CN203527452U - Intelligent mechanical hand - Google Patents
Intelligent mechanical hand Download PDFInfo
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- CN203527452U CN203527452U CN201220745326.3U CN201220745326U CN203527452U CN 203527452 U CN203527452 U CN 203527452U CN 201220745326 U CN201220745326 U CN 201220745326U CN 203527452 U CN203527452 U CN 203527452U
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- arm
- manipulator
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Abstract
The utility model discloses an intelligent mechanical hand and belongs to the technical field of automation control. The intelligent mechanical hand in the utility model comprises a through-wall component, wherein one end of the through-wall component is connected to a main arm, a drive component is disposed on the end of the through-wall component which is close to the main arm, a main arm mechanical hand is disposed on the end of the main arm, a wrench assembly for hand operations is disposed on the main arm mechanical hand, the other end of the through-wall component is connected to a driven arm in a hinged way by an adapter component, a driven arm mechanical hand is disposed on the end of the driven arm, a clamp for article clamping is disposed on the driven arm mechanical hand, and the main arm mechanical hand is connected to the driven arm mechanical arm by a steel wire or a chain after passing by the main beam, the drive component, the through-wall component, the adapter component and the driven arm in sequence, so that movements of the driven arm mechanical hand conform to the movements of the main arm mechanical hand. With the intelligent mechanical hand in the utility model, a person's heavy labor can be replaced under a specific environment and the intelligent mechanical hand can be operated in a harmful environment in order to protect personal safety.
Description
Technical field
The utility model relates to a kind of puma manipulator.
Background technology
Manipulator is some holding function that can imitate staff and arm, comprises the actions such as the parallels such as all around, upper and lower, rotation, torsion and angular turn, in order to the program by certain capture, the automatic pilot of carrying object or operation tool.Can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with protection personal safety; reactor fuel and material radiation test in special nuclear industry; nuclear fuel post processing, radwaste are processed; indispensable operation tool in the research and production activities such as radio isotope production; also be the effective tool of isolated operation poisonous and harmful substance; therefore for the accuracy of Robot actions, have relatively high expectations; make its structure comparatively complicated; cost is expensive, is not easy to apply.
Utility model content
Goal of the invention of the present utility model is: for the problem of above-mentioned existence; a kind of simple in structure, easy and simple to handle, easy to use, puma manipulator that accuracy is high is provided; this manipulator can replace people's heavy work to realize mechanization and the automation of producing under certain specific environment; can under hostile environment, operate with protection personal safety; and it is with low cost; applied widely, be applicable to applying.
The technical solution adopted in the utility model is as follows:
Puma manipulator of the present utility model, comprise parts through walls, one end of described parts through walls is connected on principal arm, on parts through walls, near principal arm one end, be provided with driver part, the end of described principal arm is provided with principal arm manipulator, on this principal arm manipulator, be provided with the manual wrench assembly for people, the other end of described parts through walls is hinged with from arm by adapter parts, should be provided with from arm manipulator from the end of arm, from arm manipulator, be provided with the clamp of holding articles, described principal arm manipulator by steel wire rope or chain successively through principal arm, driver part, parts through walls, adapter parts, from arm with from arm manipulator, be connected, make from the action of arm manipulator consistent with principal arm manipulator behavior.
