CN201295925Y - Remotely operated force-feedback hydraulic servo operating manipulator - Google Patents

Remotely operated force-feedback hydraulic servo operating manipulator Download PDF

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Publication number
CN201295925Y
CN201295925Y CNU2008200728396U CN200820072839U CN201295925Y CN 201295925 Y CN201295925 Y CN 201295925Y CN U2008200728396 U CNU2008200728396 U CN U2008200728396U CN 200820072839 U CN200820072839 U CN 200820072839U CN 201295925 Y CN201295925 Y CN 201295925Y
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CN
China
Prior art keywords
paw
cylinder
semicolumn
manipulator
gears
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Application number
CNU2008200728396U
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Chinese (zh)
Inventor
赵丁选
尚涛
侯敬巍
张祝新
程丽丽
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吉林大学
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Priority to CNU2008200728396U priority Critical patent/CN201295925Y/en
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Publication of CN201295925Y publication Critical patent/CN201295925Y/en

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Abstract

The utility model relates to a remotely operated force-feedback hydraulic servo operating manipulator used in project. The manipulator mainly comprises an arm, an actuating cylinder, a four-bar linkage mechanism, an upper claw, a lower claw and two pressure sensors; wherein, a displacement sensor is assembled on the actuating cylinder; the four-bar linkage mechanism comprises fixed check plates, a rocker, a link and the claws; two semi-cylindrical gears which are engaged with each other are jointed with the roots of the upper and the lower claws; the two pressure sensors are used to measure the clamping force; one end of the actuating cylinder is hinged with the arm; the other end of the actuating cylinder is hinged with the hinging point of the rocker and the link of the four-bar linkage mechanism; the upper and the lower claws and the two semi-cylindrical gears on the roots are connected with the fixed check plates on both sides through two central pin shafts; and the fixed check plates are jointed with the rocking manipulator arm through two pin shafts. The utility model, which can grab various irregular objects, at least has the following characteristics: the structure is simple, the assembly is convenient, the feedback force can be easily measured, the manufacturing cost is low, the movement of the upper and the lower claws is synchronized, large clamping torque can be borne, the movement precision is high, the reliability is good, and automatic control can be easily implemented.

