CN105598963A - Manipulator transmission mechanism - Google Patents
Manipulator transmission mechanism Download PDFInfo
- Publication number
- CN105598963A CN105598963A CN201610108494.4A CN201610108494A CN105598963A CN 105598963 A CN105598963 A CN 105598963A CN 201610108494 A CN201610108494 A CN 201610108494A CN 105598963 A CN105598963 A CN 105598963A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- driving
- transmission mechanism
- spur
- chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manipulator transmission mechanism. The manipulator transmission mechanism comprises a driving arm transmission mechanism and a driven arm transmission mechanism which are controlled by the same control system; the driving arm transmission mechanism comprises a main clamping transmission chain used for controlling a handle arranged at the tail end of the main clamping transmission chain to conduct tight clamping, a rotating main rotating transmission chain and a swinging main swinging transmission chain; the driven arm transmission mechanism comprises an auxiliary clamping transmission chain used for controlling a clamp arranged at the tail end of the auxiliary clamping transmission chain to conduct tight clamping, a rotating auxiliary rotating transmission chain and a swinging auxiliary swinging transmission chain; the main clamping transmission chain and the auxiliary clamping transmission chain are in linkage, the main rotating transmission chain and the auxiliary rotating transmission chain are in linkage, and the main swinging transmission chain and the auxiliary swinging transmission chain are in linkage. According to the manipulator transmission mechanism, motion signals at a driving end and a driven end are collected and processed in real time through one control system, and motion follow-up and force feedback of the transmission mechanism at the driving end and the driven end are realized; a wall penetrating assembly is not needed, and leakage of radioactive substances is avoided.
Description
Technical field
The invention belongs to mechanical transmission fields, be specifically related to a kind of manipulator transmission mechanism.
Background technology
Under radioactivity or other toxicity environment, personnel can not directly enter by force and put between equipment room and graspDo, conventionally need to be by means of various remote-controlled operation instruments, master slave manipulator is good because of itOperating characteristics is used widely.
Conventionally master slave manipulator is made up of master arm, slave arm and assembly through walls, and assembly through walls needs to installOn front protection (shielding) wall of radioactive cell, master arm is positioned at area of safe operation, slave arm positionIn hot cell, the assembly through walls that moves through of master arm passes motion to slave arm, simultaneously slave armWhen operation object, required strength also can pass to master arm, and there is slave arm folder at the handgrip place of master armThe force feedback of pincers. For realizing main side handgrip with flexible as staff from end clamp energy, just must possessSwing, rotate and clamp three degree of freedom, and three degree of freedom can self-movement or compound motion.And assembly through walls is not only responsible for motion transmission and the force feedback between master and slave swing arm, also should have simultaneouslyShielding and sealing function, to prevent that radioactive substance from leaking into operating space.
Summary of the invention
The invention provides a kind of manipulator transmission mechanism, realize master and slave swing arm and follow and force feedback, makeSlave arm installation site is more flexible, meets to greatest extent the requirement of opereating specification; Without assembly through walls,Avoid the leakage of radioactive substance.
For reaching above object, the technical solution used in the present invention is: a kind of manipulator transmission mechanism,Comprise master arm transmission mechanism and slave arm transmission mechanism, described master arm transmission mechanism and slave arm passActuation mechanism shares a control system control; Described master arm transmission mechanism comprise for control be arranged onThe tight driving-chain of main folder that its end handgrip clamps, the master who is arranged on its end handgrip rotation for controlling are revolvedTurn driving-chain and be arranged on for controlling the main swing driving-chain that its end handgrip swings; Described slave armTransmission mechanism comprise for control be arranged on that its end clamp clamps from clamping driving-chain, for controllingWhat be arranged on its end clamp rotation is arranged on its end clamp swing from rotating drivetrain and for controllingFrom swing driving-chain; The tight driving-chain of described main folder with from clamping driving-chain interlock, main rotating drivetrainWith from rotary drive chain gearing, main swing driving-chain with from swinging driving-chain interlock.
