CN212331031U - Modular articulated power mechanical arm equipment - Google Patents
Modular articulated power mechanical arm equipment Download PDFInfo
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- CN212331031U CN212331031U CN202021547335.2U CN202021547335U CN212331031U CN 212331031 U CN212331031 U CN 212331031U CN 202021547335 U CN202021547335 U CN 202021547335U CN 212331031 U CN212331031 U CN 212331031U
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Abstract
The application discloses modularization articulated type power robotic arm equipment includes: the power box comprises a power box body, a large arm, an elbow joint, a small arm, a wrist joint and a terminal grabbing device, wherein one end of the large arm is connected with the power box body, the other end of the large arm is connected with the small arm through the elbow joint, one end of the small arm is connected with the terminal grabbing device through the wrist joint, and the power box is connected with a base or a moving platform through a shoulder joint. By adopting the modularized joint type power mechanical arm equipment, the overall configuration of a mechanical arm joint is simplified, the stability of a system is enhanced, the assembly precision of the joint is increased, the output precision of the joint is improved, the load of the modularized mechanical arm and the index range of an operation space can be determined according to the requirements of a target demonstration application scene, and the flexible collocation of the modularized mechanical arm under different requirements is realized.
Description
Technical Field
The embodiment of the application relates to the technical field of artificial intelligence, in particular to modularized articulated power mechanical arm equipment.
Background
Nuclear radiation is fatal to human body, so that remote operation equipment is an indispensable tool for nuclear facilities and is also a life line of nuclear industry. For the post-processing and nuclear facility decommissioning industries, the necessity of intelligent operating equipment is particularly important. In recent years, high intellectualization, high reliability, high severe environment adaptability, functional diversity and the like are gradually developing trends of nuclear industrial robot application.
At present, the nuclear industry mechanical arms are mainly divided into four major types, namely sword type mechanical arms, master-slave mechanical arms, electric master-slave mechanical arms and power mechanical arms. The power manipulator and the electric master-slave manipulator do not need manpower as driving, and have great advantages in load capacity and operation range. However, such devices generally have a problem that in order to realize automatic and intelligent functions such as electric and remote control, the electrical appliances and the structural design of the arm are complex, and the motor, the reducer, the sensor and the cable are often arranged inside the arm and the joint. In the layout mode, on one hand, the dead weight and the structure of the arm are considered, and the arm body cannot be subjected to excessive shielding protection, so that certain requirements are provided for the radiation resistance of internal electronic components; on the other hand, the layout mode of communicating the electric appliances with the whole arm is adopted, so that a lot of difficulty and implementation cost are increased for operation and maintenance, emergency response and other work, and the operability and timeliness of operation are reduced.
Among various mechanical arms in the nuclear industry, a telescopic master-slave mechanical arm is fixedly installed and mechanically penetrates through, the master hand end is driven by manpower, the action range of the master hand is large, and the operation range of the slave hand is small. The power manipulator has stronger load capacity, but lacks a flexible and intelligent man-machine interaction control mode, and generally arranges a motor, a conductive slip ring body and the like in an arm joint, thereby having certain influence on the manufacturing cost and the operation and maintenance cost of equipment. Therefore, how to design a modular joint type mechanical arm becomes the focus of research in the field.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the application provides a modular articulated power mechanical arm device to solve the problems that the mechanical arm in the prior art is complex in design, high in manufacturing and maintenance cost and poor in accuracy of a man-machine interaction control mode.
In order to achieve the above object, the embodiments of the present application provide the following technical solutions:
an embodiment of the present application provides a modular articulated power robot arm apparatus, including: the power box comprises a power box body, a large arm, an elbow joint, a small arm, a wrist joint and a terminal grabbing device, wherein one end of the large arm is connected with the power box body, the other end of the large arm is connected with the small arm through the elbow joint, one end of the small arm is connected with the terminal grabbing device through the wrist joint, and the power box is connected with a base or a moving platform through a shoulder joint.