Description

The servo manipulator of distant steering force feedback hydraulic
Technical field
The utility model relates to the servo manipulator of distant steering force feedback hydraulic that uses in a kind of engineering, be applicable to that the distant manipulation that is difficult under the close extreme environment high temperature, high pressure, intense radiation, people such as suffocate grasps operation, also be applicable to the extracting operation under the conventional environment certainly.
Background technology
At the inaccessible high temperature of the mankind, high pressure, intense radiation, extreme environment such as suffocate, safeguard, in the operation such as disaster is speedily carried out rescue work relief, extensively adopt master-from distant mode of operation as space, underground, deep-sea resources exploitation, nuclear reactor.The operator is in home, mechanical hand work by force feedback manipulation device steer distal end, simultaneously, active force between REMOTE MACHINE hand and the manipulating object feeds back to manipulation device, and by operator's hand perception, make the operator can judge the soft or hard of manipulating object and the size of working resistance, the sensation of the REMOTE MACHINE hand being operated is arranged on the spot in personly.This mode of operation will greatly improve the perception of operator to the scene, and will be more effective, finish the job task of various complexity more accurately.
The manipulator that uses now on the engineering is unsuitable for distant manipulating, and it mainly contains two types: go up paw for first kind and fix, have only following paw motion; Link by cam mechanism between second kind last paw and the following paw.The former handgrip opening angle and operation angle are restricted; The motion of the latter's two paws in the extracting process is asynchronous, initiatively the drive line angle between paw and the driven paw is changing all the time, particularly drive line angle is less during grip objects, make and be the height non-linear relation between the stressed and grasp force of actuator, therefore when carrying out distant operating physical force FEEDBACK CONTROL according to actuator stressed, its poor effect.The utility model just is based on that such background just proposes.
Summary of the invention
The purpose of this utility model is a kind of above-mentioned shortcoming that can overcome existing catching robot of design, and realizes the servo manipulator of distant steering force feedback hydraulic preferably.It is simple in structure, and cost is low, reliable, mounting or dismounting with change to make things convenient for.
Above-mentioned purpose of the present utility model is achieved through the following technical solutions, and accompanying drawings is as follows.
The servo manipulator of a kind of distant steering force feedback hydraulic, it is mainly by arm 1, the start cylinder 2 of displacement transducer is housed, by fixed dam 5, rocking bar 4, the quadric chain that connecting rod 6 and paw constitute, root is connected with two intermeshing semicolumn gears 7, on 8, following paw 12,13, and measure two pressure sensors 16 that chucking power is used, 17 form, start cylinder 2 one ends are hinged on the arm 1, the other end is hinged on the hinge place of rocking bar 4 with the connecting rod 6 of quadric chain, on, following paw 12,13 two semicolumn gears 7 together with root, 8 by two central pin shaft 9,15 are connected on the fixed dam 5 of both sides, and fixed dam 5 is by two bearing pins 18,19 connect with manipulator rocking arm 1.
Because adopt said mechanism, the servo manipulator of this distant steering force feedback hydraulic that the utility model proposes is compared with existing catching robot has following advantage:
1, simple in structure, mounting or dismounting are convenient.Between upper and lower paw and the semicolumn gear, and between they and the quadric chain, all adopt the pin formula to connect, it is convenient to install and remove.
2, stable performance, reliable operation.The employed two kinds of sensors of manipulator, comprise that the displacement transducer of measuring start cylinder piston rod elongation can adopt the displacement transducer or the magnetostrictive displacement sensor of differential transformer type, with be installed on the start cylinder on oil-piping, be used to measure the pressure sensor of grasp force, it all is sensor commonly used on engineering, facts have proved and to use dependable performance for a long time.
3, paw more reasonable stress.Because two paw roots adopt meshed transmission gear, so where its drive line angle all is identical no matter paw moves to, so the more reasonable stress of inner each element of handgrip.
4, be easy to the realizable force feedback.Owing to adopted gear drive between two paws, so that become small nonlinearity or approach linearity between the stressed and grasp force of actuator, so the difference of actuator two cavity pressures is as the feedback force signal, can directly use or use as the feedback force signal, be easy to obtain the control of force feedback preferably effect through simple conditioning back as the feedback force signal.
Description of drawings
Fig. 1: the servo manipulator structure chart of distant steering force feedback hydraulic.
Fig. 2: paw linkage portion separation structure figure.
Fig. 3: the topology example of start cylinder.
Fig. 4: the topology example of control stick.
Fig. 5: distant manipulation control principle for example.
Among the figure: 1. being arm, 2. being the start cylinder, 3. is piston rod, 4. being rocking bar, 5. is fixed dam, 6. is connecting rod, 7,8. being the semicolumn gear, 9. is central pin shaft, 10. be fixed pin shaft, 11. is the paw connecting rod, 12. be last paw, 13. paw under being, 14. is fixed pin shaft, and 15. is central pin shaft, 16,17. be pressure sensor, 18,19. be the fast-assembling bearing pin, 20. is displacement transducer, 21. are start cylinder rodless cavity oil inlet and outlet, 22. be start rod chamber oil inlet and outlet, 23. be control crank, 24. is rotary angle transmitter, 25. is return spring, 26. be bevel gear, 27. be pinion, 28. is torque motor, 29. are the force feedback control stick, 30. be the servo manipulator of distant steering force feedback hydraulic, 31. be the displacement signal of control stick output, 31. displacement signals for manipulator output, 33. are conditioning and driver, 34. be driver's valve, 35. be manipulator actuator rodless cavity pressure signal, 36. is manipulator actuator rod chamber pressure signal, 37. is gamma correction and driver.