Further, the tight driving-chain of described main folder comprises the first driving mechanism, the first spur gear pair, firstBevel gear pair, the first bevel gear, the second bevel gear and coaxial two couple who arranges the first cone spur gear and twoIndividual the first spur gear; The input of described the first driving mechanism is connected with described control system, outputBe connected the driven pulley in the first spur gear pair and the first bevel gear with the driving wheel in the first spur gear pairA bevel gear one in secondary, another bevel gear in the first bevel gear pair and the first bevel gear phaseEngagement, the first bevel gear and the second bevel gear one, the second bevel gear is bored straight-tooth with two pairs first respectivelyBevel gear in wheel is meshed, every pair first cone spur gear in spur gear respectively at two first straightGear is meshed, and two the first spur gears are connected with handgrip respectively.
Further, described main rotating drivetrain comprises the second driving mechanism, the second spur gear pair, secondBevel gear pair, triconodont and handgrip housing; The input of described the second driving mechanism and control systemConnect, output is connected with the driving wheel in the second spur gear pair, driven pulley in the second spur gear pairWith a bevel gear one in the second bevel gear pair, another bevel gear of the second bevel gear pair andTriconodont is meshed, and triconodont is connected with handgrip housing.
Further, described main swing driving-chain comprises the 3rd driving mechanism, the 3rd spur gear pair and the 3rdBevel gear pair; Described the 3rd driving mechanism input is connected with control system, output and the 3rd straight-toothDriving wheel in wheel set connects, in the driven pulley in the 3rd spur gear pair and triconodont wheel set oneBevel gear one, another bevel gear in triconodont wheel set is meshed with described triconodont.
Further, described from clamp driving-chain comprise 4 wheel driven actuation mechanism, the 4th spur gear pair, the 4thBevel gear pair, the 4th bevel gear, the 5th bevel gear and coaxial two couple who arranges the second cone spur gear and twoIndividual the second spur gear; The input of described 4 wheel driven actuation mechanism is connected with described control system, outputBe connected the driven pulley in the 4th spur gear pair and the 4th bevel gear with the driving wheel in the 4th spur gear pairSecondary one of them bevel gear one, another bevel gear in the 4th bevel gear pair and the 4th bevel gear phaseEngagement, the 4th bevel gear and the 5th bevel gear one, the 5th bevel gear respectively with two pairs of cone spur gears inBevel gear engagement, the spur gear in every pair of cone spur gear is respectively at engaging with two the second spur gears,Two the second spur gears are connected with clamp respectively.
Further, describedly comprise the 5th driving mechanism, the 5th spur gear pair, the 5th from rotating drivetrainBevel gear pair, the 6th cone tooth and handgrip housing; The input of described the 5th driving mechanism and control systemConnect, output is connected with the driving wheel in the 5th spur gear pair, driven pulley in the 5th spur gear pairWith a bevel gear one in the 5th bevel gear pair, another bevel gear of the 5th bevel gear pair andSix cone teeth are meshed, and the 6th cone tooth is connected with handgrip housing.
Further, described from swing driving-chain comprise the 6th driving mechanism, the 6th spur gear pair and the 6thBevel gear pair; Described the 6th driving mechanism input is connected with control system, output and the 6th straight-toothDriving wheel in wheel set connects, in the driven pulley in the 6th spur gear pair and the 6th bevel gear pair whereinA bevel gear one, another bevel gear in the 6th bevel gear pair is meshed with described the 6th cone tooth.
Further, the tight driving-chain of described main folder, main rotating drivetrain, main swing driving-chain, from clampingDriving-chain, from rotating drivetrain, from swing driving-chain be equipped with for detection of clamp the free degree, revolveThe position sensor that turns the free degree and the swing free degree, each position sensor output with control is allSystem connects.
Further, the first driving mechanism, the second driving mechanism, the 3rd driving mechanism, 4 wheel driven motivationStructure, the 5th driving mechanism, the 6th driving mechanism are retarding moment motor, each retarding moment motorInput be connected with control system.
Useful technique effect of the present invention is:
(1) the present invention processes the motor message of master and slave end by a control system Real-time Collection, fromAnd realize motion accompanying and the force feedback of master and slave moved end transmission mechanism, and the size of force feedback can rootThe size that can bear power according to staff is carried out force rate change;
(2) independent master arm transmission mechanism and the slave arm transmission mechanism arranging, makes slave arm installation positionPut more flexibly, meet to greatest extent opereating specification requirement;
(3) control system substitutes assembly through walls, without punching on the front wall of hot cell, has avoided radioactivityMaterial leaks, and ensures to the utmost operating personnel's safety;
(4) master arm, slave arm transmission mechanism are consistent, have good interchangeability.
