CN112223243A

CN112223243A - Automatically controlled master-slave mode manipulator

Info

Publication number: CN112223243A
Application number: CN202011076360.1A
Authority: CN
Inventors: 郑继龙; 冯丽华
Original assignee: Jiangsu Cashh Nuclear Environment Protection Co ltd
Current assignee: Jiangsu Cashh Nuclear Environment Protection Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-15

Abstract

The invention discloses an electric control master-slave manipulator which comprises a master manipulator, a straight-through pipe and a slave manipulator, wherein a thick rod is arranged at the upper end of the master manipulator, thin rods are arranged inside and below the thick rod, a first angle sensor is arranged below the thin rod, a handle is arranged at the right lower part of the first angle sensor, a controller is arranged at the top of the left side of the straight-through pipe, the straight-through pipe penetrates through the surface of a wall part and is provided with a wall penetrating pipe, the slave manipulator is rotatably connected with the straight-through pipe through a second rotating shaft, a first progressive motor is arranged below a second electric control hydraulic rod, and a protection box and a clamping frame are connected at the right lower part of the first progressive motor. This automatically controlled master-slave mode manipulator is provided with first angle sensor and first step motor, and first angle sensor monitors the turned angle of handle to give the controller with the real-time transmission of turned angle signal, the controller will control first step motor and realize rotating, realizes getting the rotation of head.

Description

Automatically controlled master-slave mode manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to an electric control master-slave manipulator.

Background

In the life of today, under the development of science and technology in the new and new moon, the robot arm is just in flexibility and dynamics of enduring with human arm's the biggest difference, just also the biggest advantage of manipulator can be repeated do same action and can never feel tired in machinery normal condition, also will be more and more extensive in future robotic arm's application, there is huge development prospect in the research of scientific research experiment, some high accuracy experimentation in need use robotic arm to replace manual experiment, in some radioactivity experiments or high temperature and high pressure environment simultaneously, the manipulator can accomplish work under operating personnel's control.

However, most of the existing manipulators have a rigid motion flow, the operability is low, only preset flows can be performed to process articles, and when dangerous scientific research experiments are carried out, instructions need to be sent to the manipulators from the outside, and the process has a large delay, so that the precision is insufficient, so that a master-slave manipulator needs to be designed, and corresponding actions can be quickly performed by operating an external master manipulator and an internal slave manipulator.

Disclosure of Invention

The invention aims to provide an electric control master-slave manipulator, which aims to solve the problems that most of the existing manipulators proposed in the background technology have rigid motion flows, low controllability and only preset flows are needed to process articles, and when dangerous scientific research experiments are carried out, the manipulators are required to be sent instructions from the outside, and the process has large delay, so that the precision is insufficient.

In order to achieve the purpose, the invention provides the following technical scheme: an electric control master-slave manipulator, which comprises a master manipulator, a straight-through pipe and a slave manipulator,

the main manipulator comprises a handle, a clamping switch, a first angle sensor, a thin rod, a thick rod, a displacement sensor, a first protective cover, a first rotating shaft and a second angle sensor, the thick rod is arranged at the upper end of the main manipulator, the thin rod is arranged inside and below the thick rod, the thick rod and the thin rod form a telescopic rod structure, the displacement sensor is arranged on the left side of the bottom of the thick rod, the first angle sensor is arranged below the thin rod, the handle is arranged below the right of the first angle sensor, the clamping switch is arranged below the handle, the first protective cover is wrapped outside the thin rod and the thick rod, and the first rotating shaft is arranged at the top of the thick rod;

the straight-through pipe comprises a controller, a wall penetrating pipe and a first electric control hydraulic rod, the straight-through pipe is rotatably connected with a main manipulator through a first rotating shaft, the controller is installed at the top of the left side of the straight-through pipe, the wall penetrating pipe penetrates through the surface of a wall body, and the first electric control hydraulic rod is installed on the right side of the wall penetrating pipe;

from the manipulator, press from both sides frame, protection box, first progress motor, second safety cover, the automatically controlled hydraulic stem of second, second axis of rotation and second progress motor including getting from the manipulator, pass through the second axis of rotation and directly manage the rotation and be connected from the manipulator, the second axis of rotation sets up in the automatically controlled hydraulic stem top of second, the automatically controlled hydraulic stem externally mounted of second has the second safety cover, the automatically controlled hydraulic stem below of second is equipped with first progress motor, first progress motor right side below is connected with the protection box, the frame is got to the protection box right side installation clamp.