Compared with prior art, parts through walls, are mainly used in being fixed on body of wall, when the master/slave arm manipulator at its two ends can be separated by body of wall, still can freely operate, and keep its effect, can under hostile environment, operate protection personal safety, one end of parts through walls is connected on principal arm, mainly solve the fixing problem of principal arm, make principal arm more safe and reliable in use, on parts through walls, near principal arm one end, be provided with driver part, driver part is mainly used in driving stretching in parts through walls, control from the flexible of arm simultaneously and swing, also by steel wire rope or chain, making from the action of arm manipulator consistent with principal arm manipulator behavior, the end of principal arm is provided with principal arm manipulator, on this principal arm manipulator, be provided with the manual wrench assembly for people, be mainly used in this wrench assembly of people's hand operated, wrench assembly with respect to rotation, the swing of principal arm manipulator, clamp or loosen, and be delivered to from arm manipulator by steel wire rope or chain, making can be identical with the action of principal arm manipulator from arm manipulator, rotation, the swing of the clamp of realization from arm manipulator, clamp or loosen, guarantee to synchronize with principal arm manipulator from arm manipulator, can the accurate control to clamp by wrench assembly, the other end at parts through walls is hinged with from arm by adapter parts, make can swing with respect to parts through walls from arm, clamp from the end of arm can reach farther place, can realize the clamping of longer-distance article or carrying, end at this from arm is provided with from arm manipulator, from arm manipulator, be provided with the clamp of holding articles, the rotation of this clamp, swing, clamp or loosen steel wire rope or the chain by being wound around from arm manipulator, make it identical with the action of wrench assembly, thereby any action while making people's hand operated wrench assembly all can synchronously realize on clamp, it is very accurately convenient to make to control, whole puma manipulator is by steel wire rope or chain drive, wherein steel wire rope or chain are connected in driver part through principal arm from principal arm manipulator, steel wire rope or chain are from described from arm manipulator warp from arm simultaneously, adapter parts, parts through walls are connected on driver part, make steel wire rope or chain controlled by driver part, and can guarantee from the action of arm manipulator consistent with principal arm manipulator behavior, having realized can be according to the consciousness of staff from arm manipulator, replace staff go operational hazards environment under action.Puma manipulator of the present utility model; its action relies on steel wire rope or chain drive to realize; from arm, the motion of clamp is to lean on the handgrip of principal arm upper ejector lever assembly to operate; the suffered clamping force size of object being held is directly proportional to the power of hand-to-hand grip handle; make this manipulator can under certain specific environment, replace people's heavy work to realize mechanization and the automation of producing, can under hostile environment, operate with protection personal safety, and it is with low cost; applied widely, be applicable to applying.
Puma manipulator of the present utility model, described principal arm manipulator comprises the first gear assembly, the first train and the first driven train, described the first train is located in the first gear assembly, its the two center is through there being central shaft, the two ends of central shaft are through in the first housing, the first train and the first gear assembly can be rotated with respect to the first housing, intermeshing between described wrench assembly and the first gear assembly, make the first gear assembly drive the first train to rotate with rotation or the swing of wrench assembly, the clamping of described wrench assembly or unclamp and make the first shifting axle promote the first push rod to move, the first push rod drives the first train rotation, make the first train and the first driven train by the steel wire rope or the chain that are wound around on it, control is kept strokes from arm manipulator and principal arm manipulator.
Compared with prior art, make the first train and the first gear assembly by middle bobbin, the two can rotate with respect to the first housing to make it, wherein the first train is that a plurality of drives forms side by side, drive is for lay winding wire ropes or chain, and lay winding wire ropes or chain-driving are done identical action from arm manipulator, between each drive, can rotate arbitrarily, the corresponding action of rotation of a drive, the first gear assembly is that two toothed discs in limit portion form, wrench assembly adopt bevel gear and and the first gear assembly between intermeshing, make two toothed discs of wrench assembly and the first gear assembly form differential gear engagement, be similar to the structure of the differential gearing of automobile two trailing wheels, wrench assembly can be swung with respect to the first gear assembly, rotations etc. are action arbitrarily, this process drives the toothed disc in the first gear assembly to rotate, make the first train rotate and correspondingly rotate with toothed disc, by steel wire rope or chain, can drive the drive and the gear train that from arm manipulator, match to do corresponding action, the wherein rotation of wrench assembly or swing, can make the first gear assembly drive the first train to rotate, wrench assembly has comprised the handgrip of mutual intersection flexible connection, handgrip is for hand-held, on wrench assembly, be connected with the first shifting axle, when making the handgrip clamping on wrench assembly or unclamping, can promote the first shifting axle moves, the first shifting axle can continue to promote the first push rod and move, the first push rod moves the portion of the keeping to the side place that is movably connected on drive in the first train, therefore the movement of the first push rod, can make the first train rotation, the first train is by the steel wire rope or the chain that are wound around on it, control is kept strokes from arm manipulator and principal arm manipulator, wherein the first driven pulley system is mainly used in lay winding wire ropes or chain, it is played a supporting role.