Brief description of the drawings
Fig. 1 is the schematic diagram of manipulator transmission mechanism of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, be manipulator transmission mechanism provided by the invention, comprise master arm transmission mechanism1 and slave arm transmission mechanism 2, master arm transmission mechanism and slave arm transmission mechanism share one and control systemSystem 3 is controlled, and this control system 3 adopts position type servo-control system. Slave arm driver of the present inventionThe kind of drive of structure and gear parameter are with the kind of drive and the gear parameter complete of master arm transmission mechanismCause, and have three relatively independent driving-chains, to realize clamping, swing and to rotatablely move, threeMotion both can self contained function, also can composite move.
1 three relatively independent driving-chains of master arm transmission mechanism comprise for controlling and are arranged on its endThe tight driving-chain of main folder that handgrip 4 clamps, be arranged on for controlling the main rotation that its end handgrip 4 rotatesDriving-chain and be arranged on the main swing driving-chain that its end handgrip 4 swings for controlling. Slave arm transmission2 three relatively independent driving-chains of mechanism comprise for control be arranged on that its end clamp 5 clamps fromClamp driving-chain, for control be arranged on that its end clamp 5 rotates from rotating drivetrain and for controlSystem be arranged on that its end clamp 5 swings from swinging driving-chain. The tight driving-chain of main folder with from clamp transmissionChain gearing, main rotating drivetrain with from rotary drive chain gearing, main swing driving-chain with from swing transmissionChain gearing, thus realize motion accompanying and the force feedback of master and slave moved end transmission mechanism.
Wherein, the tight driving-chain of main folder comprise the first driving mechanism MC1-2, the first spur gear pair MC1-1,MC1-3, the 7th spur gear pair MC1-4, MC1-6, position sensor MC1-5, the first bevel gear pairMC1-7, MC1-8, the first bevel gear MC1-9, the second bevel gear MC1-10 and coaxial two couple who arrangesThe first cone spur gear MC1-11, MC1-12 and two the first spur gear MC1-13; The first driving mechanismThe input of MC1-2 is connected with control system 3, the driving wheel in output and the first spur gear pairMC1-3 connects, a cone in the driven pulley MC1-1 in the first spur gear pair and the first bevel gear pairGear MC1-7 one, another bevel gear MC1-8 and the first bevel gear in the first bevel gear pairMC1-9 is meshed, the first bevel gear MC1-9 and the second bevel gear MC1-10 one, the second bevel gearMC1-10 nibbles mutually with the two couples first bevel gear MC1-11 that bore in spur gear MC1-11, MC1-12 respectivelyClose, every pair first cone spur gear MC1-12 in spur gear respectively at two the first spur gear MC1-13Be meshed, two the first spur gear MC1-13 are connected with handgrip 4 respectively; The 7th spur gear pairActive in driving wheel MC1-4 in MC1-4, MC1-6 and the first spur gear pair MC1-1, MC1-3Wheel MC1-3 one, driven pulley MC1-6 is connected with position sensor MC1-5, position sensor MC1-5Be connected with control system 3.
Main rotating drivetrain comprise the second driving mechanism MC2-2, the second spur gear pair MC2-3, MC2-5,The 8th spur gear pair MC2-4, MC2-6, position sensor MC2-1, the second bevel gear pair MC2-7,MC2-8, triconodont MC3-9 and handgrip housing MC3-10; The input of the second driving mechanism MC2-2End is connected with control system 3, the driving wheel in output and the second spur gear pair MC2-3, MC2-5MC2-3 is connected, driven pulley MC2-5 and the second bevel gear in the second spur gear pair MC2-3, MC2-5A bevel gear MC2-7 one in secondary MC2-7, MC2-8, another cone tooth of the second bevel gear pairWheel MC2-8 is meshed with triconodont MC3-9, triconodont MC3-9 and handgrip housing MC3-10Connect; Driving wheel MC2-6 in the 8th spur gear pair MC2-4, MC2-6 and the second spur gear pairDriving wheel MC2-3 one in MC2-3, MC2-5, driven pulley MC2-4 and position sensor MC2-1'sInput connects, and this position sensor MC2-1 output is connected with control system 3.
