Manipulator for master-slave remote operation driven by wire rope

Abstract

The present invention relates to a control arm for master-slave remote operation driven by wire ropes, belonging to the technical field of remote control, and is used for remotely operating an on-vehicle four-axis robotic arm to solve the control problem of high-altitude spraying construction by machines instead of humans. The control arm for master-slave remote operation driven by wire ropes of the present invention includes a master operation arm, and the master operation arm includes a drive box unit, a cross drive unit, and a control handle unit. The cross drive unit is connected to the drive box unit through a traction rope, so that the form of directly connecting the encoder and the joint axis in the traditional design is transformed into a fully rear-mounted design. On the one hand, it can reduce the dragging weight of the handle operation part (such as the control handle unit) and improve the dexterity of operation; on the other hand, the operation part of the entire mechanism is greatly reduced in lateral dimension, and at the same time the center of gravity moves backward, which also improves the stability of the operation part.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control, and particularly to a manipulator for master-slave remote control operated by wire ropes, which is particularly suitable for manual remote control of a spraying manipulator for a steel frame structure. Background Art

[0002] For the current protective spraying operation of steel frame structure workshops, traditional construction relies on workers to ride on articulated or straight boom cranes and directly hold a spray gun to spray the surface of steel, or workers stand on a scaffolding built for construction operations. Therefore, traditional manual operations have high labor intensity, poor working environment, high risk in high-altitude operations, and high costs, and there is an urgent need for a transformation to machine substitution. Summary of the Invention

[0003] The present invention provides a manipulator for master-slave remote control operated by wire ropes, which is used for remotely controlling a vehicle-mounted four-axis manipulator to solve the control problem of high-altitude spraying construction replaced by a machine for manual work.

[0004] The manipulator for master-slave remote control operated by wire ropes of the present invention includes a master operating arm, and the master operating arm is communicatively connected to a slave operating arm through an electrical interface;

[0005] Wherein, the master operating arm includes a driving box unit, a cross transmission unit and a control handle unit. The cross transmission unit is connected to the driving box unit through a traction rope, and the control handle unit is rotatably connected to the cross transmission unit;

[0006] The control handle unit can rotate the cross transmission unit at least along three axes, and the cross transmission unit transmits its rotation angle information to the driving box unit.

[0007] In one embodiment, the cross transmission unit includes:

[0008] A front swing rod, which is rotatably connected to the control handle unit;

[0009] A main support frame, which is connected to the front swing rod through a connecting side plate;

[0010] A guide pulley support frame, which is connected to the main support frame; and

[0011] A driving base support plate, which is fixed on the driving box unit;

[0012] The number of the connecting side plates is two. The two connecting side plates are respectively arranged on both sides of the front swing rod. A rotating shaft double-groove pulley is arranged between the two connecting side plates. A rotating shaft single-groove pulley is arranged between one of the connecting side plates and the main support frame. A swing rod pulley is connected between the other connecting side plate and the front swing rod;

[0013] The swing rod pulley is connected to the rotating shaft double-groove pulley through a traction rope.

[0014] In one embodiment, a right guide seat and a left guide seat are respectively arranged on the upper and lower parts of the guide pulley support frame. A rear guide pulley is arranged on the right guide seat, and a front guide pulley is arranged on the left guide seat;

[0015] After the traction rope of the rotating shaft double-groove pulley passes through the left guide seat, it crosses around the front guide wheel and the rear guide wheel, then passes through the driving base support plate and enters the driving box unit.

[0016] In one embodiment, a rotating frame pulley is fixedly arranged at the middle part of the guide pulley support frame, and the traction rope on the rotating frame pulley extends into the driving box unit.

[0017] In one embodiment, the driving box unit includes a driving box and a driving assembly component arranged in the driving box. The driving assembly component includes:

[0018] Encoder rotating shaft;

[0019] An encoder pulley, which is fixed on the encoder rotating shaft. The traction ropes from the front guide wheel and the rear guide wheel, the traction rope from the rotating shaft single-groove pulley or the traction rope from the rotating frame pulley are wound on the encoder pulley; and

[0020] A first encoder or a first angle sensor, which is fixedly connected to the encoder rotating shaft;

[0021] Wherein, when the traction rope drives the encoder pulley to rotate, it drives the encoder rotating shaft and the first encoder to rotate, so as to output rotation angle information.

[0022] In one embodiment, a bidirectional rotary damper is further connected to the upper end of the encoder rotating shaft.