Furthermore, the internal structure of the power box comprises a power layer for providing power for each joint, a sensor layer for collecting output torque of each shaft and feeding the output torque back to the control system to settle output force of the tail end, and a gear box layer for outputting power.
Furthermore, the power layer is provided with a servo motor and a speed reducer in a distributed manner.
Further, at least one torque sensor is installed on the sensor layer, an input shaft of the torque sensor is connected with an output shaft of the speed reducer, and an output shaft of the torque sensor is connected with an input shaft of the gear box.
Furthermore, the gear box layer is composed of at least one group of gears, the output shafts of the torque sensors are respectively provided with a pinion, the output of the power box is at least one concentric shaft, each concentric shaft is provided with a gearwheel, and the gearwheels are respectively meshed with the corresponding pinions.
Furthermore, the big arm with the forearm comprises a plurality of concentric pipes, rely on lubricated bush mutual support between the concentric pipe, every concentric pipe transmits a servo motor's power to joint department, power is every through a motion joint, is responsible for the drive by outermost concentric pipe the joint motion.
Further, the concentric tubes of the large arm are connected with the elbow joint; the concentric pipes on the outermost side of the large arm are fixedly connected with the shell of the elbow joint, and the plurality of concentric pipes on the inner side of the large arm are respectively connected with the bevel gear; the bevel gear on the outermost side is responsible for the motion of the elbow joint, and a plurality of bevel gears on the inner side change the transmission direction by meshing with the bevel gear on the next stage so as to transmit power to the concentric tube of the forearm.
By adopting the modularized joint type power mechanical arm equipment, the overall configuration of a mechanical arm joint is simplified, the overall gravity center of the mechanical arm is reduced, the stability of a system is enhanced, the assembly precision of the joint is increased, the joint output precision is improved, the index ranges of the load and the operation space of a modularized mechanical arm can be determined according to the target demonstration application scene requirements, and the flexible collocation of the modularized arms under different requirements is realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic diagram of a modular articulated power robot apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of joint rotation of a modular articulated power robot apparatus according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an internal structure of a power box of a modular articulated power robot arm apparatus according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an internal structure of an arm of a modular articulated power robot arm apparatus according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an arm joint in a modular articulating power robot apparatus according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an internal structure of a modular articulated power robot apparatus according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a modular articulated power robot apparatus through-the-wall fixture mount provided in an embodiment of the present application;
FIG. 8 is a schematic illustration of a modular articulated power robot apparatus mounting base mounted docking operation according to an embodiment of the present disclosure;
fig. 9 is a schematic view of an installation of a modular articulated power robot apparatus according to an embodiment of the present disclosure.
In the above fig. 1-6, 1 is a power box, 2 is a big arm, 3 is an elbow joint, 4 is a small arm, 5 is a wrist joint, 6 is a terminal gripping device, 7 is a shoulder joint, 8 is a small arm rotary joint, 9 is a big arm rotary joint, 10 is a power layer, 11 is a sensor layer, 12 is a gear box layer, 13 is a large gear, 14 is a small gear, 15 is a concentric output shaft, 16 is a bevel gear, 17 is an arm wall pipe, 18 is an arm concentric pipe, 19 is an arm joint, 18a is a small arm concentric pipe, and 18b is a big arm concentric pipe.
Detailed Description
The present disclosure is not intended to be limited to the particular embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of a modular articulated power robot apparatus are described in detail below based on the teachings of the present application. As shown in fig. 1 to 6, which are schematic structural diagrams of a modular articulated power robot arm apparatus provided in an embodiment of the present application, a specific implementation process includes the following steps: the device comprises a power box 1, a big arm 2, an elbow joint 3, a small arm 4, a wrist joint 5 and a tail end grabbing device 6. Wherein, 2 one end of big arm with headstock 1 is connected, the other end of big arm 2 with passing through of forearm 4 elbow joint 3 is connected, the one end of forearm 4 is passed through wrist joint 5 with terminal grabbing device 6 is connected, headstock 1 links to each other with base or moving platform through shoulder joint 7 to realize robotic arm's "6 + 1" degree of freedom, its degree of freedom distributes as shown in fig. 2, and robotic arm's 6 degrees of freedom are shoulder joint 7, big arm rotary joint 9, elbow joint 3, forearm rotary joint 8, wrist joint 5, terminal rotary joint respectively, and 1 degree of freedom is opening and shutting of terminal hand grab in addition.