Puma manipulator of the present utility model is provided with lock-screw on described wrench assembly, and described lock-screw can be butted on the movement that limits the first shifting axle on the first shifting axle, realizes the locking from arm manipulator.
Owing to having adopted said structure, when time that need to be longer clamps by operation object, can be by screw in lock-screw on wrench assembly, make lock-screw prop up the first shifting axle, and limit it and move, thereby realize the locking to wrench assembly, make to keep existing attitude from arm manipulator, thereby can clamp for a long time by operation object.
Puma manipulator of the present utility model, describedly from arm manipulator, comprise the second gear assembly, the second train and the second driven train, described the second train is located in the second gear assembly, its the two center is through there being axle, the two ends of axle are through in the second housing, the second train and the second gear assembly can be rotated with respect to the second housing, intermeshing between described clamp and the second gear assembly, make clamp rotate or rotate with the rotation of the second gear assembly, the movement that rotarily drives the second push rod of described the second gear assembly, the second push rod promotes the second shifting axle makes clamp clamp or unclamp, described the second train is connected and synchronizes with the steel wire rope being wound around in principal arm manipulator or chain with steel wire rope or chain that the second driven pulley is fastened winding.
Owing to having adopted said structure, structural similarity from arm manipulator and principal arm manipulator, wherein the second train is arranged side by side and is formed by a plurality of drives equally, and the second gear assembly is comprised of two toothed discs equally, a plurality of drives are between two two toothed discs, and the axle all passing by its middle part can rotate with respect to housing, and drive is wherein for lay winding wire ropes or chain, steel wire rope or chain are wound in the first train in principal arm manipulator equally, while making the drive rotation in the first train, drive in the second train also rotates thereupon, between the first train and the second train, adopt proportional relation, make from arm manipulator consistent with the action of principal arm manipulator, the second gear assembly is coaxial with the second train, make certain action of the second train can drive the rotation of the second gear assembly, clamp is by intermeshing between conical gear and the second gear assembly, make company's toothed disc of clamp and the second gear assembly form differential gear engagement, be similar to the structure of the differential gearing of automobile two trailing wheels, clamp can be swung with respect to the second gear assembly, rotations etc. are action arbitrarily, this process is by the toothed disc in the second gear assembly, to rotate to drive the above-mentioned action of clamp, also the second train is driven rotation under the effect of steel wire rope or chain, meanwhile the second train can drive the toothed disc action in the second gear assembly, due to the engagement between toothed disc and clamp, can realize clamp is swung, rotation waits the control of action, wherein the second train close to the edge portion is connected with the second push rod, when the second train is rotated, can drive the second push rod to move, the second push rod promotes the second shifting axle motion, wherein the second shifting axle is movably connected on clamp, clamp comprises the fixture block of two flexible connections, when the second shifting axle moves, can promote clamp unclamps or clamps, thereby can realize clamp synchronizes with the action of wrench assembly, wherein the second driven pulley system is mainly used in lay winding wire ropes or chain, it is played a supporting role.
Puma manipulator of the present utility model, described parts through walls comprise movable pipe housing, movable pipe assembly and connecting rod, described movable pipe assembly is placed in movable pipe housing, and movable pipe assembly is connected on the electrode decelerator in driver part, described electrode decelerator drives movable pipe assembly flexible, one end at the close adapter parts of movable pipe assembly is provided with pendulum wire bar drive disk assembly, pendulum wire bar drive disk assembly is connected with the connecting rod in being located at movable pipe assembly, and the handlebar in described connecting rod and driver part meshes by gear.