The specific embodiment
Further specify particular content of the present utility model below in conjunction with accompanying drawing.
Consult the servo manipulator of a kind of distant steering force feedback hydraulic shown in Figure 1, it is mainly by arm 1, the start cylinder 2 of displacement transducer is housed, by fixed dam 5, rocking bar 4, the quadric chain that connecting rod 6 and paw constitute, root is connected with two intermeshing semicolumn gears 7, on 8, following paw 12,13, and measure two pressure sensors 16 that chucking power is used, 17 form, start cylinder 2 one ends are hinged on the arm 1, the other end is hinged on the hinge place of rocking bar 4 with the connecting rod 6 of quadric chain, on, following paw 12,13 two semicolumn gears 7 together with root, 8 by two central pin shaft 9,15 are connected on the fixed dam 5 of both sides, and fixed dam 5 is by two bearing pins 18,19 connect with manipulator rocking arm 1.
Consult Fig. 2, be loaded on the two halves roller gear 7,8 of upper and lower paw 12,13 roots, its half circumference be spur gear and in addition semi-circumference be cylinder, on semicolumn, be provided with axis hole, by this hole, adopt interference fits to be linked together two semicolumn gears 7,8 and upper and lower paw 12,13 by two fixed pin shafts 10,14 respectively.
7,8 and two central pin shaft of 12,13 and two semicolumn gears of described upper and lower paw 9,15 adopt matched in clearance, and can rotate around two central pin shaft 9,15, hinged between last paw 12 and the connecting rod 6 by paw connecting rod 11, last paw 12 drives motion by rocking bar 4, the connecting rod 6 that is driven by hydraulic cylinder 2, and passes through the engaged transmission and following paw 13 synchronous interactions of two semicolumn gears 7,8.
The operating principle of manipulator is, hydraulic cylinder 2 drive rocker 4 drive upward paw 12 motions by swing connecting bar 6, pass through the engaged transmission of two semicolumn gears 7,8 again, drive paw 13 constant amplitude motion round about down, thereby realize the extracting interlock of upper and lower paw 12,13.
Start cylinder 2 is inner or outside hydraulic servo start cylinder that the displacement transducer that can measure piston rod 3 elongations is housed for it, the measuring pressure sensor 16,17 of feedback force, be installed in start cylinder 2 on oil-piping, by the difference of the force value that records, ask the chucking power of manipulator.
Below by the servo manipulator examples of implementation of a kind of distant steering force feedback hydraulic, and implementation process of the present utility model is described with its examples of implementation of forming distant management system.
1, manipulator
Figure 1 shows that an object lesson of the servo manipulator of distant steering force feedback hydraulic.It mainly comprises: arm 1, and start cylinder 2 is by fixed dam 5, rocking bar 4, the quadric chain that connecting rod 6 and upper and lower paw 11,12 are formed, root is connected with two upper and lower paws 12,13 of semicolumn gear, and measures the pressure sensor 16,17 that chucking power is used.One end of start cylinder 2 is hinged on the arm 1, and the other end is hinged on the hinge place of rocking bar 4 with the connecting rod 6 of quadric chain.Two upper and lower paws 12,13 are connected by central pin shaft 9,15 on the fixed dam 5 of both sides together with the semicolumn gear 7,8 of root, and fixed dam 5 connects with manipulator rocking arm 1 by two bearing pins 18,19.
Consult Fig. 2, be loaded on two semicolumn gears 7,8 of paw root up and down, its half circumference be spur gear and in addition semi-circumference be cylinder, centre position in a side of semicolumn is provided with axis hole, by this hole, adopt interference fits to be linked together semicolumn gear 7,8 and upper and lower paw 12,13 with fixed pin shaft 10,14 respectively.12,13 and two semicolumn gears 7,8 of upper and lower paw and stationary spindle 9,15 adopt matched in clearance, make upper and lower paw 12,13 to rotate around stationary spindle 9,15.
In manipulator when work, promote rocking bar 4 by the start cylinder, promotes to be welded in handgrip connecting rod 11 on the paw 12 by connecting rod 6, and paw 12 moves in the drive.Engaged transmission by two semicolumn gears 7,8 drives paw 13 constant amplitude motion round about down again, thereby realizes down, paw 12,13 synchronous interactions.
Consult Fig. 3, the start cylinder 2 in this example uses the outside servoBcylinder that differential transformer displace is housed, and the elongation of its piston rod 3 is with the form output of voltage.On the turnover oil pipe line of the rod chamber of start cylinder 2 and rodless cavity, pressure sensor 16,17 is housed, is used for the chucking power of measurement mechanical hand, to do the usefulness of feedback force initialize signal.
2, control stick
The structure that Figure 4 shows that control stick is given an example.Its operation principle is that when promoting control crank 23, the angular displacement sensor 24 that establish in the arm pivot post place can be measured the value of angular displacement that control stick rotates.Be in meta when making the control stick normality, the control stick fore-and-aft direction respectively is provided with a return spring 25.The lower end of control stick is provided with 26, one torque motors 28 of a bevel gear and forms feedback force by pinion 27 drive bevel gears 26 on control stick.
3, distant manipulation control scheme
Control scheme example when Fig. 5 is to use aforementioned control stick that the hydraulic servo manipulator is carried out distant manipulation control.When operator's motive force feedback control stick 29, the angular displacement that control stick rotates is measured by angular displacement sensor 24, the control stick that records displacement signal 31 is for several times asked after the difference with the displacement signal 32 of the manipulator output that Work machine displacement transducer 20 on hand records, by the driver's valve 34 of conditioning, make servo manipulator 30 motions of distant steering force feedback hydraulic with driver 33 driving manipulators.Be loaded on the rodless cavity of manipulator actuator and two pressure sensors 16,17 on the rod chamber oil duct, measure separately manipulator actuator rodless cavity pressure signal 35 and manipulator actuator rod chamber pressure signal 36 respectively, get the difference back by gamma correction and driver 37, the torque motor 28 that drives on the control stick provides operational feedback power for the operator.