Fig. 3 is a schematic diagram of an internal structure of a power box in a modular articulated power robot apparatus according to an embodiment of the present disclosure.
The internal structure of the power box 1 is mainly divided into three layers, and specifically comprises a power layer 10 for providing power for each joint, a sensor layer 11 for collecting output torque of each shaft and feeding the output torque back to a control system to settle output force at the tail end, and a gear box layer 12 for outputting power. Wherein, the power layer 10 is distributed with a servo motor and a reducer; the sensor layer 11 is provided with at least one torque sensor, an input shaft of the torque sensor is connected with an output shaft of the speed reducer, and an output shaft of the torque sensor is connected with an input shaft of the gear box; the gearbox layer 12 is composed of at least one group of gears, the output shafts of the torque sensors are respectively provided with a pinion 14, the output of the power box 1 is at least one concentric shaft, each concentric shaft is provided with a gearwheel 13, and the gearwheel 13 is respectively meshed with the corresponding pinion 14. It should be noted that the main functions of the gearbox include: firstly, different power sources output to all concentric pipes are distributed around the power box 1, so that the motor is convenient to fix; secondly, the device further plays a role in reducing speed and increasing torque.
In one embodiment, 6 servo motors and reducers may be distributed on the power layer 10 to provide power to each joint. The sensor layer 11 is provided with 6 torque sensors, an input shaft of each torque sensor is connected with an output shaft of the speed reducer, and an output shaft of each torque sensor is connected with an input shaft of the gear box and used for collecting output torque of each shaft and feeding the output torque back to the control system, so that the output force at the tail end of the settlement is settled. The gear box is composed of 6 groups of gears, output shafts of the torque sensors are respectively provided with a small gear 14, the output of the power box 1 is arranged into 6 concentric shafts, each shaft is provided with a large gear 13 and is respectively meshed with the corresponding small gear 14, and therefore power transmission is completed.
As shown in fig. 4-6, the large arm 2 and the small arm 4 have similar structures and are both composed of a plurality of concentric tubes, the concentric tubes are supported by a lubricating bushing at the position of the large arm 2, each concentric tube transmits power of a servo motor to a joint, the outermost concentric tube is responsible for driving the joint to move when the power passes through a moving joint, and a layer of arm tube structure is reduced in the subsequent arm tube structure, and the structures of the large arm 2 and the small arm 4 are similar, so that repeated description is omitted.
The elbow joint 3 and the wrist joint 5 are similar in structure. At the elbow joint 3, the concentric tube 18b of the large arm is connected to the elbow joint 3. The concentric pipes on the outermost side of the large arm 2 are fixedly connected with the shell of the elbow joint 3, and the plurality of concentric pipes on the inner side of the large arm 2 are respectively connected with the bevel gear 16; the most outer bevel gear 16 is responsible for the motion of the elbow joint 3, and the inner bevel gears 16 change the transmission direction by meshing with the bevel gear 16 of the next stage to transmit power to the concentric tube 18a of the forearm, so that the wrist joint 5 is similar to the elbow joint 3 in structure and is not repeated.
