Multi-arm manipulator with manual-automatic double-drive transmission structure

Abstract

The utility model discloses a multi-arm manipulator with a manual-automatic double-drive transmission structure, which relates to the technical field of transmission of multi-arm manipulators and comprises a first joint manual-automatic double-drive transmission structure, a second joint manual-automatic double-drive transmission structure, a support, a mechanical arm and a cleaning component. The mechanical arm can be powered by a driving motor and can also be powered manually, all transmission shafts are driven to control the mechanical arm to act, and the problem that the mechanical arm cannot work normally due to power failures and other reasons is solved. An automatic braking function is realized by the bidirectional backstop, so that the falling of the mechanical arm caused by factors such as gravity during manual driving is prevented, and the safety during manual operation is ensured; the overload protection function is achieved through the torque limiter, and damage to equipment caused by the fact that the needed torque exceeds a set value due to overload or mechanical faults is prevented. The multi-arm manipulator integrates the functions of manual and automatic driving, automatic braking, overload protection and the like, the fault occurrence rate is greatly reduced, and the use safety of equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-arm manipulator transmission, in particular to a multi-arm manipulator with a manual and automatic dual-drive transmission structure. Background Art

[0002] As a commonly used combustion equipment, the boiler has high temperature, strong alkali, strong acid, ash accumulation and other conditions in the furnace during operation, which can easily cause wear and corrosion to the inner wall of the furnace, thereby affecting the heat transfer coefficient, reducing the thermal efficiency of the boiler, causing high-temperature corrosion and increasing the emission of gaseous pollutants. In more serious cases, it will cause the unit to reduce load or shut down, and even cause dangerous accidents such as boiler tube explosion, which greatly affects the use and safety of the boiler. Therefore, enterprises using boilers need to shut down the boiler to maintain and clean the inner wall of the boiler after the boiler has been used for a certain period of time. Generally, garbage incinerators need to be shut down at least twice a year. Shutdown maintenance not only interrupts the daily business activities of the enterprise, but also requires high maintenance costs. In addition, some boilers are high in height and belong to high-risk manual operations. Therefore, there is an urgent need for a device that can perform ash cleaning when the boiler is working. And because the device is in a high-temperature environment when working, it is not easy to recover for maintenance after a problem occurs. In order to reduce the situation of failure and damage, it is also necessary to equip it with a transmission system that can provide protection and can recover equipment outside the boiler. Utility Model Content

[0003] In view of the problems raised in the above background technology, the utility model provides a multi-arm manipulator with a manual and automatic dual-drive transmission structure, which can maintain and clean the inner wall of the boiler while the boiler is working and ensure safety in use.

[0004] To achieve the above purpose, the utility model provides the following solution.

[0005] The utility model provides a multi-arm manipulator with a manual-automatic dual-drive transmission structure, comprising: a first joint manual-automatic dual-drive transmission structure, a second joint manual-automatic dual-drive transmission structure, a bracket, a mechanical arm and a cleaning component; the mechanical arm comprises a first arm, a second arm and a third arm connected in sequence;

[0006] The first joint manual-automatic dual-drive transmission structure includes a first joint drive motor, a first joint planetary reducer, a first joint right-angle commutator, a first joint two-way backstop, a first joint torque limiter, a first joint transmission shaft and a first joint transmission assembly; the output end of the first joint drive motor is connected to the input end of the first joint planetary reducer; the first drive shaft of the first joint right-angle commutator is connected to the output end of the first joint planetary reducer through a flange; the second drive shaft of the first joint right-angle commutator is connected to one end of the first joint transmission shaft; the other end of the first joint transmission shaft is connected to the two arms through the first joint transmission assembly; the side drive shaft of the first joint right-angle commutator is used to connect the manual crank; the first joint two-way backstop and the first joint torque limiter are both arranged on the first joint transmission shaft, and the first joint two-way backstop is located between the first joint right-angle commutator and the first joint torque limiter;

[0007] The second joint manual-automatic dual-drive transmission structure includes a second joint drive motor, a second joint planetary reducer, a second joint right-angle commutator, a second joint two-way backstop, a second joint torque limiter, a second joint transmission shaft and a second joint transmission assembly; the output end of the second joint drive motor is connected to the input end of the second joint planetary reducer; the first drive shaft of the second joint right-angle commutator is connected to the output end of the second joint planetary reducer through a flange; the second drive shaft of the second joint right-angle commutator is connected to one end of the second joint transmission shaft; the other end of the second joint transmission shaft is connected to the three-arm through the second joint transmission assembly; the side drive shaft of the second joint right-angle commutator is used to connect the manual crank; the second joint two-way backstop and the second joint torque limiter are both arranged on the second joint transmission shaft, and the second joint two-way backstop is located between the second joint right-angle commutator and the second joint torque limiter;

[0008] The one arm is fixed on the bracket; the one arm drives the second arm to rotate through the first joint transmission component; the second arm drives the third arm to rotate through the second joint transmission component; and the third arm is connected to the cleaning component.

