A Compliant Adaptive Valve Screwing Manipulator Mechanism

A manipulator and self-adaptive technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of inability to achieve tolerance, low efficiency of disaster relief operations, and high operating costs, so as to save materials, improve practical value, and lower production costs Effect

Active Publication Date: 2017-02-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing disaster relief robot cannot realize the end effector that has a tolerance to dock with the valve handwheel and realize the screwing of the valve, resulting in low disaster relief operation efficiency and high operation cost

Method used

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  • A Compliant Adaptive Valve Screwing Manipulator Mechanism
  • A Compliant Adaptive Valve Screwing Manipulator Mechanism
  • A Compliant Adaptive Valve Screwing Manipulator Mechanism

Examples

Experimental program
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specific Embodiment approach 1

[0014] Specific embodiment one: combine 1 to Figure 4 Describe this embodiment. A compliant and adaptive valve screwing manipulator mechanism in this embodiment includes a transmission mechanism, a tool interface mechanism and a three-claw manipulator. The transmission mechanism is connected to the three-claw manipulator through the tool interface mechanism.

[0015] The transmission mechanism includes a servo motor 1, a mandrel 2 and a Hooke hinge mechanism, the output end of the servo motor 1 is connected to the mandrel 2, and the mandrel 2 is provided with a Hooke hinge mechanism;

[0016] The tool interface mechanism includes a connection end 8 and a tool interface piece 9, the tool interface piece 9 is installed on the three-jaw manipulator, and the connection end 8 is installed on the tool interface piece 9;

[0017] The three-claw manipulator includes a manipulator seat 12, a large bevel gear 13, three small bevel gears 14, three lead screws 15, three lead screw seats ...

specific Embodiment approach 2

[0021] Specific implementation mode two: combination figure 1 , figure 2 and image 3 Describe this embodiment, the Hooke hinge mechanism of this embodiment comprises cross shaft outer ring 4, central shaft 5, bolt shaft 6, cross shaft inner ring 7, cross shaft 20 and a plurality of hexagon socket cap screws 3, outside cross shaft The ring 4 is connected to the mandrel 2 through a plurality of hexagon socket head screws 3, and the two ends of the cross shaft 20 in the vertical direction are matched with the outer ring 4 of the cross shaft through two hexagon socket head screws 3, and the bolt shaft 6 Horizontally pierced on the cross shaft 20 , one end of the cross shaft inner ring 7 is connected with both ends of the bolt shaft 6 , and the other end of the cross shaft inner ring 7 is connected with the mandrel 2 . The above parts form the Hooke hinge mechanism, which can realize the small angle deflection of the output end, and the maximum deflection angle can reach 5°~10°...

specific Embodiment approach 3

[0022] Specific implementation mode three: combination figure 1 and figure 2 The present embodiment is described. The three-claw manipulator of the present embodiment further includes a counterweight iron 19 , and the counterweight iron 19 is installed on the outside of any claw seat on the manipulator seat 12 . Movement is more flexible. Other compositions and connections are the same as those in the second embodiment.

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Abstract

The invention relates to a valve screwing mechanical arm mechanism, in particular to a smooth and self-adaptive valve screwing mechanical arm mechanism which aims at solving the problems that an existing disaster relief robot cannot be in butt joint with a valve hand wheel with tolerance, and a tail end executer for screwing a valve cannot be achieved, so that the disaster relief operating efficiency is low, and the operating cost is high. The output end of a servo motor is connected with a core shaft. The core shaft is provided with a hook joint mechanism. A tool connector piece is installed on a three-pawl mechanical arm. Three bevel pinions are installed in a center pawl base in a mechanical arm base. A large bevel gear is installed at the upper end of the middle of the mechanical arm base. The core shaft is inserted in the large bevel gear. A lead screw base is arranged in each pawl base. One end of each lead screw is connected with the corresponding lead screw base. The other end of each lead screw is connected with the corresponding bevel pinion. A mechanical finger is installed on one lead screw and is in sliding connection with one pawl base, and two fingers are installed on the other two lead screws respectively. The valve screwing mechanical arm mechanism is suitable for a screw screwing mechanism capable of being in smooth butt joint with the valve hand wheel.

Description

technical field [0001] The invention relates to a valve screwing manipulator mechanism, in particular to a compliant and adaptive valve screwing manipulator mechanism. Background technique [0002] Facing the urgent needs of national nuclear power plant accident prevention and rescue and the technological development trend of nuclear power plant emergency rescue robots, some domestic universities have fully launched research on nuclear power plant rescue robots. In the case of leakage in the nuclear power plant and people cannot enter the nuclear power plant to operate, the disaster relief robot urgently needs an end effector that can realize tolerance and valve handwheel docking and realize the screwing of the valve. The actuator of the screw valve can also be realized under the condition of not high, which leads to the problems of low efficiency and high operation cost of the existing disaster relief operation. Contents of the invention [0003] The purpose of the prese...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/12B25J15/10B25J19/00
Inventor 刘振邓宗全邢宏军周建超陈明马常友高海波丁亮
Owner HARBIN INST OF TECH
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