms are arranged on the supporting cross beam 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 shoulder joint mechanism comprises a mechanical arm connecting part, a shoulder joint seat and a shoulder joint shaft, and 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, 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;

the small arm mechanism comprises a small arm main body and a telescopic arm, the telescopic arm is slidably arranged in the small arm main body, the lower end of the arm telescopic driving connecting rod is rotatably connected with the rear end of the small arm main body, and the lower end of the arm up-down driving connecting rod is rotatably connected with the middle part of the small arm main body;

the manipulator mechanism includes manipulator support, manipulator ring cover and shearing actuating mechanism, the manipulator support sets up with rotating the front end of flexible arm, 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, shearing actuating mechanism sets up the inner circle of manipulator ring cover is interior.

2. The dual arm operator system of claim 1, wherein the shoulder joint shaft is provided with arm rotation drive wires around it, the operator support is provided with wrist left and right rotation drive wires, the outer ring of the operator hand sleeve is provided with wrist up and down rotation drive wires, and the inner ring of the operator hand sleeve is provided with wrist integral rotation drive wires.

3. The dual arm manipulator system of claim 1, 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.

4. The dual arm manipulator system of claim 1, 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.

5. The dual arm manipulator system of claim 1, wherein the shear drive mechanism is disposed within an inner ring of the manipulator ring housing via a shear connection rod, the inner ring of the manipulator ring housing being rotatably disposed within an outer ring of the manipulator ring housing via a bearing, the inner ring of the manipulator ring housing being provided with a grip.

6. The dual arm manipulator system according to claim 5, wherein said shear drive mechanism comprises two drive bevel gears, said two drive bevel gears are disposed opposite to each other, a driven bevel gear is disposed on one side of said two drive bevel gears, said driven bevel gear is engaged with said two drive bevel gears, respectively, both of said two drive bevel gears are provided with a drive handle, and the ends of said drive handles are provided with drive finger rings, respectively; the driven bevel gear is provided with a gear end and a roller end, and the roller end of the driven bevel gear is wound with a shearing driving steel wire.

7. The dual arm manipulator system of claim 6, wherein the end of the drive handle is provided with a two degree of freedom ring adjustment joint comprising a first adjustment shaft rotatably disposed through the end of the drive handle and a second adjustment shaft rotatably disposed through the first adjustment shaft, the drive ring fixedly disposed on the second adjustment 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.

Images