CN217317978U

CN217317978U - Novel master-slave manipulator actuating mechanism

Info

Publication number: CN217317978U
Application number: CN202221199870.2U
Authority: CN
Inventors: 师涛; 刘万伟; 邱俊
Original assignee: Shaanxi Tongshihang Precision Machinery Co ltd
Current assignee: Shaanxi Tongshihang Precision Machinery Co ltd
Priority date: 2022-05-19
Filing date: 2022-05-19
Publication date: 2022-08-30
Anticipated expiration: 2032-05-19

Abstract

The utility model discloses a novel master-slave manipulator actuating mechanism, which comprises an outer cover, wherein two ends of the outer cover are respectively supported by a front vertical plate and a rear vertical plate, a servo motor driving plate is arranged inside the outer cover, an X-axis servo motor is arranged on one side of the servo motor driving plate, the output end of the X-axis servo motor is connected with an X-axis speed reducer, and the traditional master-slave manipulator adopts a pure mechanical manual operation mode; the operation requirement on personnel is high, and after the addition of the actuating mechanism is changed, the operation is simplified by using a servo motor rotary motion control mode, so that the labor intensity is reduced; the traditional mechanical master-slave hand can be operated repeatedly by personnel each time; after the actuating mechanism is used, a servo motor of the actuating mechanism can be matched with a control system for self-learning, repeated operation can be programmed, and the working efficiency is improved; the standardized working process is achieved; therefore, the utility model provides a novel principal and subordinate manipulator actuating mechanism.

Description

Novel master-slave manipulator actuating mechanism

Technical Field

The utility model belongs to the technical field of nuclear power, medical treatment, life science, concretely relates to novel principal and subordinate manipulator actuating mechanism.

Background

The nuclear industry has an environment of heavily radioactive media, and robots and robotic arms are an indispensable tool for the nuclear industry. The infrastructure widely applied in the production and treatment of nuclear raw materials is a hot chamber, the internal environment of the hot chamber is relatively severe, and extremely strong radiation active substances and a strong corrosive atmosphere environment exist, so that the hot chamber is a widely applied place of a master mechanical arm and a slave mechanical arm.

With the development of servo drive and control technology and teleoperation technology, traditional mechanical master-slave mechanical arms and self-leveling motor follow-up three-joint master-slave mechanical arms are being replaced by teleoperation modes based on teleoperation man-machine interaction interfaces such as handles, serial micro-instruction mechanisms and the like.

The master-slave manipulator is an indispensable operation tool for scientific research and production in the nuclear industry, is light and flexible in operation, high in operation capacity and wide in applicable throwing range, becomes standard equipment in the nuclear industry at present, and is a common general manipulator. The master-slave manipulator consists of an operating handle, a master arm, a wall penetrating pipe, a slave arm, a clamp, a balance system and the like, and can manually realize seven independent motions including three linear motions in the X direction, the Y direction and the Z direction, three rotational motions of azimuth rotation, clamp pitching and clamp twisting and clamping motion. The executing mechanism is designed and invented as one of the operating modules, the load of manual operation pressure is reduced, and the fatigue operation of an operator is reduced by 60-65% of the efficiency. Meanwhile, the benefit is improved by about 20% through further improving the motion precision. Due to the complete compatibility, the motion control of the slave hand can be realized without replacing the slave hand, the through-wall pipe and the sealing system.

The traditional master-slave manipulator has the following operation problems:

1. the traditional master-slave manipulator adopts a pure mechanical manual operation mode. The operation requirement on personnel is high, and after the addition of the actuating mechanism is changed, the operation is simplified by using a servo motor rotary motion control mode, so that the labor intensity is reduced;

2. the traditional mechanical master-slave hand can be operated repeatedly by personnel each time; after the actuating mechanism is used, a servo motor of the actuating mechanism can be matched with a control system for self-learning, repeated operation can be programmed, and the working efficiency is improved; the standardized working process is achieved; therefore, the utility model provides a novel principal and subordinate manipulator actuating mechanism.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a novel principal and subordinate manipulator actuating mechanism to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a novel master-slave manipulator actuating mechanism comprises an outer cover, wherein two ends of the outer cover are respectively supported by a front vertical plate and a rear vertical plate, a servo motor driving plate is arranged inside the outer cover, an X-axis servo motor is arranged on one side of the servo motor driving plate, the output end of the X-axis servo motor is connected with an X-axis speed reducer, the output end of the X-axis speed reducer is provided with a pinion, and a rotary power assembly is rotatably arranged inside the outer cover;