Main swing driving-chain comprise the 3rd driving mechanism MC3-2, the 3rd spur gear pair MC3-3, MC3-6,The 9th spur gear pair MC3-4, MC3-5, position sensor MC3-1 and triconodont wheel set MC3-7,MC3-8; The 3rd driving mechanism MC3-2 input is connected with control system 3, output and the 3rd straight-toothDriving wheel MC3-3 in wheel set MC3-3, MC3-6 connects, the 3rd spur gear pair MC3-3, MC3-6In driven pulley MC3-6 and a bevel gear MC3-7 in triconodont wheel set MC3-7, MC3-8One, another bevel gear MC3-8 and described third hand tap in triconodont wheel set MC3-7, MC3-8Tooth MC3-9 is meshed; Driving wheel MC3-5 in the 9th spur gear pair MC3-4, MC3-5 and the 3rd straightDriving wheel MC3-3 one in gear pair, the input of driven pulley MC3-4 and position sensor MC3-1End connects, and the output of position sensor MC3-1 is connected with control system 3.
From clamp driving-chain comprise 4 wheel driven actuation mechanism SC1-2, the 4th spur gear pair SC1-1, SC1-3,The tenth spur gear pair SC1-4, SC1-6, position sensor SC1-5, the 4th bevel gear pair SC1-7,SC1-8, the 4th bevel gear SC1-9, the 5th bevel gear SC1-10 and coaxial two couple who arranges the second coneSpur gear SC1-11, SC1-12 and two the second spur gear SC1-13; 4 wheel driven actuation mechanism SC1-2Input be connected with described control system 3, the driving wheel SC1-3 in output and the 4th spur gear pairConnect, the driven pulley SC1-1 in the 4th spur gear pair and the 4th bevel gear pair SC1-7, SC1-8 are whereinA bevel gear SC1-7 one, another bevel gear of SC1-7, SC1-8 in the 4th bevel gear pairSC1-8 is meshed with the 4th bevel gear SC1-9, the 4th bevel gear SC1-9 and the 5th bevel gear SC1-10One, the 5th bevel gear SC1-10 respectively with two couples of cone spur gear SC1-11, SC1-12 in cone toothWheel SC1-11 engagement, the spur gear SC1-12 in every couple of cone spur gear SC1-11, SC1-12 respectively atEngage with two the second spur gear SC1-13, two the second spur gear SC1-13 respectively with clamp 5 phasesConnect; Driving wheel SC1-4 in the tenth spur gear pair SC1-4, SC1-6 and the 4th spur gear pairDriving wheel SC1-3 one in SC1-1, SC1-3, the driven pulley SC1-6 in the tenth spur gear pair withThe input of position sensor SC1-5 connects, the output of position sensor SC1-5 and control system3 connect.
From rotating drivetrain comprise the 5th driving mechanism SC2-2, the 5th spur gear pair SC2-3, SC2-5,The 11 spur gear pair SC2-4, SC2-6, position sensor SC2-1, the 5th bevel gear pair SC2-7,SC2-8, the 6th cone tooth SC3-9 and clamp housing SC3-10; The input of the 5th driving mechanism SC2-2End is connected with control system 3, the driving wheel in output and the 5th spur gear pair SC2-3, SC2-5SC2-3 is connected, driven pulley SC2-5 and the 5th bevel gear in the 5th spur gear pair SC2-3, SC2-5A bevel gear SC2-7 one in secondary SC2-7, SC2-8, another cone tooth of the 5th bevel gear pairWheel SC2-8 is meshed with the 6th cone tooth SC3-9, the 6th cone tooth SC3-9 and clamp housing SC3-10Be connected; Driving wheel SC2-6 in the 11 spur gear pair SC2-4, SC2-6 and the 5th spur gear pairDriving wheel SC2-3 one in SC2-3, SC2-5, the driven pulley SC2-4 of the 11 spur gear pair withThe input of position sensor SC2-1 connects, the output of position sensor SC2-1 and control system3 connect.
