CN217318091U - Quick installation handle of principal and subordinate manipulator - Google Patents

Abstract

Master slaver manipulator installs handle fast, it includes: the mechanical slave hand drive chain is controlled by the clamping device through the fixing block, so that the mechanical slave hand clamp is clamped and released, the safety locking device is arranged between the clamping device and the auxiliary handle and is used for locking and releasing the clamping device, the phenomenon that the mechanical slave hand clamp is opened and closed by mistake due to misoperation of an operator is avoided, the quick adjusting buckle is arranged on the fixing block, and the installation and the disassembly of the installation handle and a mechanical wrist joint can be realized without using an auxiliary tool, so that the mechanical slave hand clamp is convenient to maintain.

Description

Quick installation handle of principal and subordinate manipulator

[ technical field ] A method for producing a semiconductor device

The utility model relates to an installation handle, concretely relates to handle is installed fast to principal and subordinate's manipulator.

[ background of the invention ]

In the nuclear industry or life science and other industries, serious radioactive media or toxic and harmful substances exist, and the manipulator is an indispensable substitute tool under the condition that a human body cannot touch the manipulator. In the production and treatment of nuclear raw materials, the hot chamber is a widely used infrastructure, in which extremely strong radiation active substances and a strongly corrosive atmosphere environment exist.

The master-slave manipulator consists of an operating handle (namely a handle), a master arm, a wall penetrating pipe, a slave arm, a clamp, a balance system and the like, can manually realize seven independent motions including three linear motions in an X direction, a Y direction and a Z direction, three rotational motions of azimuth rotation, clamp pitching and clamp twisting and clamping motion, and has the advantages of light and flexible operation, higher operating capability and wide swinging range.

In view of this, the master-slave manipulator is widely used in scientific research and production in the nuclear industry, and the hot chamber is a place where the master-slave manipulator is widely used. However, a conventional master-slave manipulator handle (as shown in fig. 1) is similar to a bicycle hand brake, which includes: the handle and the pressing handle are used for adjusting the clamp steel wire through pressing of the pressing handle, so that clamping of the clamp on an object is achieved, the handle and the master-slave mechanical wrist are fixed together in a joint mode, the handle is not convenient to detach, certain difficulty is brought to maintenance, when the mechanical arm is at a zero position, a handle grip is in a vertical state, and when the mechanical arm is held by hands, the wrist is twisted upwards, and discomfort can be brought to an operator.

[ Utility model ] content

In order to solve the problems, the utility model provides a quick mounting handle for a master-slave manipulator, which is gun-shaped and convenient to hold, i.e. in the operation process, the operator can not be uncomfortable; meanwhile, the mechanical wrist joint and the mounting handle can be rapidly mounted and locked by the rapid adjusting buckle, and maintenance is facilitated.

The utility model discloses a realize through following technical scheme, provide the quick installation handle of principal and subordinate's manipulator, a serial communication port, include:

the auxiliary handle, one end of which extends out of a handle obliquely and downwards, the auxiliary handle and the handle form a gun shape, and a groove is arranged at the connecting position of the auxiliary handle and the handle;

the clamping device is arranged above the handle through a fixing block and used for controlling a mechanical slave tong transmission chain, finger rings matched with fingers are symmetrically arranged on two sides of the clamping device, a mounting hole connected with a mechanical wrist joint and a fixing hole used for fixing the mechanical slave tong transmission chain are formed in the fixing block, an adjusting groove is formed above the mounting hole, an adjusting hole is formed in the position, perpendicular to the adjusting groove, of the fixing block, and an arc-shaped groove extends inwards from one side of the fixing block;

locate the quick adjustment of arc groove side and detain, it includes: the quick locking device comprises a quick locking handle and a locking rod, wherein an arc-shaped adjusting block matched with an arc-shaped groove extends out of one end of the quick locking handle, a connecting groove matched with the end part of the locking rod is inwards formed in the middle position of the arc-shaped adjusting block, one end of the locking rod is locked through a clamp spring after being inserted into an adjusting hole, the other end of the locking rod is movably connected with the arc-shaped adjusting block through an adjusting shaft after being inserted into the connecting groove, and the end part of the adjusting shaft is locked through the clamp spring;

an electric control switch arranged in the auxiliary grip and far away from the handle.