the rotary power component comprises a rotary mounting frame, a Y-axis servo drive component and six groups of servo drive components which are structurally the same, the rotary mounting frame comprises a drag chain rotating shaft, a rotary drag chain, a circular plate 2b, a rotary circular plate 2e, rotary supporting columns and supporting columns, the circular plate is aligned with the circular plate 2b and the rotary circular plate 2e, the circular plate is fixedly connected with the edge of the circular plate 2b through the plurality of supporting columns, the connection is stable, the synchronous rotation is kept, the edges of the circular plate 2b and the rotary circular plate 2e are fixedly connected through the plurality of rotary supporting columns, the connection reinforcing effect is achieved, a drag chain rotating shaft is fixedly mounted on one side of the rotary circular plate 2e, the rotary drag chain is mounted on the drag chain rotating shaft, the other end of the drag chain rotating shaft penetrates through an outer cover and is rotatably connected with a rear vertical plate and the outer cover through a bearing, a large gear is fixedly arranged at the edge of one end of the circular plate, the large gear and the small gear are meshed with each other and are in transmission assembly to form an X axis, a fixed flange is fixedly arranged at the center of one end of the circular plate and penetrates through the outer cover and the front vertical plate, the fixed flange is rotatably connected with the front vertical plate and the outer cover through a bearing sleeve, and a Y-axis servo driving assembly and six sets of servo driving assemblies which are in the same structure are fixedly arranged at one end of the circular plate 2 b;

the Y-axis servo driving component comprises a Y-axis servo motor, a Y-axis speed reducer and a concave end joint, the Y-axis servo motor is connected with the Y-axis speed reducer through a flange to provide power for the Y axis and is fixedly arranged on a circular plate 2b, the output end of the Y-axis speed reducer is rotatably provided with the concave end joint, the Y axis is conveniently connected with the concave end joint, six groups of servo driving components with the same structure are all arranged at one end of the circular plate 2b, the other end of the circular plate 2b is respectively and rotatably provided with a G axis, a ZM axis, an Hn axis, a Zi axis, an Hd axis and an Ad axis, the six groups of servo driving components with the same structure are respectively and correspondingly and drivingly connected with the G axis, the Hn axis, the Zi axis, the Hd axis and the Ad axis, one end of the G axis, the ZM axis, the Hn axis, the Zi axis, the Hd axis and the Ad axis are respectively and fixedly provided with synchronous belt pulleys, and synchronous pulley all rotates to be installed on plectane 2b, every group servo drive assembly includes servo motor, speed reducer, action wheel, flange ditch board, hold-in range, servo motor is connected with the speed reducer transmission, and the speed reducer passes through the flange ditch board to be fixed on plectane 2b, the output fixed mounting of speed reducer has the action wheel, and the action wheel passes through the hold-in range to be connected with synchronous pulley transmission, for the transmission of convenience power, Y axle, G axle, ZM axle, Hn axle, Zi axle, Hd axle and Ad axle all pass the plectane in proper order and fixed flange extends to the outside of dustcoat.

Preferably, the circle center of the drag chain rotating shaft and the circle center of the bearing sleeve are overlapped, and a connecting line of the two circle centers is in a horizontal state so as to ensure horizontal rotation.

Preferably, a transverse plate is fixedly connected between the bottom of the front vertical plate and the bottom of the rear vertical plate, and a dustproof cover plate is arranged between the fixed flange and the bearing sleeve to play a dustproof role.

Preferably, the outer cover is a hollow cylindrical structure, the circle center of the outer cover is overlapped with the circle center of the drag chain rotating shaft, and the rotating power assembly can rotate smoothly.

Preferably, the Y-axis, the G-axis, the ZM-axis, the Hn-axis, the Zi-axis, the Hd-axis, and the Ad-axis are separate structures independent from the circular plate and the fixed flange, in order to ensure the flexible rotation of each axis.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model provides a novel principal and subordinate manipulator actuating mechanism to with traditional principal and subordinate manipulator in the middle of increase the operating pressure burden of the personnel that actuating mechanism reduced. Meanwhile, the actuating mechanism can accurately control the movement position and provide information of the relative movement position, so that the operation efficiency is improved; the actuating mechanism is compatible with a master-slave manipulator in the market, so that the mechanical operation control of the slave hand can be realized without replacing the slave hand, the wall tube and the sealing system to replace the master hand when in use.

