CN104786205A - Master-slave mechanical arm initiative operation simulation device - Google Patents
Master-slave mechanical arm initiative operation simulation device Download PDFInfo
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- CN104786205A CN104786205A CN201510129270.7A CN201510129270A CN104786205A CN 104786205 A CN104786205 A CN 104786205A CN 201510129270 A CN201510129270 A CN 201510129270A CN 104786205 A CN104786205 A CN 104786205A
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- joystick
- master slave
- slave manipulator
- active operation
- analogue means
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Abstract
The invention relates to a master-slave mechanical arm initiative operation simulation device. The master-slave mechanical arm initiative operation simulation device comprises a positioning tray (1), a connecting component (2) and a control handle (3). The positioning tray (1) is in an inverted sphere crown shape. The connecting component (2) is placed on the positioning tray (1) and comprises a base sliding block (21) and a control handle support (22) fixed to the base sliding block (21). The control handle (3) can be fixed to the control handle support (22) in a front-and-back and left-and-right swinging mode. The control handle (3) comprises a rocker rod (31) and a sleeve (32) arranged on the rocker rod (31) in a sleeving mode, and the sleeve (32) is provided with a holding rod (33) playing a clamping role. The simulation device can truly simulate the initiative operation of a telescopic master-slave mechanical arm used in a nuclear fuel postprocessing factory, the operating skill of workers is improved, errors happening in the real operation are avoided, and therefore accidents cannot happen. Meanwhile, the building cost and the occupied space are reduced, and the reusability, flexibility and economical efficiency of the system are improved.
Description
Technical field
The invention belongs to analogue technique field, be specifically related to a kind of master slave manipulator active operation analogue means, this device can simulate the initiatively hand operated of the telescopic master slave manipulator of nuclear fuel reprocessing plant truly.
Background technology
The spentnuclear fuel of nuclear fuel reprocessing plant's process has very high radioactivity, be provided with thick and heavy concrete and carry out radiation protection, by high radioactivity substances encircle in hot cell one by one, but work is reorganized and outfit etc. for head end device repair and maintenance, radwaste, staff is all needed to carry out remote-controlled operation, telescopic master slave manipulator and articulated type master slave manipulator are one of remote handling equipments of Application comparison maturation in post processing engineering, have defined core professional standard EJ/T 566 " master slave manipulator general technical specifications ".The concrete walls in nuclear fuel reprocessing plant hot cell are very thick and heavy, inner space is narrow and small, equipment pipe arranges that in intensive, hagioscope, extend oil is variable muddy, these all bring very large difficulty to remote-controlled operation, often there is deviation in the actions such as location, clamping, transport, even can there is the events such as equipment drops, the work of operating personnel's overdose, equipment component radiocontamination, have a strong impact on Employee Security and operating efficiency.At present, nuclear fuel reprocessing plant is mainly by building the simulation hot cell of 1:1, carry out the training on operation of employee, improve employee's operative skill, avoid the generation of these events, but simulation hot cell scene build and train machinery purchase a large amount of for cost human and material resources, also may occur that design optimization changes, cause again building simulation hot cell, less economical.
Virtual reality technology can simulation of real scenes, participant one working environment on the spot in person is supplied to by immersion solid show, man-machine interactive system etc., be used widely in the work such as design verification and staffs training of nuclear power, Aero-Space, naval vessels, automobile and other industries, also start in engineering for nuclear fuel reprocessing to study virtual reality technology and work on probation.In existing virtual reality technology, the simulation of master slave manipulator active operation is all realized by building full-scale 1:1 active hand, then initiatively manually the signal of telecommunication will be converted into, send virtual reality system to, manipulation virtual slave hand makes corresponding actions, but initiatively hand can only the master slave manipulator of a corresponding model for this virtual peripheral, poor universality, for a complete engineering project, often need to purchase multiple dissimilar virtual active operation device, less economical.And full-scale virtual active operation plant bulk is comparatively large, need design support to support, be difficult to on-the-spot mobile and strange land transhipment, very flexible.In addition, all comparatively common engineering project is more complicated for engineering for nuclear fuel reprocessing hot cell form, device structure, manipulation request etc., many master slave manipulators need customization, and the master slave manipulator kind related to is more, and it is unpractical for creating respective a set of virtual active operation device one by one.
Summary of the invention
For the defect existed in prior art, the invention provides a kind of master slave manipulator active operation analogue means, the telescopic master slave manipulator active operation of nuclear fuel reprocessing plant can be simulated truly, improve employee's operative skill; Reduce simultaneously and build cost and take up room, increase the durability of system, flexibility and economy.
For reaching above object, the technical solution used in the present invention is: provide a kind of master slave manipulator active operation analogue means, comprise location tray, attaching parts and joystick, described location tray is inverted spherical, described attaching parts are placed in described location tray, described attaching parts comprise base slide block and are fixed on the joystick support on described base slide block, and what described joystick can all around swing is fixed on joystick support; Described joystick comprises rocking bar and is set in the sleeve on described rocking bar, and described sleeve has been provided with the holding rod of clamping action.