Owing to having adopted said structure, the rotation of the electrode decelerator in driver part, can realize the stretching motion of movable pipe assembly, thereby make from arm and reach the work such as farther place clamps, its working range is increased, the pendulum wire bar drive disk assembly of close adapter parts one end on movable pipe assembly, can be connected with the forward swing screw mandrel attaching parts on the outer wall of the second adapter, thereby can control pendulum wire bar drive disk assembly and can realize the swing with respect to parts through walls from arm, can the article of distant positions more be clamped and be carried, pendulum wire bar drive disk assembly is connected with connecting rod, therefore can to it, control by connecting rod, realization is to the control from arm swing, handlebar in wherein said connecting rod and driver part meshes by gear, making from the angle of arm manipulator and horizontal plane is to control by joystick, when joystick rotates, connecting rod is also rotatablely moving, utilize thread joined structure to promote right-hand member forward swing screw rod transmission parts left and right moving linearly, by link motion on switching part, just make from arm manipulator and horizontal plane at a certain angle.
Puma manipulator of the present utility model, described driver part comprises motor reducer, movable pulley component and handlebar, on wherein said movable pulley component, be wound around and control steel wire rope or chain, described movable pulley component is driven by motor reducer, described motor reducer drives movable pipe assembly to make stretching motion, the end gear engagement of described handlebar and connecting rod.
Owing to having adopted said structure, the relation that the displacement that movable pulley component moves up and down and movable pipe stroke through walls are 1:2, it is driven by motor reducer, stroke is to be controlled by travel switch, from the angle of arm manipulator and horizontal plane, be to control by joystick, the upper end of joystick is connected with the end gear of connecting rod, during complete machine maintenance, rotates joystick; Slave arm travels forward 80 °-90 °, then starts motor retraction wall pipe tubule, relends assistant moving, and principal arm is pulled back, and complete machine can be extracted out, and maintenance easily.
Puma manipulator of the present utility model, described principal arm comprises main arm telescoping pipe, counterweight, flexible assembly pulley and locking device, on the sidewall of main arm telescoping pipe, be provided with two counterweights, on main arm telescoping pipe, be also provided with locking device, on one end of main arm telescoping pipe, be connected with principal arm manipulator, the other end is provided with can lay winding wire ropes or the flexible assembly pulley of chain.
Owing to having adopted said structure, main arm telescoping pipe upper and lower, rotatablely move, by steel wire rope or chain can drive from arm telescoping tube upper and lower, rotatablely move, and main arm telescoping, rotation are to operating position, by locking device locking, avoid it to continue moving influence and normally use.
Puma manipulator of the present utility model, described crossover sub parts comprise the first adapter being connected on parts through walls and are connected in the second adapter from arm, wherein between the first adapter and the second adapter, be hinged, in this junction, being provided with can lay winding wire ropes or the joint train of chain, is hinged with the forward swing screw mandrel attaching parts that can be connected with forward swing screw rod transmission parts on the outer wall of described the second adapter.
Owing to having adopted said structure, by these crossover sub parts, can make parts through walls and be hinged from arm, and can be connected with forward swing screw mandrel attaching parts by forward swing screw rod transmission parts, and control from the angle between arm and parts through walls by handlebar, make the control from arm convenient and swift.
Puma manipulator of the present utility model, describedly from arm, comprise from arm exterior tube, from arm intervalve with from arm inner tube, telescopic moving relatively between three, wherein from arm outer tubular sleeve in from arm intervalve, from arm inner tube, be placed in arm intervalve, at the described outer wall from arm intervalve, being provided with can lay winding wire ropes or the roller of chain.
Owing to having adopted said structure, from arm outer tubular sleeve in from arm intervalve, from arm inner tube, be placed in arm intervalve, and from arm exterior tube, from arm intervalve with from telescopic moving relatively between arm inner tube, wherein from the outer wall of arm intervalve, be provided with roller, this roller can lay winding wire ropes or chain, makes this can be with the flexible stretching motion of doing of principal arm from arm, its action is consistent with principal arm, makes its control very convenient.