Drawings

Fig. 1 is a schematic diagram of the overall cross-sectional structure of the actuator of the present invention;

FIG. 2 is a schematic structural view of a rotary power assembly of the actuator of the present invention;

fig. 3 is a left side view of the actuator of the present invention;

fig. 4 is a right side view of the actuator of the present invention;

fig. 5 is a schematic view of the Y-axis driving structure of the actuator of the present invention;

FIG. 6 is a schematic diagram of the rotary motion of the actuating mechanism ZM shaft, ZI shaft, G shaft, Hd shaft, Hn shaft and Ad shaft of the present invention;

fig. 7 is a schematic view illustrating the definition of the slave hand function corresponding to the transmission shaft of the actuator according to the present invention;

in the figure: 1. a servo motor drive board; 2. a rear vertical plate; 3. rotating the drag chain; 4. a drag chain rotating shaft; 5. a housing; 6. a rotary power assembly; 7. a pinion gear; 8. an X-axis reducer; 9. an X-axis servo motor; 10. rotating the support column; 11. a rotating circular plate 2 e; 12. a Y-axis servo motor; 15. a servo drive assembly; 16. a Y-axis reducer; 17. a synchronous pulley; 18. a bearing housing; 19. a bull gear; 20. a circular plate; 21. a support column; 22. a circular plate 2 b; 23. a front vertical plate; 24. an Hn axis; 25. a Zi axis; 26. a ZM axis; 27. a G axis; 28. a Y axis; 29. an Hd axis; 30. an Ad shaft; 31. a female end fitting; 32. a synchronous belt; 33. and a flange groove plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 7, the present invention provides a technical solution: a novel master-slave manipulator executing mechanism comprises an outer cover 5, wherein two ends of the outer cover 5 are respectively supported by a front vertical plate 23 and a rear vertical plate 2, a servo motor driving plate 1 is arranged inside the outer cover 5, an X-axis servo motor 9 is arranged on one side of the servo motor driving plate 1, the output end of the X-axis servo motor 9 is connected with an X-axis speed reducer 8, a pinion 7 is arranged at the output end of the X-axis speed reducer 8, and a rotary power assembly 6 is rotatably arranged inside the outer cover 5;

the rotary power assembly 6 comprises a rotary mounting frame, a Y-axis servo drive assembly and a servo drive assembly 15 with the same six groups of structures, wherein the rotary mounting frame comprises a drag chain rotating shaft 4, a rotary drag chain 3, a circular plate 20, a circular plate 2b22, a rotary circular plate 2e11, a rotary supporting column 10 and a supporting column 21, the circular plate 20, the circular plate 2b22 and the rotary circular plate 2e11 are aligned with each other, the edges of the circular plate 20 and the circular plate 2b22 are fixedly connected through a plurality of supporting columns 21, the edge of the circular plate 2b22 and the edge of the rotary circular plate 2e11 are fixedly connected through a plurality of rotary supporting columns 10, a drag chain rotating shaft 4 is fixedly installed on one side of the rotary circular plate 2e11, the rotary drag chain 3 is installed on the drag chain rotating shaft 4, the other end of the drag chain rotating shaft 4 penetrates through the outer cover 5 and is rotatably connected with the rear vertical plate 2 and the outer cover 5 through a bearing, a large gear 19 is fixedly installed on one end edge of the circular plate 20, and the large gear 19 and a small gear 7 are meshed with each other to form an X-axis transmission assembly, a fixed flange is fixedly arranged at the center of one end of the circular plate 20, penetrates through the outer cover 5 and the front vertical plate 23, is rotatably connected with the front vertical plate 23 and the outer cover 5 through a bearing sleeve 18, and a Y-axis servo driving assembly and six groups of servo driving assemblies 15 which are identical in structure and are fixedly arranged at one end of the circular plate 2b 22;