From swing driving-chain comprise the 6th driving mechanism SC3-2, the 6th spur gear pair SC3-3, SC3-6,The 12 spur gear pair SC3-4, SC3-5, position sensor SC3-1 and the 6th bevel gear pair SC3-7,SC3-8; The 6th driving mechanism SC3-2 input is connected with control system (3), output and the 6thDriving wheel SC3-3 in spur gear pair SC3-3, SC3-6 connects, the 6th spur gear pair SC3-3, SC3-6In driven pulley SC3-6 and one of them bevel gear in the 6th bevel gear pair SC3-7, SC3-8SC3-7 one, another bevel gear SC3-8 and the 6th in the 6th bevel gear pair SC3-7, SC3-8Cone tooth SC3-9 is meshed; Driving wheel SC3-5 in the 12 spur gear pair SC3-4, SC3-5 andDriving wheel SC3-3 one in six spur gear pair SC3-3, SC3-6, the 12 spur gear pair SC3-4,Driven pulley SC3-4 in SC3-5 is connected with the input of position sensor SC3-1, position sensorThe output of SC3-1 is connected with control system 3.
The first driving mechanism MC1-2 of the present invention, the second driving mechanism MC2-2, the 3rd driving mechanismMC3-2,4 wheel driven actuation mechanism SC1-2, the 5th driving mechanism SC2-2, the 6th driving mechanism SC3-2All adopt retarding moment motor, the input of each retarding moment motor is all connected with control system 3.
Thus, the cone in bevel gear MC2-8 and the main swing driving-chain in the main rotating drivetrain of the present inventionGear MC3-8 is connected with third hand tap gear MC3-9, and composition differential system, as bevel gear MC2-8During with bevel gear MC3-8 rotating in same direction, third hand tap gear MC3-9 does not occur to rotate around self axis,But can be around bevel gear MC3-8 axis oscillating, due to handgrip housing MC3-10 and third hand tap gear MC3-9Be connected as a single entity, under the support of bearing M1, upper shell M2, lower house M3, realize handgrip around cone toothThe axis oscillating of wheel MC2-8. In the time that bevel gear MC2-8 is contrary with bevel gear MC3-8 rotation direction, the 3rdBevel gear MC3-9 will rotate around self axis, realize handgrip and turn around the axis of third hand tap gear MC3-9Moving, main rotating drivetrain and main swing driving-chain are realized the rotation of master arm transmission mechanism handgrip jointlyAnd swing. In like manner, slave arm transmission mechanism clamp from rotating drivetrain and from swing driving-chain commonRealize rotation and the swing of slave arm clamp. Position type servo-control system is by externally fed, and it canPosition signalling in acquisition and processing position sensor, controls the corresponding gear of retarding moment motor.
The present invention, without assembly through walls (being that principal and subordinate's swing arm is mechanically joined), can realize handgrip and clampInterlock. Control system be responsible for by the motion of main side handgrip pass to from end clamp, simultaneously also can by fromThe force feedback of end clamp is to main side handgrip. Adopt position type servo-control system for this reason, can two-wayly driveMoving, in the time of low friction, system completely reversibility. Mode of operation is that principal and subordinate is analog, and main side handgrip is movingDo to give from end and send command signal by position sensor, receive signal from end clamp position sensorDrive from end transmission mechanism and do the motion identical with main side handgrip by motor, simultaneously from holding the behaviour of clampThe power of doing feeds back to the motor of main side handgrip again by control system, make it to produce power sense. Due to master and slaveThe mechanical drive principle of clamping, swing and the rotation of moved end is basically identical, and has identical gear parameter,Can realize the action that slave arm copies master arm completely, simultaneously main side handgrip and can having from end clampIdentical power effect, the size that also can bear power according to staff is carried out force rate by control system and is changedBecome. This transmission mechanism principle can independently be used, and the end that also can be positioned over other mechanical arms is carried outClamp action.
Manipulator transmission mechanism of the present invention is not limited to above-mentioned detailed description of the invention, art technology peopleMember's technical scheme according to the present invention draws other embodiment, belongs to equally technology wound of the present inventionNew range.