In a specific implementation, as shown in fig. 7-9, a fixed mounting can be used in the form of fig. 7, which can be used for through-penetrating operations in hot rooms, glove boxes, containers, and the like. This way it can be ensured that the power box 1 containing electronic components is arranged in a safe green area, and only the arms without electrical equipment are working in a radiation environment, thus facilitating the overhaul and maintenance. In addition, the base installation can be carried out by adopting the form of FIG. 8, the base installation can be used for production lines, overhaul halls, vehicles, mobile chassis and the like, and the equipment of the type moves along with the installation platform, so that the application field and the operation surface are wider. In addition, the form of fig. 9 can be used for realizing the installation of the mobile platform, and the mobile platform can be used for decommissioning factories, hot rooms, maintenance platforms and the like. The double-arm configuration mode enables the operation sense and form to be closer to real double-hand operation, and the operation is more flexible and convenient. It should be noted that, in the actual implementation process, flexible installation and setting can be performed as required, and the above examples are not limited specifically.
By adopting the modularized joint type power mechanical arm equipment, the overall configuration of a mechanical arm joint 19 is simplified, the overall gravity center of the mechanical arm is reduced, the stability of a system is enhanced, the assembly precision of the joint is increased, the joint output precision is improved, the index ranges of the load and the operation space of a modularized mechanical arm can be determined according to the target demonstration application scene requirements, and the flexible collocation of the modularized arms under different requirements is realized.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described herein may be implemented in modular hardware. The above-mentioned embodiments, objects, technical solutions and advantages of the present application are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present application, and are not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present application should be included in the scope of the present application.
Claims (7)
1. A modular articulated power robot apparatus, comprising: the power box comprises a power box body, a large arm, an elbow joint, a small arm, a wrist joint and a terminal grabbing device, wherein one end of the large arm is connected with the power box body, the other end of the large arm is connected with the small arm through the elbow joint, one end of the small arm is connected with the terminal grabbing device through the wrist joint, and the power box is connected with a base or a moving platform through a shoulder joint.
2. The modular articulated power robot apparatus of claim 1, wherein the internal structure of the power box comprises a power layer for powering each joint, a sensor layer for collecting output torque of each shaft and feeding back to the control system to settle the end output force, and a gear box layer for power take off.
3. The modular articulated power robot apparatus of claim 2, wherein the power layer is distributed with servo motors and reducers.
4. The modular articulated power robot apparatus of claim 3, wherein the sensor layer mounts at least one torque sensor having an input shaft coupled to the output shaft of the speed reducer and an output shaft coupled to the input shaft of the gear box.
5. The modular articulated power robot apparatus of claim 4, wherein the gear box layer is comprised of at least one set of gears, the output shafts of the torque sensors are each mounted with a pinion gear, the output of the power box is at least one concentric shaft, each concentric shaft is mounted with a bull gear, the bull gears are each engaged with a respective one of the pinion gears.
6. The modular articulated power robot arm apparatus according to claim 1, wherein the large arm and the small arm are formed by a plurality of concentric tubes supported by lubrication bushings, each concentric tube transmitting the power of one servomotor to the joint, the power passing through each of the kinematic joints, the outermost concentric tube being responsible for driving the joint in motion.
7. The modular articulated power robot arm apparatus of claim 6, wherein the concentric tubes of the large arm are connected with the elbow joint; the concentric pipes on the outermost side of the large arm are fixedly connected with the shell of the elbow joint, and the plurality of concentric pipes on the inner side of the large arm are respectively connected with the bevel gear; the bevel gear on the outermost side is responsible for the motion of the elbow joint, and a plurality of bevel gears on the inner side change the transmission direction by meshing with the bevel gear on the next stage so as to transmit power to the concentric tube of the forearm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021547335.2U CN212331031U (en) | 2020-07-30 | 2020-07-30 | Modular articulated power mechanical arm equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021547335.2U CN212331031U (en) | 2020-07-30 | 2020-07-30 | Modular articulated power mechanical arm equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770551A (en) * | 2022-05-20 | 2022-07-22 | 中国原子能科学研究院 | Retired robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770551A (en) * | 2022-05-20 | 2022-07-22 | 中国原子能科学研究院 | Retired robot |
| CN114770551B (en) * | 2022-05-20 | 2024-02-20 | 中国原子能科学研究院 | Retired robot |
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