Particularly, an included angle between the handle and the auxiliary grip is an obtuse angle.

In particular, the clamping device is arranged above the auxiliary handle and comprises: slide bar, slider, two digging arms, two connecting rods, steel wire, the slide bar is located supplementary handle top through the fixed block parallel, the slider cover is located the slide bar and is kept away from the one end of handle, and the top that supplementary handle was kept away from to this slider is equipped with and is used for removing the leading wheel that carries out the guide to the steel wire, the slide bar both ends are located to two digging arms symmetry, and on this digging arm one end activity was located the fixed block, the other end and connecting rod one end swing joint, the digging arm outside is located respectively to the ring, the slider lateral wall is located in the activity of the connecting rod other end, steel wire one end and machinery are connected from hand clamp drive chain, the other end was walked around the leading wheel rear end and is fixed in fixed orifices department.

Particularly, the movable arm is uniformly provided with a plurality of connecting holes along the arm body.

In particular, the method also comprises the following steps: a security locking device, comprising: the auxiliary handle is internally provided with a sliding groove, one end of the guide rail is inserted into the sliding groove, the other end of the guide rail is fixedly arranged below the sliding block, the bottom of the guide rail is provided with a rack, one side, perpendicular to the guide rail, of the auxiliary handle is provided with an accommodating groove, the locking pin is arranged above the accommodating groove, the top of the locking pin is provided with teeth meshed with the rack, the pressure spring is arranged below the accommodating groove, one end of the trigger is inserted into the accommodating groove and positioned between the pressure spring and the locking pin, and the other end of the trigger extends out of the groove;

particularly, the cross section of the guide rail is I-shaped, and the sliding groove is an I-shaped sliding groove.

Particularly, the guide rail and the bottom of the sliding block are positioned on the same horizontal plane, and one end of the guide rail and one end of the sliding block, which are far away from the handle, are not in contact with the auxiliary handle.

In particular, the method also comprises the following steps: and one end of the protective cover arranged outside the clamping device is fixed at the end part of the sliding rod through a hand-screwed screw, and the other end of the protective cover is arranged at the top of one end of the fixed block far away from the sliding block.

The utility model provides a quick mounting handle of a master-slave manipulator, which can realize the mounting and dismounting of the handle and a mechanical wrist joint through a quick adjusting buckle without using an external auxiliary tool, and is convenient for maintenance; the handle and the auxiliary grip form a gun shape, so that the handle is convenient to hold and does not bring any uncomfortable feeling to an operator; the safety locking device is arranged, so that the clamping device can be released only when the trigger is pressed down by the mounting handle, and the mechanical clamp can be clamped and released from the hand clamp, and the safety is high; the thumb, the index finger and the middle finger are respectively inserted into the finger rings at two sides to realize the clamping operation of the mounting handle, and the design of the sliding clamping device is combined, so that the double times of the transmission torque of the traditional handle can be realized, the transmission efficiency is high, and time and labor are saved; the clamping device can be adjusted according to the size of the hand shape through the connecting hole, so that the quick-mounting handle can be suitable for different operators to use, and the use comfort of the mounting handle is further improved.

[ description of the drawings ]

FIG. 1 is a schematic diagram of a conventional mechanical handle;

FIG. 2 is a side view of the fast mounting handle of the master-slave manipulator of the present invention;

FIG. 3 is a cross-sectional view of FIG. 2 of the master-slave manipulator quick mount handle of the present invention;

fig. 4 is a perspective view of the fast mounting handle of the master-slave manipulator of the present invention (without the protective cover);

fig. 5 is a connection relation diagram of the handle and the wrist joint for fast mounting the master-slave manipulator of the present invention.