Preferably, a second angle sensor is mounted on the back of the first rotating shaft, a second step motor is arranged on the back of the second rotating shaft, and the second angle sensor is associated with the second step motor through a controller.

Preferably, the gripping switch is associated with the electric cylinder through a controller, the first angle sensor is associated with the first step motor through the controller, and the displacement sensor is associated with the second electric control hydraulic rod through the controller.

Preferably, the wall penetrating pipe comprises a flange plate and a fixing screw, the flange plate is arranged on the left side of the wall penetrating pipe, and the fixing screw is arranged on the flange plate.

Preferably, press from both sides and get the frame and include mobile jib, awl tooth, second chuck, auxiliary rod and gear, press from both sides about getting the frame and install the mobile jib, awl tooth and second chuck constitute the holding head and install at the mobile jib end, mobile jib internally mounted has two auxiliary rods, the gear is installed to auxiliary rod end.

Preferably, the protection box includes electronic jar, output shaft, spur rack and first chuck, install electronic jar in the protection box, the output shaft and the spur rack of electronic jar are connected, the spur rack other end is connected with first chuck.

Preferably, a spur rack installed on the output shaft is meshed with a gear at the tail end of the auxiliary rod, and the gear is meshed with a bevel gear installed on the main rod.

Preferably, when the output shaft moves forwards, the output shaft drives the spur rack and the first chuck to move forwards, the spur rack drives the gear on the left side to rotate clockwise, the gear on the left side drives the bevel gear on the left side and the second chuck to rotate anticlockwise, and meanwhile, the gear on the right side, the bevel gear and the second chuck move reversely with the gear on the left side, the bevel gear and the second chuck.

Preferably, the control module is electrically connected with the clamping switch, the first angle sensor, the displacement sensor, the second angle sensor, the first electronic control hydraulic rod, the electric cylinder, the first step motor, the second electronic control hydraulic rod, the second rotating shaft and the second step motor.

Compared with the prior art, the invention has the beneficial effects that: the electric control master-slave type mechanical arm is provided with a main shaft,

(1) the manipulator is provided with a first angle sensor and a first step motor, the first angle sensor is arranged below the main manipulator and used for monitoring the rotation angle of the handle and sending a rotation angle signal to the controller in real time, and the controller is used for processing the signal and controlling the first step motor to rotate correspondingly so as to realize the horizontal rotation of the clamping head;

(2) the clamping switch and the electric cylinder are arranged, after the clamping switch is started, the controller controls the electric cylinder to extend out of the output shaft, the output shaft drives the spur rack and the first chuck to move, the spur rack drives the gear on the left side to rotate clockwise, the gear on the left side drives the bevel gear on the left side and the second chuck to rotate anticlockwise, meanwhile, the gear on the right side, the bevel gear and the second chuck move in a reverse direction with the gear on the left side, the bevel gear and the second chuck, and clamping of articles is realized through mutual matching of the first chuck and the two second chucks;

(3) the manipulator is provided with a displacement sensor and a second electric control hydraulic rod, the displacement sensor monitors the length change of the thin rod in real time and transmits a signal to the controller in real time, and the controller controls the second electric control hydraulic rod to stretch according to the signal sent by the displacement sensor so as to realize the up-and-down stretching of the slave manipulator;

(4) the manipulator is provided with a second angle sensor and a second step motor, the second angle sensor is installed on the back of the first rotating shaft, detects the rotating angle of the first rotating shaft and transmits signals to the controller in real time, and the controller controls the second step motor to rotate correspondingly according to the signals, so that the slave manipulator rotates in a vertical plane by taking the second rotating shaft as an axis;

(5) the first electric control hydraulic rod is arranged on the right side of the wall penetrating pipe of the straight-through pipe and is controlled to stretch through the controller, and left and right stretching operation of the slave manipulator is achieved.

Drawings

FIG. 1 is a front sectional view of the present invention;

FIG. 2 is a structural view of a back portion of the first rotating shaft according to the present invention;

FIG. 3 is a schematic structural view of a back portion of a second rotating shaft according to the present invention;

FIG. 4 is a schematic top view of the gripping frame and the protective case of the present invention;

FIG. 5 is a schematic perspective view of the through-wall pipe according to the present invention;

fig. 6 is a flow chart of the present invention.