[0023] In one embodiment, the driving assembly component further includes a traction rope guide tube. Side holes for the traction rope to pass through are opened on the side wall of the traction rope guide tube,

[0024] The position of the encoder pulley on the encoder rotating shaft corresponds to the position where the traction rope passes out of the side hole.

[0025] In one embodiment, the driving box unit further includes a front-end shaft rotating assembly component. The front-end shaft rotating assembly component includes:

[0026] A rotating shaft, which is connected to the manual button on the driving box;

[0027] A second encoder or a second angle sensor, which is fixedly connected to the rotating shaft; and

[0028] An encoder fixing base plate, which is used to fix the second encoder;

[0029] A rotary damper is arranged on the encoder fixing base plate. The rotary damper is fixed to the encoder fixing base plate through a support column, and the support column is also connected to the drive housing;

[0030] Wherein, when the manual button drives the rotating shaft and the second encoder to rotate, the second encoder outputs rotation angle information.

[0031] In one embodiment, a control button is further arranged on the drive housing, and the control button is used to control the on-off of the communication connection between the main operating arm and the slave operating arm.

[0032] In one embodiment, the control handle includes a carbon fiber rod, a connecting plate arranged at one end of the carbon fiber rod, and a self-resetting button arranged at the other end of the carbon fiber rod;

[0033] The connecting plate is rotatably connected to the front swing rod.

[0034] Compared with the prior art, the advantages of the present invention are that the cross transmission unit and the drive housing unit are connected by a traction rope, which transforms the form of directly connecting the encoder and the joint shaft in the traditional design into a fully rear-mounted design. On the one hand, it can reduce the dragging weight of the handle operation part (such as the control handle unit) and improve the dexterity of operation; on the other hand, the operation part of the whole mechanism is greatly reduced in the transverse dimension, and at the same time the center of gravity moves backward, which also improves the stability of the operation part.

[0035] When carrying out construction operations, the main operating arm is hung on the operator's body through a harness. The operator stands on the ground and manually drags and operates the main operating arm according to the area to be sprayed. The joint information of the main operating arm is transmitted to the encoder after a series of traction rope drives and reversals. The encoder processes the angle change information and outputs it to the slave arm, so as to realize the slave arm following the trajectory of the master arm. Since the operator operates remotely on the ground, on the one hand, it avoids the danger brought by high-altitude operations and endures the harsh working environment, and at the same time, the ground operation has a wide field of vision, which also brings a certain degree of flexibility to the spraying operation; on the other hand, since the operator operates the main operating arm on the ground, it can replace the operation mode of the traditional spraying worker directly operating the spray gun at high altitude, so that the wrist load of the operator is greatly reduced, which will greatly improve the fatigue strength of the operator and the safety of high-altitude operations. At the same time, since the operator is farther away from the spraying surface, the paint dust floating and adhering to the human body will also be reduced, thereby further improving the industry working environment. Description of the Drawings

[0036] In the following, the present invention will be described in more detail based on embodiments with reference to the accompanying drawings.

[0037] Figure 1 It is a schematic diagram of the operation of the control arm controlling the slave operating arm for wire-driven master-slave remote operation in an embodiment of the present invention;

[0038] Figure 2 Figure 1 Schematic perspective view of the master operating arm shown;

[0039] Figure 3 is Figure 2 Schematic internal structure view of the drive housing unit shown;

[0040] Figure 4 is Figure 3 Schematic structure view of the drive assembly component shown;

[0041] Figure 5 is Figure 2 Schematic structure view of the front-end shaft rotational assembly shown;

[0042] Figure 6 is Figure 1 Schematic perspective view of the cross drive unit shown;

[0043] Figure 7 is Figure 1 Front view of the cross drive unit shown;

[0044] Figure 8 is Figure 1 Schematic perspective view of the control handle unit shown;

[0045] Figure 9a and Figure 9b is a schematic diagram of the rope and pulley drive between the drive housing unit and the cross drive unit in an embodiment of the present invention;

[0046] Figure 10a is a schematic diagram of the principle of the commutator in an embodiment of the present invention;

[0047] Figure 10b is Figure 10a Schematic view observed from direction K;

[0048] Figure 10c is Figure 10b Cross-sectional view at M-M.