[0009] Optionally, the first joint transmission assembly includes a joint gear set, a joint first bevel gear, a joint second bevel gear, a joint first transmission gear, a joint second transmission gear and a joint rotating gear which are sequentially connected in transmission; the joint rotating gear is connected to the two arms.

[0010] Optionally, the joint gear set includes a first gear, a second gear and a third gear; the first gear is connected to the other end of the first joint transmission shaft; the second gear is respectively meshed with the first gear and the third gear; the third gear is connected to the first bevel gear of the joint through a transmission shaft.

[0011] Optionally, the second joint transmission assembly includes a two-joint gear set, a two-joint first bevel gear, a two-joint second bevel gear, a two-joint first transmission gear, a two-joint second transmission gear, a two-joint first transmission sprocket and a two-joint second transmission sprocket, which are sequentially connected in transmission; the two-joint second transmission sprocket is connected to the three-arm.

[0012] Optionally, the first joint drive motor and the second joint drive motor are servo motors.

[0013] Optionally, the first joint drive motor and the second joint drive motor are hydraulic motors.

[0014] Optionally, the first joint drive motor and the second joint drive motor are pneumatic motors.

[0015] According to the specific embodiments provided by the utility model, the utility model discloses the following technical effects:

[0016] The multi-arm manipulator with a manual-automatic dual-drive transmission structure provided by the utility model includes a first joint manual-automatic dual-drive transmission structure, a second joint manual-automatic dual-drive transmission structure, a bracket, a mechanical arm, and a cleaning component; wherein the mechanical arm can be powered by a drive motor or manually, driving each transmission shaft to control the movement of the mechanical arm, solving the problem that the mechanical arm cannot work normally due to power failure and other reasons, so as to avoid damage to the mechanical arm due to power failure and other problems; the automatic braking function is realized by a two-way check valve to prevent the mechanical arm from falling due to factors such as gravity during manual drive, thereby ensuring personal safety during manual operation; the overload protection function is realized by a torque limiter to prevent overload or mechanical failure from causing the required torque to exceed the set value and cause damage to the equipment. The multi-arm manipulator of the utility model can maintain and clean the inner wall of the boiler when the boiler is working without stopping the boiler, and integrates functions such as manual-automatic dual-drive, automatic braking, and overload protection, which greatly reduces the failure rate and improves the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the overall structure of a multi-arm manipulator with a manual-automatic dual-drive transmission structure of the utility model;

[0019] Figure 2 It is a partial structural diagram of a multi-arm manipulator with a manual-automatic dual-drive transmission structure of the utility model;

[0020] Figure 3 It is a partial structural schematic diagram of the first joint transmission assembly and the second joint transmission assembly of the utility model;

[0021] Figure 4 This is a structural schematic diagram of a joint gear set of the utility model;

[0022] Figure 5 It is a schematic diagram of the structure of the second transmission sprocket of the two joints connected to the three arms of the utility model;

[0023] Figure 6 It is a schematic diagram of the unfolded and retracted states of the multi-arm manipulator of the utility model. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] The utility model aims to provide a multi-arm manipulator with a manual and automatic dual-drive transmission structure, which can maintain and clean the inner wall of a boiler when the boiler is working and ensure the safety of use.

[0026] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] Figure 1 This is a schematic diagram of the overall structure of a multi-arm manipulator with a manual-automatic dual-drive transmission structure of the utility model; Figure 2 This is a partial structural diagram of the multi-arm manipulator with a manual and automatic dual-drive transmission structure of the utility model. Figure 1 and Figure 2 As shown, the utility model is a multi-arm robot with a manual-automatic dual-drive transmission structure, comprising: a first joint manual-automatic dual-drive transmission structure, a second joint manual-automatic dual-drive transmission structure, a bracket 3, one arm 4, two arms 5, three arms 6 and a cleaning component 10.