In the figure: 1. the mechanical arm comprises a main mechanical arm, 101, a handle, 102, a clamping switch, 103, a first angle sensor, 104, a thin rod, 105, a thick rod, 106, a displacement sensor, 107, a first protective cover, 108, a first rotating shaft, 109, a second angle sensor, 2, a straight-through pipe, 201, a controller, 202, a wall penetrating pipe, 2021, a flange plate, 2022, a fixing screw, 203, a first electric control hydraulic rod, 3, a slave mechanical arm, 301, a clamping frame, 3011, a main rod, 3012, a conical tooth, 3013, a second chuck, 3014, a slave rod, 3015, a gear, 302, a protective box, 3021, an electric cylinder, 3022, an output shaft, 3, a spur rack, 3024, a first chuck, 303, a first progressive motor, 304, a second protective cover, 305, a second electric control hydraulic rod, 306, a second rotating shaft, 307, a second progressive motor, 4 and a wall body.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an electrically controlled master-slave manipulator, as shown in fig. 1, 2, 5 and 6, a master manipulator 1 comprises a handle 101, a gripping switch 102, a first angle sensor 103, a thin rod 104, a thick rod 105, a displacement sensor 106, a first protective cover 107, a first rotating shaft 108 and a second angle sensor 109, the upper end of the master manipulator 1 is provided with a thick rod 105, the thin rod 104 is arranged inside and below the thick rod 105, the thick rod 105 and the thin rod 104 form a telescopic rod structure, the left side of the bottom of the thick rod 105 is provided with the displacement sensor 106, the first angle sensor 103 is arranged below the thin rod 104, the right lower part of the first angle sensor 103 is provided with the handle 101, the gripping switch 102 is arranged below the handle 101, the gripping switch 102 is associated with an electric cylinder 3021 through a controller 201, the first angle sensor 103 is associated with a first stepping motor 303 through the controller 201, the displacement sensor 106 is associated with a second electrically controlled hydraulic rod 305 through the controller 201, the clamping frame 301 is beneficial to clamping and horizontally rotating articles and the up-and-down telescopic motion of the slave manipulator 3, a first protective cover 107 is wrapped outside the thin rod 104 and the thick rod 105, a first rotating shaft 108 is arranged at the top of the thick rod 105, a second angle sensor 109 is arranged at the back of the first rotating shaft 108, a second step motor 307 is arranged at the back of the second rotating shaft 306, the second angle sensor 109 is associated with the second step motor 307 through a controller 201, the slave manipulator 3 is beneficial to rotating in a vertical plane, the straight pipe 2 comprises the controller 201, a wall penetrating pipe 202 and a first electric control hydraulic rod 203, the straight pipe 2 is rotatably connected with the master manipulator 1 through the first rotating shaft 108, the controller 201 is arranged at the top of the left side of the straight pipe 2, the wall penetrating pipe 202 is arranged on the surface of the wall body 4 penetrating through the straight pipe 2, the wall penetrating pipe 202 comprises a flange 2021 and a fixing screw 2022, the left side of the wall penetrating pipe 202 is provided with a flange 2021, the flange 2021 is provided with a fixing screw 2022, so that the wall penetrating pipe 202 can be fixed conveniently through the flange 2021 and the fixing screw 2022, and the right side of the wall penetrating pipe 202 is provided with a first electrically controlled hydraulic rod 203.

As shown in fig. 1, 3, 4 and 6, the slave manipulator 3 includes a gripping frame 301, a protection box 302, a first step motor 303, a second protection cover 304, a second electrically controlled hydraulic rod 305, a second rotation shaft 306 and a second step motor 307, the slave manipulator 3 is rotatably connected to the straight pipe 2 through the second rotation shaft 306, the second rotation shaft 306 is disposed above the second electrically controlled hydraulic rod 305, the second electrically controlled hydraulic rod 305 is externally provided with the second protection cover 304, the second electrically controlled hydraulic rod 305 is provided with the first step motor 303 below, the protection box 302 is connected to the right lower side of the first step motor 303, the protection box 302 includes an electrically controlled cylinder 3021, an output shaft 3022, a spur rack 3023 and a first gripping head 3024, the protection box 302 is internally provided with the electrically controlled cylinder 3021, the output shaft 3022 of the electrically controlled cylinder 3021 is connected to the spur rack 3023, the other end of the spur rack 3024 is connected to the first gripping head 3024, which facilitates gripping of an article, the gripping frame 301 is installed on the, the gripping frame 301 comprises a main rod 3011, bevel teeth 3012, a second chuck 3013, auxiliary rods 3014 and a gear 3015, the main rod 3011 is installed on the upper and lower sides of the gripping frame 301, the bevel teeth 3012 and the second chuck 3013 form a gripping head and are installed at the end of the main rod 3011, two auxiliary rods 3014 are installed inside the main rod 3011, the gear 3015 is installed at the end of the auxiliary rod 3014, so as to drive the second chuck 3013 to grip an article through transmission between each structure, a spur rack 3023 installed on an output shaft 3022 is engaged with the gear 3015 at the end of the auxiliary rod 3014, the gear 3015 is engaged with the bevel teeth 3012 installed on the main rod 3011, which is beneficial to drive the first chuck 3024 and the second chuck 3013 to move through the movement of the output shaft 3022, so as to achieve gripping and putting down an article through the extension and retraction of an electric cylinder 3021, when the output shaft 3022 moves forward, the output shaft 3022 drives the spur rack 3023 and the first chuck 3024 to move forward, and the, the left gear 3015 drives the left bevel gear 3012 and the second chuck 3013 to rotate counterclockwise, and the right gear 3015, the bevel gear 3012, the second chuck 3013 and the left gear 3015, the bevel gear 3012, and the second chuck 3013 move in opposite directions, so as to clamp and place down an object, and the control module 201 is electrically connected to the clamp switch 102, the first angle sensor 103, the displacement sensor 106, the second angle sensor 109, the first electrically controlled hydraulic rod 203, the electric cylinder 3021, the first advancement motor 303, the second electrically controlled hydraulic rod 305, the second rotation shaft 306, and the second advancement motor 307, so as to control start and stop of each electrical component through the control module 201.