the Y-axis servo driving assembly comprises a Y-axis servo motor 12, a Y-axis speed reducer 16 and a concave end joint 31, the Y-axis servo motor 12 is connected with the Y-axis speed reducer 16 through a flange and is fixedly installed on a circular plate 2b22 to provide power for the rotation of the Y-axis 28, the concave end joint 31 is rotatably arranged at the output end of the Y-axis speed reducer 16, the Y-axis 28 is fixedly connected onto the concave end joint 31, six groups of servo driving assemblies 15 with the same structure are all installed at one end of a circular plate 2b22, the other end of the circular plate 2b22 is respectively rotatably provided with a G shaft 27, a ZM shaft 26, an Hn shaft 24, a Zi shaft 25, an Hd shaft 29 and an Ad shaft 30, the servo driving assemblies 15 with the same structure and the G shaft 27, the ZM shaft 26, the Hn shaft 24, the Zi shaft 29 and the Ad shaft 30 are respectively and correspondingly and are in transmission connection with one end of the G shaft 27, the ZM shaft 26, the Hn shaft 24, the Zi shaft 25, the Hd shaft 29 and the Ad shaft 30, and synchronous pulleys 17 are all rotatably mounted on the circular plate 2b22, each group of servo drive assemblies 15 comprises a servo motor, a speed reducer, a driving wheel, a flange groove plate 33 and a synchronous belt 32, the servo motor is in transmission connection with the speed reducer, the speed reducer is fixed on the circular plate 2b22 through the flange groove plate 33, the driving wheel is fixedly mounted at the output end of the speed reducer and is in transmission connection with the synchronous pulleys 17 through the synchronous belt 32 to provide power for rotation of each shaft, and the Y shaft 28, the G shaft 27, the ZM shaft 26, the Hn shaft 24, the Zi shaft 25, the Hd shaft 29 and the Ad shaft 30 sequentially penetrate through the circular plate 20 and the fixed flange and extend to the outer side of the outer cover 5.

In this embodiment, preferably, the circle center of the rotating shaft 4 of the drag chain and the circle center of the bearing sleeve 18 are overlapped, and the connecting line of the two circle centers is in a horizontal state; in order to ensure horizontal rotation, in this embodiment, preferably, a transverse plate is fixedly connected between the bottom of the front vertical plate 23 and the bottom of the rear vertical plate 2, in order to ensure the sealing effect, the X-axis servo motor 9 is convenient to mount, and a dustproof cover plate is arranged between the fixed flange and the bearing sleeve 18; the dustproof function is achieved, in the embodiment, preferably, the outer cover 5 is a hollow cylindrical structure, and the circle center of the outer cover 5 is overlapped with the circle center of the rotating shaft 4 of the drag chain; in the present embodiment, the Y-axis 28, the G-axis 27, the ZM-axis 26, the Hn-axis 24, the Zi-axis 25, the Hd-axis 29, and the Ad-axis 30 are preferably separate from the circular plate 20 and the fixed flange, and are configured to ensure flexible rotation of the Y-axis 28, the G-axis 27, the ZM-axis 26, the Hn-axis 24, the Zi-axis 25, the Hd-axis 29, and the Ad-axis 30.

The utility model discloses a theory of operation and use flow: the actuating mechanism receives an electric follow-up master hand control signal and drives a corresponding servo motor to rotate forwards and reversely, the corresponding servo motor and a speed reducer are connected together through corresponding flanges carried by the servo motor and the speed reducer, the speed reducer improves the torque of the servo motor, and an assembly formed by the servo motor and the speed reducer is connected with a synchronous belt pulley and gears to move X shaft, Y shaft 28, Zi shaft 25, ZM shaft 26, G shaft 27, Hd shaft 29, Hn shaft 24 and Ad shaft 30 to rotate, so that the slave hand is driven to do;

when in use, the fixed flange of the actuating mechanism is connected to the corresponding interface of the penetrating piece; closing the corresponding brake function of the servo motor after electrification, and driving an X shaft, a Y shaft 28, a Zi shaft 25, a ZM shaft 26, a G shaft 27, an Hd shaft 29, an Hn shaft 24 and an Ad shaft 30 to rotate by the corresponding servo motor after receiving control signals; the shafts can be independently rotated or linked through a program.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A novel master-slave manipulator actuating mechanism comprises an outer cover (5), and is characterized in that: the two ends of the outer cover (5) are respectively supported by a front vertical plate (23) and a rear vertical plate (2), a servo motor driving plate (1) is arranged inside the outer cover (5), an X-axis servo motor (9) is arranged on one side of the servo motor driving plate (1), the output end of the X-axis servo motor (9) is connected with an X-axis speed reducer (8), a pinion (7) is installed at the output end of the X-axis speed reducer (8), and a rotary power assembly (6) is rotatably arranged inside the outer cover (5);