Further, described base slider bottom shape is spherical, and the shape of this shape and described location tray is suitable.
Further, described joystick support comprises rake and horizontal part, described rake is connected with described base slide block, and the lower surface of described horizontal part is provided with joystick fixed interface, and described joystick is fixed on horizontal part by joystick fixed interface.
Further, the radius of curvature of described location tray is that virtual active arm is long.
Further, described holding rod is that vehicle is stopped formula holding rod.
Further, described sleeve two ends are provided with pressure sensitive sheet.
Further, the bottom of described location tray is provided with multiple inductive probe in order to detect attaching parts position in location tray.
Further, the lower end in described joystick riding portion is provided with electromagnet.
Advantageous Effects of the present invention is:
(1) the present invention adopts spherical location tray and base slide block to simulate the swing of the active hand of thick heaviness and shoulder rotates; By being provided with pressure sensitive sheet on joystick, stretching of this pressure sensitive sheet force analysis simulation active hand, greatly reduces plant bulk, reduces the occupancy in space;
(2) adopt removable location tray and base slide block, the active operation of the telescopic master slave manipulator of multiple different size can be simulated, improve the durability of device;
(3) the present invention simple dexterous, take up room little, durability strong, good economy performance, can be widely used in the fields such as the research and development of manipulator, training on operation.
Accompanying drawing explanation
Tu1Shi nuclear fuel reprocessing plant telescopic master slave manipulator driven hands movement free degree schematic diagram;
Fig. 2 is the structural representation of master slave manipulator active operation analogue means of the present invention;
Fig. 3 is the A direction view of Fig. 2;
Fig. 4 is the B direction view of Fig. 2.
In figure: 1-location tray 2-attaching parts 3-joystick 21-base slide block 22-joystick support 31-rocking bar 32-sleeve 33-holding rod
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, nuclear fuel reprocessing plant from having started 7 frees degree with telescopic master slave manipulator, is respectively X and rotates and clamping to action, Y-direction action, Z-direction action, orientation rotation, wrist pitching, wrist.In figure: M is telescoping tube, C is Y-direction action, D be X to action, E be Z-direction action, F is orientation rotation, G is wrist pitching, K is that wrist rotates and H is clamping.Master slave manipulator active operation analogue means provided by the invention is exactly to realize the control to these frees degree, completes required movement.
As shown in Figure 2, be nuclear fuel reprocessing plant provided by the invention master slave manipulator active operation analogue means, this device comprises location tray 1, attaching parts 2 and joystick 3.Attaching parts 2 are placed in location tray 1, and joystick 3 is fixed in attaching parts 2, by relative motion simulation master slave manipulator active operation.
Wherein, location tray 1 is a fixture, i.e. inverted spherical metallic plate, and its radius of curvature is that virtual active arm is long, can change as required; The even multiple inductive probe in location tray 1 bottom, to detect the position of attaching parts 2 in location tray 1, and send corresponding positional information to computer system, realize simulation arms swing (X is to action) and shoulder being rotated to (Y-direction action).
As shown in Figure 3, attaching parts 2 comprise base slide block 21 and the joystick support 22 be fixed on base slide block 21.The bottom shape of base slide block 21 is spherical, and the shape of this shape and location tray 1 is suitable, is convenient to slide.The radius of curvature of base slide block 21 is identical with location tray, can select corresponding base slide block according to location tray specification.Joystick support 22 is one multiplexing, there is provided fixing for joystick and support, this joystick support 22 comprises rake and horizontal part, the lower end of rake is fixed on base slide block 21, the upper end of rake is connected with horizontal part, the lower surface of horizontal part is provided with joystick fixed interface, and joystick 3 is fixed on horizontal part by this joystick fixed interface.The lower end of joystick support 22 rake is provided with electromagnet, virtual slave hand collide or clamping stagnation time, attaching parts 2 just can be fixed in location tray 1 by electromagnetism, when base slide block 21 moves round about, electromagnetism disconnects enabling, thus realizes interfering feedback.
As shown in Figure 3,4, be master slave manipulator active operation analogue means freedom of motion schematic diagram.The holding rod 33 that joystick 3 comprises top rocking bar 31, is set in the sleeve 32 on rocking bar 31 and is arranged on sleeve 32.Wherein, what rocking bar 31 can all around swing is fixed on the horizontal part of joystick support 22, by the orientation rotation of rotary motion analog mechanical hand, by the wrist pitching of swing analog mechanical hand, can be reversed by the wrist of the analog mechanical hand that swings; The two ends of sleeve 32 are provided with pressure sensitive sheet, " stretching " Z-direction motion of force analysis analog mechanical hand when being moved up or down by sleeve; Holding rod 33 adopts vehicle to stop formula holding rod, for " clamping " action of analog mechanical hand.P in Fig. 3 is Y-direction action, S is Z-direction action, T is wrist pitching, R is clamping; U in Fig. 4 be X to action, V be orientation rotation, W is that wrist is reversed.