Claims (4)

1, the servo manipulator of a kind of distant steering force feedback hydraulic, it is characterized in that mainly by arm (1), the start cylinder (2) of displacement transducer is housed, by fixed dam (5), rocking bar (4), the quadric chain that connecting rod (6) and paw constitute, root is connected with two intermeshing semicolumn gears (7,8) on, following paw (12,13), and measure two pressure sensors (16 that chucking power is used, 17) form, start cylinder (2) one ends are hinged on the arm (1), the other end is hinged on the hinge place of rocking bar (4) Yu the connecting rod (6) of quadric chain, on, following paw (12,13) together with two semicolumn gears (7 of root, 8) by two central pin shaft (9,15) be connected on the fixed dam (5) of both sides, fixed dam (5) is by two bearing pins (18,19) connect with manipulator rocking arm (1).
2, the servo manipulator of distant steering force feedback hydraulic according to claim 1, half circumference that it is characterized in that described two semicolumn gears (7,8) be spur gear and in addition semi-circumference be cylinder, on semicolumn, be provided with axis hole, adopt interference fits to be linked together two semicolumn gears (7,8) and upper and lower paw (12,13) by two fixed pin shafts (10,14) respectively.
3, the servo manipulator of distant steering force feedback hydraulic according to claim 1 and 2, it is characterized in that described on, following paw (12,13) and two semicolumn gears (7,8) with two central pin shaft (9,15) adopt matched in clearance, and can be around two central pin shaft (9,15) rotate, hinged between last paw (12) and the connecting rod (6) by paw connecting rod (11), the rocking bar (4) of last paw (12) by driving by hydraulic cylinder (2), connecting rod (6) drives motion, and by two semicolumn gears (7,8) engaged transmission and following paw (13) synchronous interaction.
4, the servo manipulator of distant steering force feedback hydraulic according to claim 1, it is characterized in that described start cylinder (2) is equipped with the hydraulic servo cylinder of the displacement transducer of measuring piston rod (3) elongation for its inside or outside, measuring two pressure sensors of feedback force (16,17) be installed in start cylinder (2) on oil-piping.
CNU2008200728396U 2008-12-02 2008-12-02 Remotely operated force-feedback hydraulic servo operating manipulator CN201295925Y (en)