the rotary power component (6) comprises a rotary mounting frame, a Y-axis servo drive component and six groups of structures to form the same servo drive component (15), the rotary mounting frame comprises a drag chain rotating shaft (4), a rotary drag chain (3), a circular plate (20), a circular plate 2b (22), a rotary circular plate 2e (11), a rotary supporting column (10) and a supporting column (21), the circular plate (20) is aligned with the circular plate 2b (22) and the rotary circular plate 2e (11), the edges of the circular plate (20) and the circular plate 2b (22) are fixedly connected through a plurality of supporting columns (21), the edges of the circular plate 2b (22) and the rotary circular plate 2e (11) are fixedly connected through a plurality of rotary supporting columns (10), one side of the rotary circular plate 2e (11) is fixedly provided with the drag chain rotating shaft (4), the rotary drag chain (3) is installed on the drag chain rotating shaft (4), the other end of the drag chain rotating shaft (4) penetrates through the outer cover (5) and is rotationally connected with the rear vertical plate (2) and the outer cover (5) through bearings, a large gear (19) is fixedly installed at the edge of one end of the circular plate (20), the large gear (19) and the small gear (7) are meshed with each other and are in transmission assembly to form an X shaft, a fixing flange is fixedly installed at the center of one end of the circular plate (20) and penetrates through the outer cover (5) and the front vertical plate (23), the fixing flange is rotationally connected with the front vertical plate (23) and the outer cover (5) through a bearing sleeve (18), and a Y-axis servo driving assembly and six sets of servo driving assemblies (15) which are identical in structure are fixedly installed at one end of the circular plate 2b (22);

the Y-axis servo driving assembly comprises a Y-axis servo motor (12), a Y-axis speed reducer (16) and a concave end joint (31), the Y-axis servo motor (12) is connected with the Y-axis speed reducer (16) through a flange and fixedly mounted on a circular plate 2b (22), the output end of the Y-axis speed reducer (16) is rotatably provided with the concave end joint (31), the concave end joint (31) is fixedly connected with a Y axis (28), six groups of servo driving assemblies (15) with the same structure composition are mounted at one end of the circular plate 2b (22), the other end of the circular plate 2b (22) is respectively rotatably provided with a G axis (27), a ZM axis (26), an Hn axis (24), a Zi axis (25), an Hd axis (29) and an Ad axis (30), and the six groups of servo driving assemblies (15) with the same structure composition are arranged on the G axis (27), the ZM axis (26), the Hn axis (24), the Zi axis (25) and the Ad axis (30), Hd axle (29) and Ad axle (30) correspond the transmission respectively one by one and are connected, and the one end of G axle (27), ZM axle (26), Hn axle (24), Zi axle (25), Hd axle (29) and Ad axle (30) is equallyd divide and is do not fixed mounting have synchronous pulley (17), and synchronous pulley (17) all rotate and install on plectane 2b (22), every group servo drive subassembly (15) are including servo motor, speed reducer, action wheel, flange groove board (33), hold-in range (32), servo motor is connected with the speed reducer transmission, and the speed reducer passes through flange groove board (33) to be fixed on plectane 2b (22), the output fixed mounting of speed reducer has the action wheel, and the action wheel passes through hold-in range (32) and is connected with synchronous pulley (17) transmission, Y axle (28), G axle (27), ZM axle (26), Hn axle (24), Zi axle (25), The Hd shaft (29) and the Ad shaft (30) sequentially penetrate through the circular plate (20) and the fixed flange and extend to the outer side of the outer cover (5).

2. The novel master-slave manipulator actuator as claimed in claim 1, wherein: the circle center of the drag chain rotating shaft (4) is overlapped with the circle center of the bearing sleeve (18), and a connecting line of the two circle centers is in a horizontal state.

3. The novel master-slave manipulator actuator as claimed in claim 1, wherein: a transverse plate is fixedly connected between the bottom of the front vertical plate (23) and the bottom of the rear vertical plate (2), and a dustproof cover plate is arranged between the fixed flange and the bearing sleeve (18).

4. The novel master-slave manipulator actuator according to claim 1, wherein: the outer cover (5) is of a hollow cylindrical structure, and the circle center of the outer cover (5) is overlapped with the circle center of the drag chain rotating shaft (4).

5. The novel master-slave manipulator actuator as claimed in claim 1, wherein: the Y shaft (28), the G shaft (27), the ZM shaft (26), the Hn shaft (24), the Zi shaft (25), the Hd shaft (29) and the Ad shaft (30) are of independent separated structures with the circular plate (20) and the fixed flange.