Claims (9)
1. a manipulator transmission mechanism, comprises master arm transmission mechanism (1) and slave arm transmission mechanism(2), it is characterized in that: described master arm transmission mechanism (1) and slave arm transmission mechanism (2) share oneIndividual control system (3) is controlled; Described master arm transmission mechanism (1) comprises for controlling and is arranged on its endThe tight driving-chain of main folder that end handgrip (4) clamps, be arranged on the rotation of its end handgrip (4) for controllingMain rotating drivetrain and be arranged on the main swing driving-chain that its end handgrip (4) swings for controlling; DescribedSlave arm transmission mechanism (2) comprises for controlling and is arranged on passing from clamping that its end clamp (5) clampsMoving chain, for control be arranged on its end clamp (5) rotation from rotating drivetrain and for controlling settingSwing at its end clamp (5) from swinging driving-chain; The tight driving-chain of described main folder with from clamp driving-chainInterlock, main rotating drivetrain with from rotary drive chain gearing, main swing driving-chain with from swinging driving-chain connectionMoving.
2. manipulator transmission mechanism as claimed in claim 1, is characterized in that: the tight transmission of described main folderChain comprises the first driving mechanism (MC1-2), the first spur gear pair (MC1-1, MC1-3), the first bevel gearSecondary (MC1-7, MC1-8), the first bevel gear (MC1-9), the second bevel gear (MC1-10) and coaxialTwo couples the first cone spur gear (MC1-11, MC1-12) and two the first spur gears (MC1-13) that arrange;The input of described the first driving mechanism (MC1-2) is connected with described control system (3), output withDriving wheel (MC1-3) in the first spur gear pair connects, the driven pulley (MC1-1) in the first spur gear pairWith a bevel gear (MC1-7) one in the first bevel gear pair, another cone in the first bevel gear pairGear (MC1-8) is meshed with the first bevel gear (MC1-9), the first bevel gear (MC1-9) and secondBevel gear (MC1-10) one, the second bevel gear (MC1-10) is bored spur gears with two pairs first respectivelyBevel gear (MC1-11) in (MC1-11, MC1-12) is meshed, in every pair first cone spur gearSpur gear (MC1-12) is respectively at being meshed with two the first spur gears (MC1-13), and two first straightGear (MC1-13) is connected with handgrip (4) respectively.
3. manipulator transmission mechanism as claimed in claim 2, is characterized in that: described main rotary driveChain comprises the second driving mechanism (MC2-2), the second spur gear pair (MC2-3, MC2-5), the second cone toothWheel set (MC2-7, MC2-8), triconodont (MC3-9) and handgrip housing (MC3-10); DescribedThe input of two driving mechanisms (MC2-2) is connected with control system (3), output and the second spur gearDriving wheel (MC2-3) in secondary (MC2-3, MC2-5) is connected, the second spur gear pair (MC2-3,MC2-5) a cone tooth in driven pulley (MC2-5) and the second bevel gear pair (MC2-7, MC2-8)Wheel (MC2-7) one, another bevel gear (MC2-8) of the second bevel gear pair and triconodont (MC3-9)Be meshed, triconodont (MC3-9) is connected with handgrip housing (MC3-10).
4. manipulator transmission mechanism as claimed in claim 3, is characterized in that: described main swing transmissionChain comprises the 3rd driving mechanism (MC3-2), the 3rd spur gear pair (MC3-3, MC3-6) and triconodontWheel set (MC3-7, MC3-8); Described the 3rd driving mechanism (MC3-2) input and control system (3)Connect, output is connected with the driving wheel (MC3-3) in the 3rd spur gear pair (MC3-3, MC3-6),Driven pulley (MC3-6) in the 3rd spur gear pair (MC3-3, MC3-6) and triconodont wheel set (MC3-7,MC3-8) bevel gear (MC3-7) one in, in triconodont wheel set (MC3-7, MC3-8)Another bevel gear (MC3-8) be meshed with described triconodont (MC3-9).
5. manipulator transmission mechanism as claimed in claim 4, is characterized in that: described from clamping transmissionChain comprises 4 wheel driven actuation mechanism (SC1-2), the 4th spur gear pair (SC1-1, SC1-3), the 4th bevel gearSecondary (SC1-7, SC1-8), the 4th bevel gear (SC1-9), the 5th bevel gear (SC1-10) and coaxialTwo couples the second cone spur gear (SC1-11, SC1-12) and two the second spur gears (SC1-13) that arrange;The input of described 4 wheel driven actuation mechanism (SC1-2) is connected with described control system (3), output withDriving wheel (SC1-3) in the 4th spur gear pair connects, the driven pulley (SC1-1) in the 4th spur gear pairWith the 4th bevel gear pair (SC1-7, SC1-8) one of them bevel gear (SC1-7) one, the 4th cone toothAnother bevel gear (SC1-8) of (SC1-7, SC1-8) and the 4th bevel gear (SC1-9) in wheel setBe meshed, the 4th bevel gear (SC1-9) and the 5th bevel gear (SC1-10) one, the 5th bevel gear(SC1-10) respectively with two pairs of cone spur gears (SC1-11, SC1-12) in bevel gear (SC1-11)Engagement, the spur gear (SC1-12) in every pair of cone spur gear (SC1-11, SC1-12) is respectively at twoIndividual the second spur gear (SC1-13) engagement, two the second spur gears (SC1-13) respectively with clamp (5)Be connected.