In the attached drawing, 1 auxiliary handle, 2 handles, 3 grooves, 4 fixing blocks, 5 finger rings, 6 mounting holes, 7 fixing holes, 8 adjusting grooves, 9 arc-shaped grooves, 10 quick locking handles, 11 locking rods, 12 arc-shaped adjusting blocks, 13 electric control switches, 14 protective covers, 15 adjusting shafts, 16 sliding rods, 17 sliding blocks, 18 movable arms, 19 connecting rods, 20 guide wheels, 21 connecting holes, 22 guide rails, 23 locking pins, 24 triggers, 25 compression springs, 26 sliding grooves, 27 racks, 28 accommodating grooves, 29 teeth, 30 hand-screwed screws and 31 connecting grooves.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings.

Referring to fig. 2-5, the present invention provides a master-slave manipulator rapid-installation handle, including:

the auxiliary handle 1, one end of which extends downward obliquely to a handle 2, the auxiliary handle 1 and the handle 2 form a gun shape, the gun shape is mounted on the handle to improve the holding comfort of an operator, a groove 3 is arranged at the position where the auxiliary handle 1 is connected with the handle 2, the shape of the groove 3 is similar to that of the trigger 24, when the operator presses the trigger 24, the inner wall of the trigger 24 contacts with the bottom of the groove 3, so that the trigger 24 can be protected, the excessive pressing can be prevented, and the pressing comfort is improved;

the clamping device is arranged above the handle 2 through the fixing block 4 and used for controlling a mechanical slave tong transmission chain, finger rings 5 which are matched with fingers are symmetrically arranged on two sides of the clamping device and are matched with the fingers, so that a thumb, an index finger and a middle finger can be inserted respectively to control the clamping device, a mounting hole 6 connected with a mechanical wrist joint and a fixing hole 7 used for fixing the mechanical slave tong transmission chain are formed in the fixing block 4, an adjusting groove 8 is formed above the mounting hole 6, an adjusting hole (not marked in the drawing) is formed in the position, perpendicular to the adjusting groove 8, of the fixing block 4, and an arc-shaped groove 9 extends inwards from one side of the fixing block 4;

locate the quick adjustment of 9 sides in arc wall and detain, it includes: a rapid locking handle 10 and a locking rod 11, wherein one end of the rapid locking handle 10 extends to form an arc-shaped adjusting block 12 which is adaptive to the arc-shaped groove 9, the middle position of the arc-shaped adjusting block 12 is inwards provided with a connecting groove 31 which is adaptive to the end part of the locking rod 11, one end of the locking rod 11 is inserted into the adjusting hole and then locked by a clamp spring, the other end of the locking rod 11 is inserted into the connecting groove 31 and then movably connected with the arc-shaped adjusting block 12 through an adjusting shaft 15, the end part of the adjusting shaft 15 is locked by the clamp spring, when the installation handle is required to be installed in a mechanical wrist joint, the rapid locking handle 10 is lifted upwards, the arc-shaped adjusting block 12 removes the extrusion on the arc-shaped groove 9, the locking rod 11 cannot strain the adjusting groove 8, namely the adjusting groove 8 is in an uncompressed state, the wrist joint installation part is inserted into the installation hole 6, the rapid locking handle 10 is pressed downwards, and the arc-shaped adjusting block 12 extrudes the arc-shaped groove 9, meanwhile, under the lifting of the locking rod 11, the width of the adjusting groove 9 is reduced, the aperture of the mounting hole 6 is reduced, and the adjusting groove is tightly attached to the mounting position of the wrist joint, so that the mounting of the wrist joint and the mounting handle is completed;

an electric control switch 13 is arranged on the auxiliary handle 1 far away from the inner part of the handle 2, and the electric control switch 13 can control the motor to work, thereby completing the auxiliary extension of the machine from the hand end X, Y, Z.