In sum, owing to having adopted technique scheme, the beneficial effects of the utility model are:
1, puma manipulator of the present utility model, simple in structure, easy and simple to handle, easy to use, accuracy is high, with low cost, be applicable to applying.
2, puma manipulator of the present utility model can replace people's heavy work to realize mechanization and the automation of producing under certain specific environment, can under hostile environment, operate with protection personal safety.
Accompanying drawing explanation
The structural representation of Fig. 1 manipulator of the present utility model;
Fig. 2 is the structural representation of parts through walls in the utility model;
Fig. 3 is the structural representation of principal arm in the utility model;
Fig. 4 is the structural representation of principal arm manipulator in the utility model;
Fig. 5 is the structural representation of changing head member in the utility model;
Fig. 6 is from the cutaway view of arm in the utility model;
Fig. 7 is from the structural representation of arm manipulator in the utility model;
Fig. 8 is the structural representation of driver part in the utility model.
Mark in figure: 1-parts through walls, 1a-movable pipe housing, 1b-movable pipe assembly, 1c-connecting rod, 1d-forward swing screw rod transmission parts, 2-principal arm, 2a-main arm telescoping pipe, 2b-counterweight, the 2c-assembly pulley that stretches, 2d-locking device, 3-principal arm manipulator, 3a-wrench assembly, 3b-lock-screw, 3c-the first gear assembly, 3d-the first train, the driven train of 3e-first, 3f-the first shifting axle, 3g-the first push rod, 4-crossover sub parts, 4a-the first adapter, 4b-the second adapter, 4c-joint train, 4d-forward swing screw mandrel attaching parts, 5-is from arm, 5a-is from arm intervalve, 5b-roller, 5c-is from arm exterior tube, 5d-is from arm inner tube, 5e-intervalve rear wheel, 5f-intervalve front wheel, 6-is from arm manipulator, 6a-clamp, 6b-the second gear assembly, 6c-the second train, the driven train of 6d-second, 6e-the second push rod, 7-driver part, 7a-motor reducer, 7b-movable pulley component, 7c-handlebar.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figures 1 to 8, puma manipulator of the present utility model, comprise parts 1 through walls, wherein parts 1 through walls comprise movable pipe housing 1a, movable pipe assembly 1b and connecting rod 1c, described movable pipe assembly 1b is placed in movable pipe housing 1a, this movable pipe housing 1a can be fixed in body of wall, and movable pipe assembly 1b is connected on the electrode decelerator 7a in driver part 7, described electrode decelerator 7a drives movable pipe assembly 1b flexible, one end at the close adapter parts 4 of movable pipe assembly 1b is provided with pendulum wire bar drive disk assembly 1d, pendulum wire bar drive disk assembly 1d is connected with the connecting rod 1c in being located at movable pipe assembly 1b, handlebar 7c in described connecting rod 1c and driver part 7 meshes by gear, in parts 1 through walls, one end of movable pipe assembly 1b is connected on principal arm 2, this principal arm 2 comprises main arm telescoping pipe 2a, counterweight 2b, flexible assembly pulley 2c and locking device 2d, on the sidewall of main arm telescoping pipe 2a, be provided with two counterweight 2b, on main arm telescoping pipe 2a, be also provided with locking device 2d, on one end of main arm telescoping pipe 2a, be connected with principal arm manipulator 3, the other end is provided with can lay winding wire ropes or the flexible assembly pulley 2c of chain, and movable pipe assembly 1b is connected with main arm telescoping pipe 2a, in parts 1 through walls, close principal arm 2 one end of movable pipe assembly 1b are provided with driver part 7, this driver part 7 comprises motor reducer 7a, movable pulley component 7b and handlebar 7c, on wherein said movable pulley component 7b, be wound around and control steel wire rope or chain, described movable pulley component 7b is driven by motor reducer 7a, described motor reducer 7a drives movable pipe assembly 1b to make stretching motion, the end gear engagement of described handlebar 7c and connecting rod 1c, the principal arm manipulator 3 that in described principal arm 2, the end of main arm telescoping pipe 2a connects, this principal arm