6. a kind of manipulator transmission mechanism as claimed in claim 5, is characterized in that: described from rotationDriving-chain comprises the 5th driving mechanism (SC2-2), the 5th spur gear pair (SC2-3, SC2-5), the 5thBevel gear pair (SC2-7, SC2-8), the 6th cone tooth (SC3-9) and clamp housing (SC3-10); InstituteThe input of stating the 5th driving mechanism (SC2-2) is connected with control system (3), output and the 5th straightDriving wheel (SC2-3) in gear pair (SC2-3, SC2-5) is connected, the 5th spur gear pair (SC2-3,SC2-5) a cone tooth in driven pulley (SC2-5) and the 5th bevel gear pair (SC2-7, SC2-8)Wheel (SC2-7) one, another bevel gear (SC2-8) of the 5th bevel gear pair and the 6th cone tooth (SC3-9)Be meshed, the 6th cone tooth (SC3-9) is connected with clamp housing (SC3-10).
7. a kind of manipulator transmission mechanism as claimed in claim 6, is characterized in that: described from swingingDriving-chain comprises the 6th driving mechanism (SC3-2), the 6th spur gear pair (SC3-3, SC3-6) and the 6thBevel gear pair (SC3-7, SC3-8); Described the 6th driving mechanism (SC3-2) input and control system(3) connect the driving wheel (SC3-3) in output and the 6th spur gear pair (SC3-3, SC3-6)Connect the driven pulley (SC3-6) in the 6th spur gear pair (SC3-3, SC3-6) and the 6th bevel gear pairOne of them bevel gear (SC3-7) one in (SC3-7, SC3-8), the 6th bevel gear pair (SC3-7,SC3-8) another bevel gear (SC3-8) in is meshed with described the 6th cone tooth (SC3-9).
8. a kind of manipulator transmission mechanism as described in claim 1-7 any one, is characterized in that: instituteState the tight driving-chain of main folder, main rotating drivetrain, main swing driving-chain, from clamping driving-chain, passing from rotationMove chain, be equipped with for detection of clamping the free degree, rotary freedom and swinging freely from swinging driving-chainThe position sensor (being respectively MC1-5, MC2-1, MC3-1, SC1-5, SC2-1, SC3-1) of degree,Each position sensor output is all connected with control system (3).
