CN2251470Y

CN2251470Y - Universal master hand device for master-slave type manipulator

Info

Publication number: CN2251470Y
Application number: CN 95238621
Authority: CN
Inventors: 王泰耀; 胡建平; 阳如坤; 戴炬
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 1995-12-26
Filing date: 1995-12-26
Publication date: 1997-04-09
Anticipated expiration: 2005-12-26

Abstract

The utility model belongs to the manipulator control device whose structure is composed of an operating handle and a main hand body. The middle of the operating handle is a big ring, the top and bottom are both provided with motors and potentiometers, and the middle is also provided with a motor; the motors complete driving function, and the potentiometers complete position feedback. The inner of the main hand body is provided with a rotating motor and a potentiometer; the telescopic movement, the pitching movement and the swing of an arm are all driven by the motors, and the position feedback of the potentiometers realizes the operating function of the main hand. The utility model has a six-DOF polar form and clamping motion, and has the advantages of simple and compact structure, high transmission precision and flexible operation.

Description

The universal main arm device of master slave manipulator

The utility model belongs to manipulator controller.

In recent years, manipulator is widely used in many industrial department automated production processes, particularly in auto manufacturing, chemical industry all is used, and especially must realize safety work with robot and manipulator at the heavily contaminated environment of danger, and master slave manipulator just becomes main mode of operation, at present existing main arm device mostly is and makes same version from hand-made, advantage is that analog form is identical, and operation easily is directly perceived, but its deficiency be a main hand can only be corresponding one from hand, except its complex structure, transmission stiffness is poor, outside positional precision is low, there is not versatility, main thus hand size is bigger simultaneously, is not easy to operation, and the pass internode has the motion coupling, operating flexibility is poor, when particularly a people operated two principal and subordinate's hands simultaneously, flexibility was poorer, almost is impossible operate.

For solving above deficiency, the purpose of this utility model provides a kind of master slave manipulator master arm device, be the universal main hand of a kind of master slave manipulator, it has the six degrees of freedom of motion of extremely giving birth to the ennuple formula, add a clamping movement, it can form the master-slave manipulator system from hand (include have redundant degree of freedom from hand) with any one.

The structural design of the utility model be achieved in that this manipulator principal and subordinate hand be universal be that it can form principal and subordinate's hand operated system from hand with any one, its structure of main hand of this manipulator is made up of operating handle and main hand body two parts, is a kind of have position feedback and reverse power-actuated main hand structure.Main hand detailed structure reaches description of drawings with the following Examples.

Fig. 1 is a master slave manipulator master arm device operating handle structure principle chart;

Fig. 2 is a master slave manipulator master arm device master hand bulk junction composition;

Fig. 3 is a master slave manipulator body fore device structure chart;

Fig. 4 is a master slave manipulator body B-B profile.

Its structure is by shown in the accompanying drawing, the operating handle structure is that the big ring of handle (1) is housed in half arc support, motor (5) is housed in the lower end of big ring (1) and electricity draws meter (4), in the big ring (1) gear (2) is housed, motor (5) axle head is equipped with gear (3), gear on the motor (5) connects with gear on the current potential gauge (4), motor (10) and potentiometer (9) are equipped with in big ring (1) top, connect by gear (6) (7) (8) between motor (10) and the potentiometer (9), on big ring (1) center bearing bracket motor (11) is housed.Its course of work is that big ring (1) rotates, be and move both vertically, by gear (2) and (3) transmission, rotate the realization position feedback by potentiometer (4), rotate realizable force by motor (5) and drive, when big ring (1) swing is in horizontal movement. by gear (6) (7) and (8) transmission, realize position feedback by potentiometer (9), drive by motor (10) realizable force, wherein press from both sides the power clamp hold motion and chucking power by motor (11) and motor with position feedback parts realizable force drive and position feedback; Body construction is that the termination is a garden dish (12), connect with potentiometer (15) by major axis (13) motor (14), garden dish (12) is simultaneously by linear bearing (16) (17), tooth bar (18), gear (19) and motor (20), potentiometer (21) connects, gear (22) connects with motor (24) and potentiometer (25) by gear (23), the engagement of gear (26) and gear (27) and with motor (28), potentiometer (29) connects, counterweight pouring weight (30) is housed on tooth bar (31), it is to coil (10) by the garden of fixed handle to make motor (14) and potentiometer (15) rotate realizable force driving and position feedback by major axis (13) that its course of work master wrist is changeed, the stretching motion of main arm is the elastic motion of parts that is made linear bearing (16) (17) lining by operating handle pulling garden dish (12), and by tooth bar (18) and gear (19) transmission, motor (20) and potentiometer (21) are rotated, the power that forms stretching motion drives and position feedback, elevating movement is to drive motor (24) by gear (22) by gear (23) to rotate with potentiometer (25), realizable force drives and lock the position, the swing of arm is by gear (26) and gear (27) engagement, driving motor (28) rotates with potentiometer (28), realizable force drives and position feedback, weight element (30) is balanced controls, and it is to be driven by the tooth bar (31) that is driven by gear (19) that balance weight moves.

The advantage of the utility model: simple in structure, main hand has 6 free degree polar coordinates forms And clamping movement, all transmission application gear drives, structure compactness, transmission accuracy height, each free degree There is not sports coupling, has good operating flexibility.

Claims

1. universal main arm device of master slave manipulator, it is characterized in that this manipulator master hand structure is made up of operating handle and main hand body two parts, wherein operating handle is that the big ring of handle (1) is housed in half arc support, in the big ring (1) gear (2) is housed, motor (5) and potentiometer (4) are equipped with in big ring (1) lower end, motor (5) axle head is equipped with gear (3), gear on the motor (5) connects with gear on the potentiometer (4), motor (10) and potentiometer (9) are equipped with in big ring (1) top, connect by gear (6) (7) (8) between motor (10) and the potentiometer (9), on big ring (1) center bearing bracket motor (11) is housed; Body construction is that the termination is a garden dish (12), connect with motor (14) and potentiometer (15) by major axis (13), garden dish (12) is simultaneously by linear bearing (16) (17), tooth bar (18), gear (19) connect with motor (20), potentiometer (21), gear (22) connects with motor (24) and potentiometer (25) by gear (23), and gear (26) connects with gear (27) engagement and with motor (28), potentiometer (129).

2. by the described main arm device of claim 1, it is characterized in that on tooth bar (31), being equipped with counterweight pouring weight (30).