manipulator 3 comprises the first gear assembly 3c, the first train 3d and the first driven train 3e, described the first train 3d is located in the first gear assembly 3c, its the two center is through there being central shaft, the two ends of central shaft are through in the first housing, the first train 3d and the first gear assembly 3c can be rotated with respect to the first housing, intermeshing between described wrench assembly 3a and the first gear assembly 3c, make the first gear assembly 3c drive the first train 3d to rotate with rotation or the swing of wrench assembly 3a, the clamping of described wrench assembly 3a or unclamp and make the first shifting axle 3f promote the first push rod 3g to move, the first push rod 3g drives the first train 3d rotation, make the first train 3d and the first driven train 3e by the steel wire rope or the chain that are wound around on it, control is kept strokes from arm manipulator 6 and principal arm manipulator 3, on described wrench assembly 3a, be provided with lock-screw 3b, described lock-screw 3b can be butted on the movement of the upper restriction of the first shifting axle 3f the first shifting axle 3f, realization is from the locking of arm manipulator 6.The other end at parts 1 through walls is hinged with from arm 5 by adapter parts 4, wherein crossover sub parts 4 comprise the first adapter 4a being connected on parts 1 through walls and are connected in the second adapter 4b from arm 5, between the first adapter 4a and the second adapter 4b, be hinged, in this junction, being provided with can lay winding wire ropes or the joint train 4c of chain, is hinged with the forward swing screw mandrel attaching parts 4d that can be connected with forward swing screw rod transmission parts 1d on the outer wall of described the second adapter 4b.Wherein saidly from arm 5, comprise from arm exterior tube 5c, from arm intervalve 5a with from arm inner tube 5d, telescopic moving relatively between three, wherein from arm exterior tube 5c, be placed on from arm intervalve 5a, from arm inner tube 5d, be placed in arm intervalve 5a, at the described outer wall from arm intervalve 5a, being provided with can lay winding wire ropes or the roller 5b of chain.Should be provided with from arm manipulator 6 from the end of arm 5, from arm manipulator 6, be provided with the clamp 6a of holding articles, wherein from arm manipulator 6, comprise the second gear assembly 6b, the second train 6c and the second driven train 6d, described the second train 6c is located in the second gear assembly 6b, its the two center is through there being axle, the two ends of axle are through in the second housing, the second train 6c and the second gear assembly 6b can be rotated with respect to the second housing, intermeshing between described clamp 6a and the second gear assembly 6b, make clamp 6a rotate or rotate with the rotation of the second gear assembly 6b, the movement that rotarily drives the second push rod 6e of described the second gear assembly 6b, the second push rod 6e promotes the second shifting axle makes clamp 6a clamp or unclamp, described the second train 6c is connected and synchronizes with steel wire rope or the chain of the 3 interior windings of principal arm manipulator with upper steel wire rope or the chain being wound around of the second driven train 6d.
Puma manipulator of the present utility model, by steel wire rope or chain drive, make from action and the principal arm manipulator of arm manipulator in full accord, wherein steel wire rope or chain, be wound on the first train 3d and the first driven train 3e in principal arm manipulator, on flexible assembly pulley 2c in principal arm 2, on movable pulley component 7b in driver part 7, on joint train 4c in crossover sub parts 4, on roller 5b from arm 5, and on the second train 6c and the second driven train 6d from arm manipulator 6, thereby can make from the action of arm manipulator identical with the action of principal arm manipulator, make operator can control the clamping (unclamping) that principal arm manipulator is realized clamp from arm manipulator, the rotation of wrist, swing and slave arm rotation, stretching motion.By rotating rocker, complete the pivot angle motion from arm, by the rotation of motor, complete the stretching motion of wall pipe.Angle (0-90 °) from arm and horizontal plane.