The working principle is as follows: the model of the first angle sensor 103 and the model of the second angle sensor 109 are WDJ22A, the model of the displacement sensor 106 is LP801-600, when the electrically controlled master-slave manipulator is used, an operator starts the device, holds the handle 101 below the master manipulator 1, when the operator controls the rotation of the handle 101 in the horizontal plane, the first angle sensor 103 above the handle 101 receives a signal and transmits the signal to the controller 201, the controller 201 processes the signal and controls the first stepping motor 303 to rotate correspondingly to realize the horizontal rotation of the gripping head 301, when the operator rotates the master manipulator 1 in the vertical plane, the second angle sensor 109 at the back of the first rotating shaft 108 receives the signal and transmits the signal to the controller 201, the controller 201 controls the second stepping motor 307 to realize the corresponding rotation according to the signal to realize the rotation of the slave manipulator 3 in the vertical plane by taking the second rotating shaft 306 as the shaft, when an operator holds the handle 101 to stretch the master manipulator 1 up and down, the displacement sensor 106 on the thick rod 105 monitors the length change of the thin rod 104 in real time and transmits a signal to the controller 201 in real time, the controller 201 controls the second electrically controlled hydraulic rod 305 to stretch and retract according to the signal sent by the displacement sensor 106 so as to stretch and retract up and down of the slave manipulator 3, the operator can control the first electrically controlled hydraulic rod 203 to stretch and retract through the controller 201 so as to stretch and retract left and right of the slave manipulator 3, when the operator adjusts the slave manipulator 3 to a proper position and starts the clamp switch 102 to clamp an article, the controller 201 controls the electric cylinder 3021 to stretch the output shaft 3022 out, the output shaft 3022 drives the spur rack 3023 and the first chuck 3024 to move, the rack 3023 drives the left gear 3015 to rotate clockwise, the left gear 3015 drives the left bevel 3012 and the second chuck 3013 to rotate counterclockwise, meanwhile, the right gear 3015, the bevel gear 3012 and the second chuck 3013 move in opposite directions with the left gear 3015, the bevel gear 3012 and the second chuck 3013, and the first chuck 3024 and the two second chucks 3013 cooperate with each other to clamp an object, during the whole operation process, the first protective cover 107 and the second protective cover 304 respectively protect the master manipulator 1 and the slave manipulator 3, the wall penetrating pipe 202 fixes the part of the straight-through pipe 2 penetrating through the wall 4 through the flange 2021 and the fixing screw 2022, and the device is prevented from shaking during use to affect the experimental result, which is not described in detail in this specification.