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101804638A (en) * 2010-03-18 2010-08-18 哈尔滨工程大学 Multi-joint mechanical arm mechanism
CN101890722A (en) * 2010-06-03 2010-11-24 西北工业大学 Novel three-degree-of-freedom (three-DOF) mechanical claw
CN102152314A (en) * 2010-12-13 2011-08-17 天津工业大学 Clucking power feedback system in touching device
CN102518622A (en) * 2011-12-07 2012-06-27 三一重机有限公司 Displacement testing based hydraulic oil cylinder characteristic testing method and system
CN102581685A (en) * 2012-03-30 2012-07-18 山东建设机械股份有限公司 Clamp floating mechanism
CN103707314A (en) * 2014-01-15 2014-04-09 北京理工大学 Paw force sensor of ground robot
CN103722561A (en) * 2013-12-24 2014-04-16 北京工业大学 Flexibly rotatable mechanical claw
WO2015039361A1 (en) * 2013-09-18 2015-03-26 WÆpWpvVtÞ Toy aircraft having grab structure
CN104942801A (en) * 2015-06-26 2015-09-30 燕山大学里仁学院 Gear motor driven type mechanical hand
CN105415381A (en) * 2015-12-16 2016-03-23 宏光空降装备有限公司 Cylindrical part clamping and rotating mechanism
CN105465091A (en) * 2014-09-25 2016-04-06 波音公司 Micro dampers for prevention of un-commanded motion in mechanical feedback actuators
CN106005280A (en) * 2016-05-24 2016-10-12 界首市华盛塑料机械有限公司 Tool for water salvaging
CN107433608A (en) * 2017-08-16 2017-12-05 洛阳理工学院 A kind of catching robot
CN108217381A (en) * 2016-12-13 2018-06-29 奥的斯电梯公司 Electronic security(ELSEC) actuator
CN108340388A (en) * 2018-05-10 2018-07-31 山东大学深圳研究院 A kind of the seven freedom force feedback handle and operating method of rescue robot
CN108621188A (en) * 2018-07-26 2018-10-09 燕山大学 The redundancy self-locking mechanical pawl that clamping force accurately controls
CN111331620A (en) * 2020-04-03 2020-06-26 何大安 Mechanical arm of fire-fighting robot
CN111330195A (en) * 2020-04-03 2020-06-26 何大安 Fire-fighting robot body

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101804638A (en) * 2010-03-18 2010-08-18 哈尔滨工程大学 Multi-joint mechanical arm mechanism
CN101890722A (en) * 2010-06-03 2010-11-24 西北工业大学 Novel three-degree-of-freedom (three-DOF) mechanical claw
CN102152314A (en) * 2010-12-13 2011-08-17 天津工业大学 Clucking power feedback system in touching device
CN102152314B (en) * 2010-12-13 2012-08-29 天津工业大学 Clucking power feedback system in touching device
CN102518622A (en) * 2011-12-07 2012-06-27 三一重机有限公司 Displacement testing based hydraulic oil cylinder characteristic testing method and system
CN102581685A (en) * 2012-03-30 2012-07-18 山东建设机械股份有限公司 Clamp floating mechanism
WO2015039361A1 (en) * 2013-09-18 2015-03-26 WÆpWpvVtÞ Toy aircraft having grab structure
CN103722561A (en) * 2013-12-24 2014-04-16 北京工业大学 Flexibly rotatable mechanical claw
CN103707314A (en) * 2014-01-15 2014-04-09 北京理工大学 Paw force sensor of ground robot
CN105465091B (en) * 2014-09-25 2019-03-15 波音公司 For preventing the Minitype damper of the non-order campaign in machine feedback actuator
CN105465091A (en) * 2014-09-25 2016-04-06 波音公司 Micro dampers for prevention of un-commanded motion in mechanical feedback actuators
CN104942801A (en) * 2015-06-26 2015-09-30 燕山大学里仁学院 Gear motor driven type mechanical hand
CN105415381A (en) * 2015-12-16 2016-03-23 宏光空降装备有限公司 Cylindrical part clamping and rotating mechanism
CN106005280A (en) * 2016-05-24 2016-10-12 界首市华盛塑料机械有限公司 Tool for water salvaging
CN108217381A (en) * 2016-12-13 2018-06-29 奥的斯电梯公司 Electronic security(ELSEC) actuator
US10889468B2 (en) 2016-12-13 2021-01-12 Otis Elevator Company Electronics safety actuator
CN107433608A (en) * 2017-08-16 2017-12-05 洛阳理工学院 A kind of catching robot
CN108340388A (en) * 2018-05-10 2018-07-31 山东大学深圳研究院 A kind of the seven freedom force feedback handle and operating method of rescue robot
CN108621188A (en) * 2018-07-26 2018-10-09 燕山大学 The redundancy self-locking mechanical pawl that clamping force accurately controls
CN111331620A (en) * 2020-04-03 2020-06-26 何大安 Mechanical arm of fire-fighting robot
CN111330195A (en) * 2020-04-03 2020-06-26 何大安 Fire-fighting robot body

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090826

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