[0049] Reference numerals:

[0050] 100 - Master operating arm; 200 - Slave operating arm 200; 201 - Spray gun; 300 - Electrical interface;

[0051] 1 - Driving box unit; 2 - Cross transmission unit; 3 - Limiting plate; 4 - Control handle unit;

[0052] 11 - First towing rope; 12 - Second towing rope; 13 - Third towing rope;

[0053] 101 - Driving box; 102 - Control button; 103 - Driving assembly component; 104 - Manual button; 105 - Front end shaft rotation assembly component;

[0054] 1031 - Flange bearing; 1032 - Encoder rotating shaft; 1033 - Encoder pulley; 1034 - First encoder; 1035 - First towing rope guide tube; 1036 - Second wire rope guide tube; 1037 - Lower support pillar; 1038 - Upper support pillar; 1039 - Rotary damper;

[0055] 1051 - Encoder fixed seat plate; 1052 - Rotating shaft; 1053 - Flange bearing; 1054 - Second encoder; 1055 - Rotary damper; 1056 - Damper support pillar;

[0056] 201 - Front end swing rod; 202 - Swing rod pulley; 203 - Front end drive transfer towing rope; 204 - Rotating shaft single groove pulley; 205 - Rotating shaft double groove pulley; 206 - Rotating bracket cover plate; 207 - Main support frame; 208 - Drive base support plate; 209 - Connecting side plate; 210 - Right guide seat; 211 - Left guide seat; 212 - Front guide pulley; 213 - Guide pulley support frame; 214 - Rotating frame pulley; 215 - Rear guide pulley; 216 - Wire rope; 22 - Commutator;

[0057] 401 - Connecting plate; 402 - Carbon fiber rod; 403 - Self - reset button. Detailed implementation mode

[0058] The present invention will be further described below in conjunction with the accompanying drawings.

[0059] As Figure 1 shown, the present invention provides a control arm for master - slave remote operation driven by wire ropes, including a master operation arm 100 and a slave operation arm 200. The master operation arm 100 is communicatively connected to the slave operation arm 200 through an electrical interface.

[0060] Specifically, the master operation arm 100 includes a driving box unit 1, a cross transmission unit 2, and a control handle unit 4. The cross transmission unit 2 is connected to the driving box unit 1 through a towing rope, and the control handle unit 4 is rotatably connected to the end of the cross transmission unit 2. Among them, the control handle unit 4 can make the cross transmission unit 2 rotate at least along three axes, and the cross transmission unit 2 transmits its rotation angle information to the driving box unit 1.

[0061] When the operator holds and drags the control handle unit 4, it will drive the cross drive unit 2 to rotate around the axis. At the same time, the left and right swing will drive the guide pulley support frame 213 of the cross drive unit 2 to rotate. Since each rotating shaft is equipped with a pulley, the traction rope can transfer the corresponding axial rotation to the encoder inside the drive box unit 1 after passing around the pulley. The encoder outputs through photoelectric signals and is transmitted to the slave manipulator 200 to be controlled after filtering, achieving the purpose of remotely controlling the slave manipulator 200 by the joint signals of the master manipulator 100.

[0062] As Figure 1 shown, the four joint axes A, B, C, and D of the master manipulator 100 respectively correspond to the four joint axes A', B', C', and D' of the slave manipulator 200. When the operator uses the control handle unit 4 to drag, it drives the A, B, and C axes of the master manipulator 100 to move. Therefore, the corresponding A', B', and C' axes of the slave manipulator 200, that is, the three axes of the waist rotation axis, the shoulder pitch axis, and the elbow pitch axis, will follow the master manipulator 100 to move synchronously. The D axis of the master manipulator 100 corresponds to the roll D' axis at the end of the slave manipulator 200. The D axis of the master manipulator 100 is in the form of a rotary knob. By turning the manual button 104 described below, it rotates, and the D' axis of the slave manipulator 200 will synchronously follow and roll, so as to adjust the spray pattern direction of the spraying device (such as the spray gun 201) arranged at the end of the slave manipulator 200.

[0063] Among them, the traction rope can be selected as a steel wire rope. Therefore, in the following text, the traction rope is also referred to as the steel wire rope.

[0064] Therefore, the present invention converts the form of directly connecting the encoder to the joint axis in the traditional design into a fully rear-mounted design through the drive of the steel wire rope. On the one hand, it can reduce the dragging weight of the handle operation part (such as the control handle unit 4) and improve the dexterity of operation; on the other hand, the operation part of the entire mechanism is greatly reduced in the lateral dimension, and at the same time, the center of gravity moves backward, which also improves the stability of the operation part.