In sum, joystick 3 is fixed on attaching parts 2, moves in location tray 1 with attaching parts 2, to realize the simulation initiatively manually done master slave manipulator, improves the operative skill of employee.
Master slave manipulator active operation analogue means of the present invention, is not limited to above-mentioned detailed description of the invention, and those skilled in the art's technical scheme according to the present invention draws and other embodiment belongs to technological innovation scope of the present invention equally.
Claims (8)
1. a master slave manipulator active operation analogue means, comprise location tray (1), attaching parts (2) and joystick (3), it is characterized in that: described location tray (1) is for inverted spherical, described attaching parts (2) are placed in described location tray (1), described attaching parts (2) comprise base slide block (21) and are fixed on the joystick support (22) on described base slide block (21), and what described joystick (3) can all around swing is fixed on joystick support (22); Described joystick (3) comprises rocking bar (31) and is set in the sleeve (32) on described rocking bar (31), and described sleeve (32) has been provided with the holding rod (33) of clamping action.
2. master slave manipulator active operation analogue means as claimed in claim 1, is characterized in that: described base slide block (21) bottom shape is spherical, and the shape of this shape and described location tray (1) is suitable.
3. master slave manipulator active operation analogue means as claimed in claim 2, it is characterized in that: described joystick support (22) comprises rake and horizontal part, described rake is connected with described base slide block (21), the lower surface of described horizontal part is provided with joystick fixed interface, and described joystick (3) is fixed on horizontal part by joystick fixed interface.
4. the master slave manipulator active operation analogue means as described in any one of claim 1-3, is characterized in that: the radius of curvature of described location tray (1) is that virtual active arm is long.
5. master slave manipulator active operation analogue means as claimed in claim 4, is characterized in that: described holding rod (33) to be stopped formula holding rod for vehicle.
6. master slave manipulator active operation analogue means as claimed in claim 5, is characterized in that: described sleeve (32) two ends are provided with pressure sensitive sheet.
7. master slave manipulator active operation analogue means as claimed in claim 6, is characterized in that: the bottom of described location tray (1) is provided with multiple in order to detect the inductive probe of attaching parts (2) in the upper position of location tray (1).
8. master slave manipulator active operation analogue means as claimed in claim 7, is characterized in that: the lower end of described joystick support (22) rake is provided with electromagnet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129270.7A CN104786205B (en) | 2015-03-24 | 2015-03-24 | Master slave manipulator active operation analogue means |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129270.7A CN104786205B (en) | 2015-03-24 | 2015-03-24 | Master slave manipulator active operation analogue means |
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| CN104786205A true CN104786205A (en) | 2015-07-22 |
| CN104786205B CN104786205B (en) | 2017-10-13 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5964280A (en) * | 1982-09-30 | 1984-04-12 | 株式会社東芝 | Master/slave type servo manipulator |
| EP0200091A1 (en) * | 1985-04-17 | 1986-11-05 | Kabushiki Kaisha Meidensha | Master manipulator |
| JPH07276265A (en) * | 1994-04-11 | 1995-10-24 | Yaskawa Electric Corp | Manipulator operating device |
| WO1998043910A1 (en) * | 1997-03-28 | 1998-10-08 | Homayoon Kazerooni | Human power amplifier for vertical maneuvers |
| JP2013049121A (en) * | 2011-08-31 | 2013-03-14 | Tokyo Institute Of Technology | Remote control device |
| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
| CN103402714A (en) * | 2011-02-24 | 2013-11-20 | 奥林巴斯株式会社 | Master operation input device and master-slave manipulator |
| CN103608150A (en) * | 2011-07-15 | 2014-02-26 | 奥林巴斯株式会社 | Manipulator system |
-
2015
- 2015-03-24 CN CN201510129270.7A patent/CN104786205B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5964280A (en) * | 1982-09-30 | 1984-04-12 | 株式会社東芝 | Master/slave type servo manipulator |
| EP0200091A1 (en) * | 1985-04-17 | 1986-11-05 | Kabushiki Kaisha Meidensha | Master manipulator |
| JPH07276265A (en) * | 1994-04-11 | 1995-10-24 | Yaskawa Electric Corp | Manipulator operating device |
| WO1998043910A1 (en) * | 1997-03-28 | 1998-10-08 | Homayoon Kazerooni | Human power amplifier for vertical maneuvers |
| CN103402714A (en) * | 2011-02-24 | 2013-11-20 | 奥林巴斯株式会社 | Master operation input device and master-slave manipulator |
| CN103608150A (en) * | 2011-07-15 | 2014-02-26 | 奥林巴斯株式会社 | Manipulator system |
| JP2013049121A (en) * | 2011-08-31 | 2013-03-14 | Tokyo Institute Of Technology | Remote control device |
| CN103386687A (en) * | 2013-07-16 | 2013-11-13 | 河北工业大学 | 2-DOF (Degree of Freedom) robot remote operation device with force immediacy |
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| CN104786205B (en) | 2017-10-13 |
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