Particularly, an included angle between the handle 2 and the auxiliary grip 1 is an obtuse angle; so design, when holding this installation handle, it can laminate completely with hand tiger's mouth position, further improves operator's operation travelling comfort.

In particular, the clamping device is arranged above the auxiliary handle 1 and comprises: the mechanical slave tong comprises a sliding rod 16, a sliding block 17, two movable arms 18, two connecting rods 19 and a steel wire (not marked in the figure), wherein the sliding rod 16 is arranged above an auxiliary handle 1 in parallel through a fixed block 4, the sliding block 17 is sleeved at one end of the sliding rod 16, which is far away from a handle 2, the top of the sliding block 17, which is far away from the auxiliary handle 1, is provided with a guide wheel 20 for guiding the movement of a mechanical slave tong transmission chain, the two movable arms 18 are symmetrically arranged at two ends of the sliding rod 16, one end of each movable arm 18 is movably arranged on the fixed block 4, the other end of each movable arm is movably connected with one end of the corresponding connecting rod 19, the finger rings 5 are respectively arranged at the outer sides of the movable arms 18, the other end of the corresponding connecting rod 19 is movably arranged on the side wall of the corresponding sliding block 17, one end of the steel wire is connected with the mechanical slave tong transmission chain, and the other end of the steel wire bypasses the guide wheel 20 to fix the position at a fixed hole 7; when an operator holds the mounting handle by hands, the thumb, the index finger and the middle finger are sleeved on the finger rings 5 at two sides, the angle change of the clamping device is controlled by the manual finger ring 5, namely the finger ring 5 presses the movable arm 18 inwards, the movable arm 18 drives the connecting rod 19 to move, so that the sliding block 17 connected with the end part of the connecting rod 19 moves towards the hand-screwed screw 30 along the sliding rod 16, the mechanical slave-hand clamp transmission chain is extended under the action of the guide wheel 20, when the operator manually controls the finger rings 5 to enable the two finger rings 5 to move towards opposite directions, the connecting rod 19 can drive the sliding block 17 to move towards one side far away from the hand-screwed screw 30 along the sliding rod 16, the mechanical slave-hand clamp transmission chain is shortened under the action of the guide wheel 20, and the clamping and the releasing of the mechanical slave-hand clamp can be completed through the operation.

Particularly, because different operators hand size can be different, therefore the operator of different hand shapes acts on the power on same installation handle, and grips the comfort and can be different, consequently a plurality of connecting holes 21 have evenly been seted up along the arm body to digging arm 18, and this connecting hole 21 can be according to operator's hand shape, realizes digging arm 18 and 19 hookup location's regulation to make this installation handle applicable in arbitrary operator, improved the operating comfort when improving installation handle suitability.

Particularly, in the utility model discloses in, when the operator operates this installation handle, in order to prevent that the operator from passing through ring 5 adjust the removal of slider 17 in unnecessary time to make machinery realize centre gripping and release because of the maloperation from the hand clamp mistake, the utility model discloses still set up a safety locking device, it includes: the auxiliary handle comprises a guide rail 22, a locking pin 23, a trigger 24 and a pressure spring 25, wherein a sliding groove 26 is formed in the fixed block 4, one end of the guide rail 22 is inserted into the sliding groove 26, the other end of the guide rail 22 is fixedly arranged below the sliding block 17, a rack 27 is arranged at the bottom of the guide rail 22, an accommodating groove 28 is formed in one side, perpendicular to the guide rail 22, of the auxiliary handle 1, the locking pin 23 is arranged above the accommodating groove 28, teeth 29 meshed with the rack 27 are arranged at the top of the locking pin 23, the pressure spring 25 is arranged below the accommodating groove 28, one end of the trigger 24 is inserted into the accommodating groove 28 and positioned between the pressure spring 25 and the locking pin 23, and the other end of the trigger extends out of the groove 3; by the design, when the mechanical slave forceps are operated, the trigger 24 is pressed, the teeth 29 at the top of the locking pin 23 are separated from the rack 27, the sliding block 17 can be moved through the finger ring 5, meanwhile, the sliding block 27 drives the lower guide rail 22 to move, after the requirement is met, the trigger 24 is loosened, the trigger 24 jacks up the locking pin 23 upwards, the teeth 29 at the top of the trigger are meshed with the corresponding rack 27 below the guide rail 22, locking of the clamping device is achieved, and therefore even if the finger ring 5 is operated mistakenly, mistaken clamping and releasing of the mechanical slave forceps cannot be achieved due to misoperation.