[0028] Specifically, the first joint manual-automatic dual-drive transmission structure includes a first joint drive motor 101, a first joint planetary reducer 102, a first joint right-angle commutator 103, a first joint two-way check valve 104, a first joint torque limiter 105, a first joint transmission shaft 106 and a first joint transmission assembly. The output end of the first joint drive motor 101 is connected to the input end of the first joint planetary reducer 102. The first drive shaft 1031 of the first joint right-angle commutator 103 is connected to the output end of the first joint planetary reducer 102 through a flange. The second drive shaft 1032 of the first joint right-angle commutator 103 is connected to one end of the first joint transmission shaft 106. The other end of the first joint transmission shaft 106 is connected to the two arms 5 through the first joint transmission assembly. The side drive shaft 1033 of the first joint right-angle commutator 103 is used to connect the manual crank 11. The first joint two-way backstop 104 and the first joint torque limiter 105 are both arranged on the first joint transmission shaft 106 , and the first joint two-way backstop 104 is located between the first joint right-angle commutator 103 and the first joint torque limiter 105 .

[0029] The second joint manual-automatic dual-drive transmission structure includes a second joint drive motor 201, a second joint planetary reducer 202, a second joint right-angle commutator 203, a second joint two-way backstop 204, a second joint torque limiter 205, a second joint transmission shaft 206 and a second joint transmission assembly. The output end of the second joint drive motor 201 is connected to the input end of the second joint planetary reducer 202. The first drive shaft 2031 of the second joint right-angle commutator 203 is connected to the output end of the second joint planetary reducer 202 through a flange. The second drive shaft 2032 of the second joint right-angle commutator 203 is connected to one end of the second joint transmission shaft 206. The other end of the second joint transmission shaft 206 is connected to the three-arm 6 through the second joint transmission assembly. The side drive shaft 2033 of the second joint right-angle commutator 203 is used to connect the manual crank 11. The second joint two-way backstop 204 and the second joint torque limiter 205 are both arranged on the second joint transmission shaft 206 , and the second joint two-way backstop 204 is located between the second joint right-angle commutator 203 and the second joint torque limiter 205 .

[0030] The first arm 4 is fixed on the bracket 3. The first arm 4 drives the second arm 5 to rotate through the first joint transmission assembly. The second arm 5 drives the third arm 6 to rotate through the second joint transmission assembly. The third arm 6 is connected to the cleaning component 10.

[0031] Figure 3FIG. 1 is a partial structural diagram of the first joint transmission assembly and the second joint transmission assembly of the utility model. Figure 1 and Figure 3 As shown, the first joint transmission assembly includes a joint gear set 701, a joint first bevel gear 702, a joint second bevel gear 703, a joint first transmission gear 704, a joint second transmission gear 705 and a joint rotating gear 706 which are sequentially connected in transmission; the joint rotating gear 706 is connected to the two arms 5.

[0032] Figure 4 This is a schematic diagram of the structure of a joint gear set of the utility model. Figure 1 , Figure 3 and Figure 4 As shown, the joint gear set 701 includes a first gear 801, a second gear 802 and a third gear 803. The first gear 801 is connected to the other end of the first joint transmission shaft 106. The second gear 802 is meshed with the first gear 801 and the third gear 803 respectively. The third gear 803 is connected to the joint first bevel gear 702 through a transmission shaft.

[0033] Figure 5 This is a schematic diagram of the structure of the second transmission sprocket of the two joints connected to the three arms of the utility model. Figure 1 , Figure 3 and Figure 5 As shown, the second joint transmission assembly includes a two-joint gear set (not shown in the figure), a two-joint first bevel gear 901, a two-joint second bevel gear 902, a two-joint first transmission gear 903, a two-joint second transmission gear 904, a two-joint first transmission sprocket 905 and a two-joint second transmission sprocket 906, which are sequentially connected in transmission; the two-joint second transmission sprocket 906 is connected to the three-arm 6.

[0034] According to the overall layout of the equipment, in the multi-arm manipulator of the utility model, the deployable parts are divided into two arms 5 and three arms 6, and the one arm 4 drives the overall rotation. The connecting part between the one arm 4 and the two arms 5 is called the first joint transmission component, which drives the two arms 5 to rotate; the connecting part between the two arms 5 and the three arms 6 is called the second joint transmission component, which drives the three arms 6 to rotate. There is a side drive shaft extending from the right-angle commutator on the side of the equipment. When the drive motor is not working, the human-powered crank 11 can be used to drive the right-angle commutator side drive shaft through the manual crank 11, and then drive the connected transmission shaft, and then drive the internal first and second joints to rotate through the transmission components, thereby realizing the deployment and retraction of the two and three arms. The deployment and retraction states of the multi-arm manipulator of the utility model are shown in the figure. Figure 6When the inner wall of the boiler needs to be maintained and cleaned, there is no need to stop the boiler. Instead, the robot arm can be deployed outside the boiler, inserted into the boiler for cleaning using the cleaning assembly 10, and the robot arm can be retracted after cleaning.