Puma manipulator of the present utility model; the heavy work that can replace people under certain specific environment, to realize mechanization and the automation of producing, can operate to protect personal safety under hostile environment, simple in structure, easy and simple to handle, easy to use, accuracy is high; with low cost, be applicable to applying.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (9)
1. a puma manipulator, it is characterized in that: it comprises parts through walls (1), one end of described parts through walls (1) is connected on principal arm (2), in the upper close principal arm (2) of parts through walls (1) one end, be provided with driver part (7), the end of described principal arm (2) is provided with principal arm manipulator (3), on this principal arm manipulator (3), be provided with for the manual wrench assembly of people (3a), the other end of described parts through walls (1) is hinged with from arm (5) by crossover sub parts (4), should be provided with from arm manipulator (6) from the end of arm (5), from arm manipulator (6), be provided with the clamp (6a) of holding articles, described principal arm manipulator (3) by steel wire rope or chain successively through principal arm (2), driver part (7), parts through walls (1), crossover sub parts (4), from arm (5) with from arm manipulator (6), be connected, make to keep strokes from action and the principal arm manipulator (3) of arm manipulator (6).
2. puma manipulator as claimed in claim 1, it is characterized in that: described principal arm manipulator (3) comprises the first gear assembly (3c), the first train (3d) and the first driven train (3e), described the first train (3d) is located in the first gear assembly (3c), its the two center is through there being central shaft, the two ends of central shaft are through in the first housing, the first train (3d) and the first gear assembly (3c) can be rotated with respect to the first housing, intermeshing between described wrench assembly (3a) and the first gear assembly (3c), make the first gear assembly (3c) drive the first train (3d) to rotate with rotation or the swing of wrench assembly (3a), it is mobile that the clamping of described wrench assembly (3a) or unclamp makes the first shifting axle (3f) promote the first push rod (3g), the first push rod (3g) drives the first train (3d) rotation, make the first train (3d) and the first driven train (3e) pass through the steel wire rope or the chain that on it, are wound around, control is kept strokes from arm manipulator (6) and principal arm manipulator (3).
3. puma manipulator as claimed in claim 2, it is characterized in that: on described wrench assembly (3a), be provided with lock-screw (3b), described lock-screw (3b) can be butted on the movement of the first shifting axle (3f) upper restriction the first shifting axle (3f), realizes the locking from arm manipulator (6).
4. puma manipulator as claimed in claim 2 or claim 3, it is characterized in that: describedly from arm manipulator (6), comprise the second gear assembly (6b), the second train (6c) and the second driven train (6d), described the second train (6c) is located in the second gear assembly (6b), its the two center is through there being axle, the two ends of axle are through in the second housing, the second train (6c) and the second gear assembly (6b) can be rotated with respect to the second housing, intermeshing between described clamp (6a) and the second gear assembly (6b), make clamp (6a) rotate or rotate with the rotation of the second gear assembly (6b), the movement that rotarily drives the second push rod (6e) of described the second gear assembly (6b), the second push rod (6e) promotes the second shifting axle makes clamp (6a) clamp or unclamp, described the second train (6c) is connected and synchronizes with the steel wire rope or the chain that are wound around in principal arm manipulator (3) with the upper steel wire rope being wound around of the second driven train (6d) or chain.
5. puma manipulator as claimed in claim 4, it is characterized in that: described parts through walls (1) comprise movable pipe housing (1a), movable pipe assembly (1b) and connecting rod (1c), described movable pipe assembly (1b) is placed in movable pipe housing (1a), and movable pipe assembly (1b) is connected on the electrode decelerator (7a) in driver part (7), described electrode decelerator (7a) drives movable pipe assembly (1b) flexible, one end at the close crossover sub parts (4) of movable pipe assembly (1b) is provided with pendulum wire bar drive disk assembly (1d), pendulum wire bar drive disk assembly (1d) is connected with the connecting rod (1c) in being located at movable pipe assembly (1b), described connecting rod (1c) meshes by gear with the handlebar (7c) in driver part (7).
6. puma manipulator as claimed in claim 5, it is characterized in that: described driver part (7) comprises motor reducer (7a), movable pulley component (7b) and handlebar (7c), on wherein said movable pulley component (7b), be wound around and control steel wire rope or chain, described movable pulley component (7b) is driven by motor reducer (7a), described motor reducer (7a) drives movable pipe assembly (1b) to make stretching motion, and described handlebar (7c) meshes with the end gear of connecting rod (1c).