The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for simplicity of description only and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be considered limiting of the claimed invention.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an automatically controlled master-slave mode manipulator, includes master manipulator (1), through pipe (2) and from manipulator (3), its characterized in that:

the main manipulator (1) comprises a handle (101), a clamping switch (102), a first angle sensor (103), a thin rod (104), a thick rod (105), a displacement sensor (106), a first protection cover (107), a first rotating shaft (108) and a second angle sensor (109), the upper end of the main manipulator (1) is provided with the thick rod (105), the thin rod (104) is installed inside and below the thick rod (105), the thick rod (105) and the thin rod (104) form a telescopic rod structure, the displacement sensor (106) is installed on the left side of the bottom of the thick rod (105), the first angle sensor (103) is installed below the thin rod (104), the handle (101) is arranged below the right of the first angle sensor (103), the clamping switch (102) is arranged below the handle (101), the first protection cover (107) is installed outside the thin rod (104) and the thick rod (105), a first rotating shaft (108) is arranged at the top of the thick rod (105);

the straight-through pipe (2), the straight-through pipe (2) comprises a controller (201), a wall penetrating pipe (202) and a first electric control hydraulic rod (203), the straight-through pipe (2) is rotatably connected with a main manipulator (1) through a first rotating shaft (108), the controller (201) is installed at the top of the left side of the straight-through pipe (2), the wall penetrating pipe (202) penetrates through the surface of part of a wall body (4) of the straight-through pipe (2), and the first electric control hydraulic rod (203) is installed on the right side of the wall penetrating pipe (202);

from manipulator (3), press from both sides frame (301), protection box (302), first step motor (303), second safety cover (304), the automatically controlled hydraulic stem of second (305), second axis of rotation (306) and second step motor (307) including getting from manipulator (3), it is connected with through pipe (2) rotation through second axis of rotation (306) from manipulator (3), second axis of rotation (306) set up in the automatically controlled hydraulic stem of second (305) top, the automatically controlled hydraulic stem of second (305) externally mounted has second safety cover (304), the automatically controlled hydraulic stem of second (305) below is equipped with first step motor (303), first step motor (303) right side below is connected with protection box (302), protection box (302) right side is installed and is got frame (301).

2. An electrically controlled master-slave manipulator according to claim 1, wherein: a second angle sensor (109) is installed at the back of the first rotating shaft (108), a second step motor (307) is arranged at the back of the second rotating shaft (306), and the second angle sensor (109) is associated with the second step motor (307) through a controller (201).

3. An electrically controlled master-slave manipulator according to claim 1, wherein: the gripping switch (102) is associated with an electric cylinder (3021) through a controller (201), the first angle sensor (103) is associated with a first step motor (303) through the controller (201), and the displacement sensor (106) is associated with a second electric control hydraulic rod (305) through the controller (201).

4. An electrically controlled master-slave manipulator according to claim 1, wherein: the wall penetrating pipe (202) comprises a flange plate (2021) and a fixing screw (2022), wherein the flange plate (2021) is arranged on the left side of the wall penetrating pipe (202), and the fixing screw (2022) is arranged on the flange plate (2021).

5. An electrically controlled master-slave manipulator according to claim 1, wherein: press from both sides and get frame (301) and include mobile jib (3011), awl tooth (3012), second chuck (3013), auxiliary rod (3014) and gear (3015), press from both sides and get frame (301) upper and lower both sides and install mobile jib (3011), awl tooth (3012) and second chuck (3013) constitute the holding head and install at mobile jib (3011) end, mobile jib (3011) internally mounted has two auxiliary rod (3014), gear (3015) are installed to auxiliary rod (3014) end.

6. An electrically controlled master-slave manipulator according to claim 1, wherein: the protection box (302) includes electronic jar (3021), output shaft (3022), spur rack (3023) and first chuck (3024), install electronic jar (3021) in the protection box (302), output shaft (3022) and spur rack (3023) of electronic jar (3021) are connected, spur rack (3023) other end is connected with first chuck (3024).

7. An electrically controlled master-slave manipulator according to claim 1, wherein: a spur rack (3023) mounted on the output shaft (3022) is meshed with a gear (3015) at the tail end of the auxiliary rod (3014), and the gear (3015) is meshed with a bevel gear (3012) mounted on the main rod (3011).

8. An electrically controlled master-slave manipulator according to claim 1, wherein: when the output shaft (3022) moves forwards, the output shaft (3022) drives the spur rack (3023) and the first chuck (3024) to move forwards, the spur rack (3023) drives the left gear (3015) to rotate clockwise, the left gear (3015) drives the left bevel gear (3012) and the second chuck (3013) to rotate counterclockwise, and meanwhile, the right gear (3015), the bevel gear (3012), the second chuck (3013), the left gear (3015), the bevel gear (3012), and the second chuck (3013) move in the opposite direction.

9. An electrically controlled master-slave manipulator according to claim 1, wherein: the control module (201) is electrically connected with the clamping switch (102), the first angle sensor (103), the displacement sensor (106), the second angle sensor (109), the first electric control hydraulic rod (203), the electric cylinder (3021), the first step motor (303), the second electric control hydraulic rod (305), the second rotating shaft (306) and the second step motor (307).