Particularly, the section of the guide rail 22 is i-shaped, and the sliding groove 26 is an i-shaped sliding groove; by such design, the connection stability between the guide rail 22 and the sliding groove 26 is further improved.

Particularly, the guide rail 22 and the bottom of the sliding block 17 are in the same horizontal plane, and one end of the guide rail 22 and one end of the sliding block 17, which are far away from the handle 2, are not in contact with the auxiliary handle 1; by such design, even though the operator holds the auxiliary grip 1, the auxiliary grip may touch the guide rail 22 to affect the clamping and releasing of the mechanical clamp.

In particular, the method also comprises the following steps: the protective cover 14 is arranged on the outer side of the clamping device, one end of the protective cover is fixed at the end part of the sliding rod 16 through a hand-screwed screw 30, and the other end of the protective cover is arranged at the top of one end, far away from the sliding block 17, of the fixed block 4; in the utility model discloses in, protection casing 14 can play a guard action to clamping device, when needs will install the handle and install to the wrist joint, takes off protection casing 14 through hand screw 30, when accomplishing machinery from hand steel wire and wrist joint's installation, accomplishes the installation of protection casing 14 through hand screw 30.

In the utility model, the auxiliary grip 1 and the handle 2 in the quick-mounting handle are made of rubber, the rest parts except the sliding rod 16 are made of stainless steel, the rest parts are made of hard aluminum, and the surface is subjected to anodic coloring oxidation treatment; and the auxiliary grip 1 is embedded with a small-sized electric connector which can be quickly connected with a motor.

The installation method comprises the following steps:

after the installation handle is in butt joint with the mechanical wrist joint, the installation handle can be quickly installed at the mechanical wrist joint part through the quick adjusting buckle. After the protective cover is manually taken down, a transmission chain of a mechanical slave hand clamp is manually connected with a steel wire through a quick connector, the protective cover is installed, the rubber sleeve is pulled down, the electric connection plug is inserted, and after the rubber sleeve is reset, the installation is finished.

Working process or working principle:

after the installation is finished, if the mechanical slave tongs need to be opened and closed, the trigger 24 is pressed to separate the teeth 29 at the top of the locking pin 23 from the racks 27 below the guide rail 22, the finger ring 5 is operated by fingers at the moment, the sliding block 17 can move along the sliding rod 16, so that the mechanical slave tongs are opened and closed under the action of the guide wheel 20, the trigger 24 is loosened after the clamping or the closing of the tongs is finished, the teeth 29 are meshed with the racks 27 at the moment, even if an operator loosens an installation handle at the moment, clamped articles cannot fall off, the operation is convenient, and time and labor are saved.

Claims (8)

1. The quick installation handle of master slaver manipulator, its characterized in that includes:

the auxiliary handle (1) is provided with a handle (2) extending from one end of the auxiliary handle in an inclined and downward manner, the auxiliary handle (1) and the handle (2) form a gun shape, and a groove (3) is formed at the connecting position of the auxiliary handle (1) and the handle (2);

the clamping device is arranged above the handle (2) through the fixing block (4) and used for controlling a mechanical slave tong transmission chain, finger rings (5) matched with fingers are symmetrically arranged on two sides of the clamping device, a mounting hole (6) connected with a mechanical wrist joint and a fixing hole (7) used for fixing the mechanical slave tong transmission chain are formed in the fixing block (4), an adjusting groove (8) is formed above the mounting hole (6), an adjusting hole is formed in the position, perpendicular to the adjusting groove (8), of the fixing block (4), and an arc-shaped groove (9) extends inwards from one side of the fixing block (4);