7. the puma manipulator as described in claim 1 or 2 or 3 or 5 or 6, it is characterized in that: described principal arm (2) comprises main arm telescoping pipe (2a), counterweight (2b), flexible assembly pulley (2c) and locking device (2d), on the sidewall of main arm telescoping pipe (2a), be provided with two counterweights (2b), on main arm telescoping pipe (2a), be also provided with locking device (2d), on one end of main arm telescoping pipe (2a), be connected with principal arm manipulator (3), the other end is provided with can lay winding wire ropes or the flexible assembly pulley (2c) of chain.
8. the puma manipulator as described in claim 1 or 2 or 3 or 5 or 6, it is characterized in that: described crossover sub parts (4) comprise the first adapter (4a) being connected on parts through walls (1) and are connected in the second adapter (4b) from arm (5), wherein between the first adapter (4a) and the second adapter (4b), be hinged, in this junction, being provided with can lay winding wire ropes or the joint train (4c) of chain, on the outer wall of described the second adapter (4b), be hinged with the forward swing screw mandrel attaching parts (4d) that can be connected with forward swing screw rod transmission parts (1d).
9. the puma manipulator as described in claim 1 or 2 or 3 or 5 or 6, it is characterized in that: describedly from arm (5), comprise from arm exterior tube (5c), from arm intervalve (5a) with from arm inner tube (5d), telescopic moving relatively between three, wherein from arm exterior tube (5c), be placed on from arm intervalve (5a), from arm inner tube (5d), be placed in arm intervalve (5a), at the described outer wall from arm intervalve (5a), being provided with can lay winding wire ropes or the roller (5b) of chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220745326.3U CN203527452U (en) | 2012-12-29 | 2012-12-29 | Intelligent mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220745326.3U CN203527452U (en) | 2012-12-29 | 2012-12-29 | Intelligent mechanical hand |
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| Publication Number | Publication Date |
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| CN203527452U true CN203527452U (en) | 2014-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220745326.3U Withdrawn - After Issue CN203527452U (en) | 2012-12-29 | 2012-12-29 | Intelligent mechanical hand |
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| Country | Link |
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| CN (1) | CN203527452U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029116A (en) * | 2012-12-29 | 2013-04-10 | 四川汉舟电气有限公司 | Intelligent manipulator |
| CN105500379A (en) * | 2016-01-28 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Telescopic manipulator |
| CN108518464A (en) * | 2018-05-22 | 2018-09-11 | 中国核电工程有限公司 | A kind of separable master slave manipulator stretching motion transmission system |
| CN109927008A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | A kind of remote tele-operation hot cell mechanical arm |
| CN112223243A (en) * | 2020-10-10 | 2021-01-15 | 江苏中海华核环保有限公司 | Automatically controlled master-slave mode manipulator |
-
2012
- 2012-12-29 CN CN201220745326.3U patent/CN203527452U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029116A (en) * | 2012-12-29 | 2013-04-10 | 四川汉舟电气有限公司 | Intelligent manipulator |
| CN103029116B (en) * | 2012-12-29 | 2015-03-11 | 四川汉舟电气有限公司 | Intelligent manipulator |
| CN105500379A (en) * | 2016-01-28 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Telescopic manipulator |
| CN109927008A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | A kind of remote tele-operation hot cell mechanical arm |
| CN108518464A (en) * | 2018-05-22 | 2018-09-11 | 中国核电工程有限公司 | A kind of separable master slave manipulator stretching motion transmission system |
| CN108518464B (en) * | 2018-05-22 | 2020-11-17 | 中国核电工程有限公司 | Separable master-slave manipulator telescopic motion transmission system |
| CN112223243A (en) * | 2020-10-10 | 2021-01-15 | 江苏中海华核环保有限公司 | Automatically controlled master-slave mode manipulator |
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