[0035] In the multi-arm manipulator of the utility model, the driving motor is connected to the planetary reducer to provide power for normal operation. The right-angle commutator is connected to the planetary reducer through a flange, and the power is transmitted to the first and second joints through the transmission shaft. When the equipment is working normally, the driving motor automatically drives the transmission assembly to drive the manipulator to move. When the driving motor stops working for some reason, if the unfolded manipulator arm needs to be retracted, it is necessary to manually use the crank 11 to install it on the side drive shaft, provide power manually, and use manual driving to achieve the purpose of retracting the manipulator arm, which can solve the problem that the manipulator arm cannot work normally due to power failure and other reasons.

[0036] Specifically, the automatic driving process is as follows: the driving motor transmits power to the first and second joints through the planetary reducer, right-angle commutator, two-way backstop, torque limiter, and various transmission components, and drives the joints to rotate through the end gear of the transmission shaft, thereby driving the second and third arms to move.

[0037] The manual driving process is as follows: the driving shaft on the side of the right-angle commutator can be connected to the crank 11, and the crank 11 is rotated on the driving shaft on the side of the right-angle commutator by manpower to provide power, and the other actions are consistent with the above.

[0038] The robotic arm deployment process is divided into two-arm deployment and three-arm deployment.

[0039] The unfolding process of the two arms is as follows: the first joint driving motor 101 transmits power to the first joint transmission shaft 106 through the first joint star reducer 102, the first joint right-angle commutator 103, the first joint two-way check valve 104, the first joint torque limiter 105, etc., and then transmits power downward to the end joint first bevel gear 702 through a joint gear set 701, thereby driving a joint second bevel gear 703, and then driving a joint first transmission gear 704, a joint second transmission gear 705 in turn, until a joint rotating gear 706, which is connected to the two arms 5, and finally drives the two arms 5 to start moving.

[0040] The three-arm unfolding process is as follows: the second joint driving motor 201 transmits power to the second joint transmission shaft 206 via the second joint planetary reducer 202, the second joint right-angle commutator 203, the second joint two-way check valve 204, the second joint torque limiter 205, etc., and then transmits power downward to the end second joint first bevel gear 901 through the second joint gear set on the other side, thereby driving the second joint second bevel gear 902, and then driving the second joint first transmission gear 903, the second joint second transmission gear 904, the second joint first transmission sprocket 905 in turn, and then transmitted to the second joint second transmission sprocket 909 through the chain, which is connected to the three-arm 6, and finally drives the three-arm 6 to start moving.

[0041] Retraction process: just reverse the expansion process, the final style reference Figure 6 Retracted state shown.

[0042] The first joint drive motor 101 and the second joint drive motor 201 can be driven by a servo motor, a hydraulic motor, a pneumatic motor, etc., and can be a servo motor, a hydraulic motor or a pneumatic motor.

[0043] The two-way check valve is installed on one side of the right-angle commutator and plays the role of automatic braking when working. The two-way check valve is a mature product in the market. Its characteristics are that the driving shaft can drive the driven shaft to rotate clockwise or counterclockwise, but the driven shaft cannot drive the driving shaft in the reverse direction. When the driving shaft is not working, the driven shaft self-locks in both directions to achieve braking, thereby achieving the purpose of self-braking of the equipment after the drive motor stops working. If the two-way check valve is not installed, when the drive motor stops or needs to be manually driven, the second arm and the third arm will fall down by themselves due to gravity, driving the transmission shaft in the reverse direction, causing inconvenience to the motor operation and manual drive.

[0044] The torque limiter is installed on one side of the two-way backstop. When the required torque exceeds the set value due to overload or mechanical failure, it will provide overload protection for the equipment. Specifically, when the required torque exceeds the set value due to overload or mechanical failure, the torque limiter will limit the torque transmitted by the transmission component in the form of slippage, and automatically restore the connection when the overload disappears. This prevents mechanical damage and avoids expensive downtime losses. The set value is usually 80 to 100 N·m. When the required torque exceeds the set value due to overload or mechanical failure, the torque limiter will limit the torque transmitted by the transmission system in the form of slippage.