9. a kind of manipulator transmission mechanism as claimed in claim 8, is characterized in that: the first driving machineStructure (MC1-2), the second driving mechanism (MC2-2), the 3rd driving mechanism (MC3-2), 4 wheel driven moveMechanism (SC1-2), the 5th driving mechanism (SC2-2), the 6th driving mechanism (SC3-2) are decelerationTorque motor, the input of each retarding moment motor is connected with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610108494.4A CN105598963A (en) | 2016-02-26 | 2016-02-26 | Manipulator transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610108494.4A CN105598963A (en) | 2016-02-26 | 2016-02-26 | Manipulator transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105598963A true CN105598963A (en) | 2016-05-25 |
Family
ID=55979567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610108494.4A Pending CN105598963A (en) | 2016-02-26 | 2016-02-26 | Manipulator transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105598963A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112077853A (en) * | 2020-11-16 | 2020-12-15 | 杭州景业智能科技股份有限公司 | Force feedback method and device for master-slave follow-up system and master-slave follow-up system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4922755A (en) * | 1987-12-28 | 1990-05-08 | Hitachi, Ltd. | Wrist mechanism of industrial robot |
| CN101972197A (en) * | 2010-11-28 | 2011-02-16 | 长春工业大学 | Multi-joint humanoid massage robot arm |
| CN102528793A (en) * | 2010-12-15 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | End effector overturnable mechanism for carrying plate-shaped workpiece |
| CN102922517A (en) * | 2012-11-29 | 2013-02-13 | 连云港天明装备有限公司 | Log support manipulator |
| CN203901287U (en) * | 2014-06-18 | 2014-10-29 | 陕西科技大学 | Joint type mechanism arm |
| CN104465071A (en) * | 2014-11-27 | 2015-03-25 | 国网吉林省电力有限公司电力科学研究院 | Automatic winding device of mutual inductor |
| CN204263172U (en) * | 2014-11-14 | 2015-04-15 | 福建省泉州市第七中学 | A kind of domestic robot |
-
2016
- 2016-02-26 CN CN201610108494.4A patent/CN105598963A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4922755A (en) * | 1987-12-28 | 1990-05-08 | Hitachi, Ltd. | Wrist mechanism of industrial robot |
| CN101972197A (en) * | 2010-11-28 | 2011-02-16 | 长春工业大学 | Multi-joint humanoid massage robot arm |
| CN102528793A (en) * | 2010-12-15 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | End effector overturnable mechanism for carrying plate-shaped workpiece |
| CN102922517A (en) * | 2012-11-29 | 2013-02-13 | 连云港天明装备有限公司 | Log support manipulator |
| CN203901287U (en) * | 2014-06-18 | 2014-10-29 | 陕西科技大学 | Joint type mechanism arm |
| CN204263172U (en) * | 2014-11-14 | 2015-04-15 | 福建省泉州市第七中学 | A kind of domestic robot |
| CN104465071A (en) * | 2014-11-27 | 2015-03-25 | 国网吉林省电力有限公司电力科学研究院 | Automatic winding device of mutual inductor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112077853A (en) * | 2020-11-16 | 2020-12-15 | 杭州景业智能科技股份有限公司 | Force feedback method and device for master-slave follow-up system and master-slave follow-up system |
| CN112077853B (en) * | 2020-11-16 | 2021-03-02 | 杭州景业智能科技股份有限公司 | Force feedback method and device for master-slave follow-up system and master-slave follow-up system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207523919U (en) | There is the dual output rotary actuator being manually entered | |
| JP6640821B2 (en) | Robot structure | |
| CN107928840B (en) | Implantation biomimetic prosthetic anal sphincter prosthese in situ with independent swing arm structure | |
| CN108431454A (en) | Powertrain device with motor | |
| CN105598963A (en) | Manipulator transmission mechanism | |
| CN208451651U (en) | Catching robot device | |
| JP2019001453A (en) | All-wheels drive arrangement especially for skid-steer loaders | |
| CN105500386A (en) | Grab device for remotely operated vehicle | |
| EP1980440B1 (en) | Agricultural vehicle power take-off device, in particular for a tractor. | |
| CN103170974B (en) | Target body remote control maintenance, assembly and operation process in hot chamber environment | |
| US3315542A (en) | Device for the transmission of movements and application of said device to remote handling appliances | |
| EP1980439A1 (en) | Power take-off device for an agricultural vehicle, in particular a tractor. | |
| CN113719590B (en) | Manual and electric two-drive gearbox | |
| KR101596156B1 (en) | Robot using multi-out differential gear | |
| CN110315561A (en) | A kind of manipulator fixture and control system for line clogging robot | |
| CN102943845A (en) | Redundancy transmission mechanism for spacecraft | |
| CN103147646A (en) | Bilateral transmission box of personnel air lock | |
| ITTO20110157A1 (en) | ARTICULATED ROBOT WRIST | |
| US9046168B2 (en) | Device for actuating a valve | |
| CN202195000U (en) | Speed reducer for vegetable greenhouse | |
| CN204828505U (en) | Eccentric input cavity planet gear | |
| CN103115117A (en) | Mini-tiller gear shift speed change mechanism and mini-tiller thereof | |
| CN105666520B (en) | One kind is based on gear-driven activation lacking mechanical arm wrist | |
| CN203681273U (en) | Output transfer mechanism for tractor agricultural implements | |
| CN207921449U (en) | A kind of constant velocity universal transmission valve through walls |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160525 |
|
| RJ01 | Rejection of invention patent application after publication |