locate the quick adjustment of arc wall (9) side and detain, it includes: the locking device comprises a quick locking handle (10) and a locking rod (11), wherein one end of the quick locking handle (10) extends out of an arc-shaped adjusting block (12) which is adaptive to an arc-shaped groove (9), the middle position of the arc-shaped adjusting block (12) is inwards provided with a connecting groove (31) which is adaptive to the end part of the locking rod (11), one end of the locking rod (11) is locked through a clamp spring after being inserted into an adjusting hole, the other end of the locking rod is movably connected with the arc-shaped adjusting block (12) through an adjusting shaft (15) after being inserted into the connecting groove (31), and the end part of the adjusting shaft (15) is locked through the clamp spring;

an electric control switch (13) arranged in the auxiliary handle (1) far away from the handle (2).

2. The master-slave manipulator quick-mounting handle according to claim 1, wherein the included angle between the handle (2) and the auxiliary grip (1) is an obtuse angle.

3. The master-slave manipulator quick-mount handle according to claim 1, wherein the clamping device is provided above the auxiliary grip (1), and comprises: a slide bar (16), a slide block (17), two movable arms (18), two connecting rods (19) and a steel wire, the sliding rod (16) is arranged above the auxiliary grip (1) in parallel through the fixing block (4), the sliding block (17) is sleeved at one end of the sliding rod (16) far away from the handle (2), and the top of the sliding block (17) far away from the auxiliary grip (1) is provided with a guide wheel (20), the two movable arms (18) are symmetrically arranged at the two ends of the sliding rod (16), one end of the movable arm (18) is movably arranged on the fixed block (4), the other end is movably connected with one end of the connecting rod (19), the finger rings (5) are respectively arranged at the outer sides of the movable arms (18), the other end of the connecting rod (19) is movably arranged at the side wall of the sliding block (17), one end of the steel wire is connected with the mechanical slave tong transmission chain, and the other end of the steel wire bypasses the rear end of the guide wheel (20) and is fixed at the fixing hole (7).

4. The master-slave manipulator quick-mounting handle according to claim 3, wherein the movable arm (18) is provided with a plurality of connecting holes (21) uniformly along the arm body.

5. The master-slave manipulator quick install handle according to claim 3, further comprising: a security locking device, comprising: guide rail (22), stop pin (23), trigger (24), pressure spring (25), seted up spout (26) in fixed block (4), in guide rail (22) one end inserted spout (26), the other end is fixed to be located slider (17) below, this guide rail (22) bottom is equipped with rack (27), one side of perpendicular to guide rail (22) is equipped with holding tank (28) in supplementary handle (1), holding tank (28) top is located in holding tank (23), and this stop pin (23) top is equipped with tooth (29) with rack (27) engaged with, holding tank (28) below is located in pressure spring (25), be located between pressure spring (25) and stop pin (23) in trigger (24) one end inserts holding tank (28), the other end stretches out in recess (3).

6. A master-slave manipulator quick-mounting handle according to claim 5, wherein the guide rail (22) is I-shaped in cross-section and the runner (26) is an I-shaped runner.

7. The master-slave manipulator quick-mounting handle according to claim 5, wherein the guide rail (22) and the bottom of the sliding block (17) are in the same horizontal plane, and the end of the guide rail (22) and the sliding block (17) far away from the handle (2) is not in contact with the auxiliary grip (1).

8. The master-slave manipulator quick install handle according to claim 3, further comprising: and one end of the protective cover (14) arranged outside the clamping device is fixed at the end part of the sliding rod (16) through a hand-screwed screw (30), and the other end of the protective cover is arranged at the top of one end of the fixed block (4) far away from the sliding block (17).

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