[0045] In summary, the utility model multi-arm manipulator can be powered by a drive motor or manually, driving each transmission shaft to control the movement of the manipulator arm, solving the problem that the manipulator arm cannot work normally due to power failure and other reasons, so as to avoid damage due to power failure and other problems; the two-way check valve realizes the automatic braking function to prevent the manipulator arm from falling due to gravity and other factors during manual drive, ensuring personal safety during manual operation; the torque limiter realizes the overload protection function to prevent overload or mechanical failure from causing the required torque to exceed the set value and cause damage to the equipment. The utility model multi-arm manipulator integrates the functions of manual and automatic dual drive, automatic braking, overload protection, etc., which greatly reduces the failure rate, improves the safety of the equipment, and reduces the loss when a failure occurs.

[0046] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. At the same time, for those skilled in the art, according to the ideas of the utility model, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A multi-arm manipulator with a manual and automatic dual-drive transmission structure, characterized in that: include: A first joint manual-automatic dual-drive transmission structure, a second joint manual-automatic dual-drive transmission structure, a bracket, a mechanical arm, and a cleaning component; the mechanical arm includes a first arm, a second arm, and a third arm connected in sequence; The first joint manual-automatic dual-drive transmission structure includes a first joint drive motor, a first joint planetary reducer, a first joint right-angle commutator, a first joint two-way backstop, a first joint torque limiter, a first joint transmission shaft and a first joint transmission assembly; the output end of the first joint drive motor is connected to the input end of the first joint planetary reducer; the first drive shaft of the first joint right-angle commutator is connected to the output end of the first joint planetary reducer through a flange; the second drive shaft of the first joint right-angle commutator is connected to one end of the first joint transmission shaft; the other end of the first joint transmission shaft is connected to the two arms through the first joint transmission assembly; the side drive shaft of the first joint right-angle commutator is used to connect the manual crank; the first joint two-way backstop and the first joint torque limiter are both arranged on the first joint transmission shaft, and the first joint two-way backstop is located between the first joint right-angle commutator and the first joint torque limiter; The second joint manual-automatic dual-drive transmission structure includes a second joint drive motor, a second joint planetary reducer, a second joint right-angle commutator, a second joint two-way backstop, a second joint torque limiter, a second joint transmission shaft and a second joint transmission assembly; the output end of the second joint drive motor is connected to the input end of the second joint planetary reducer; the first drive shaft of the second joint right-angle commutator is connected to the output end of the second joint planetary reducer through a flange; the second drive shaft of the second joint right-angle commutator is connected to one end of the second joint transmission shaft; the other end of the second joint transmission shaft is connected to the three-arm through the second joint transmission assembly; the side drive shaft of the second joint right-angle commutator is used to connect the manual crank; the second joint two-way backstop and the second joint torque limiter are both arranged on the second joint transmission shaft, and the second joint two-way backstop is located between the second joint right-angle commutator and the second joint torque limiter; The one arm is fixed on the bracket; the one arm drives the second arm to rotate through the first joint transmission component; the second arm drives the third arm to rotate through the second joint transmission component; and the third arm is connected to the cleaning component.

2. The multi-arm manipulator with a manual and automatic dual-drive transmission structure according to claim 1 is characterized in that: The first joint transmission assembly includes a joint gear set, a joint first bevel gear, a joint second bevel gear, a joint first transmission gear, a joint second transmission gear and a joint rotating gear which are sequentially connected in transmission; the joint rotating gear is connected to the two arms.

3. The multi-arm manipulator with a manual and automatic dual-drive transmission structure according to claim 2 is characterized in that: The joint gear set includes a first gear, a second gear and a third gear; the first gear is connected to the other end of the first joint transmission shaft; the second gear is meshed with the first gear and the third gear respectively; the third gear is connected to the first bevel gear of the joint through a transmission shaft.

4. The multi-arm manipulator with a manual and automatic dual-drive transmission structure according to claim 1 is characterized in that: The second joint transmission assembly includes a two-joint gear set, a two-joint first bevel gear, a two-joint second bevel gear, a two-joint first transmission gear, a two-joint second transmission gear, a two-joint first transmission sprocket and a two-joint second transmission sprocket that are sequentially connected in transmission; the two-joint second transmission sprocket is connected to the three arms.

5. The multi-arm manipulator with a manual and automatic dual-drive transmission structure according to claim 1 is characterized in that: The first joint driving motor and the second joint driving motor are servo motors.

6. The multi-arm manipulator with a manual and automatic dual-drive transmission structure according to claim 1 is characterized in that: The first joint driving motor and the second joint driving motor are hydraulic motors.

7. The multi-arm manipulator with a manual and automatic dual-drive transmission structure according to claim 1 is characterized in that: The first joint drive motor and the second joint drive motor are pneumatic motors.

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