[0065] The manipulator of the present invention is mainly aimed at the remote control operation of the slave arm of the vehicle-mounted robot, and can realize that the ground personnel control the master manipulator 100, and the slave manipulator 200 on the vehicle-mounted robot follows its movement to perform spraying operations.

[0066] In actual engineering applications, this device is mainly designed for the remote operation of the slave arm of the vehicle-mounted robot, and can realize that the ground personnel control the master arm device, and the slave arm on the vehicle-mounted robot follows its movement to perform spraying operations.

[0067] The manipulator of the present invention has application advantages such as small volume, simple structure, low cost, and low comprehensive cost compared with the fine master-slave manipulators used in the medical industry and the power grid industry in the case of low requirements for the master-slave operation accuracy.

[0068] As Figure 6 and 7 shown, the cross drive unit 2 includes a front swing rod 201, a main support frame 207, a guide pulley support frame 213, and a drive base support plate 208. The front swing rod 201 is rotatably connected to the control handle unit 4. The main support frame 207 is connected to the front swing rod 201 through a connecting side plate 209. The guide pulley support frame 213 is connected to the main support frame 207. The drive base support plate 208 is fixed on the drive housing unit 1.

[0069] As Figure 6 shown, the number of the connecting side plates 209 is two. The two connecting side plates 209 are respectively arranged on both sides of the front swing rod 201. A rotating shaft double groove pulley 205 is arranged between the first ends of the two connecting side plates 209. A rotating shaft single groove pulley 204 is arranged between the first end of one of the connecting side plates 209 and the main support frame 207. A swing rod pulley 202 is connected between the second end of the other connecting side plate 209 and the front swing rod 201. One of the connecting side plates 209 and the rotating shaft single groove pulley 204 are fixedly connected by bolts and sleeved on its rotating shaft. Thus, when the two connecting side plates 209 move around its axis, the rotating shaft single groove pulley 204 will be driven to rotate together. The steel wire rope wound on the rotating shaft single groove pulley 204 passes through the hole on the main support frame 207.

[0070] The swing rod pulley 202 is connected to the rotating shaft double groove pulley 205 through a traction rope. The front swing rod 201 is fixedly connected to the swing rod pulley 202, and the two are sleeved on its rotating shaft together. The rotating shaft double groove pulley 205 has double grooves, that is, it has two wire winding grooves. The rotating shaft double groove pulley 205 is sleeved on its rotating shaft. The swing rod pulley 202 is connected in series with one of the grooves of the rotating shaft double groove pulley 205 through a steel wire rope 203. The other groove of the double groove pulley 205 winds the steel wire rope and passes through the corresponding hole position on the main support frame 207.

[0071] Furthermore, as Figure 7 shown, the guide pulley support frame 213 is configured as an L-shaped bent plate that is symmetric up and down. A right guide seat 201 and a left guide seat 211 are respectively arranged on the upper part (upper panel) and the lower part (lower panel) of the guide pulley support frame 213. A rear guide pulley 215 and a through hole for guiding are arranged on the right guide seat 201. A front guide pulley 212 and a through hole for guiding are arranged on the left guide seat 211. The rear guide pulley 215 and the front guide pulley 212 are respectively in two layers up and down.

[0072] After the traction rope of the double-groove pulley 205 on the rotating shaft passes through the left guide seat 211, it crosses around the front guide wheel 212 and the rear guide wheel 215, then passes through the drive base support plate 208 and enters the drive housing unit 1. The purpose of the cross-winding is, on the one hand, to guide the traction rope, and on the other hand, to tighten the traction rope to prevent the traction rope from slackening and losing rotation during the left and right swinging motion.

[0073] A rotating frame pulley 214 is fixedly arranged in the middle part of the guide pulley support frame 213, and the traction rope on the rotating frame pulley 214 extends into the drive housing unit 1.

[0074] As Figure 6 shown, a limiting plate 3 is also arranged on the main support frame 207 to limit its maximum rotation angle.

[0075] Figures 2 - 5 Fig. shows a specific embodiment of the drive housing unit 1 of the present invention. In this embodiment, the drive housing unit 1 includes a drive housing 101, a drive assembly component 103 arranged in the drive housing 101, and a front-end shaft rotating assembly component 105 arranged in the drive housing 101. The drive assembly component 103 is fixedly connected to the drive housing 101 through a lower support column 1037 and an upper support column 1038 respectively. The front-end shaft rotating assembly component 105 is fixedly connected to the upper panel of the drive housing 101 through a damper support column 1056.

[0076] As Figure 4 shown, the drive assembly component 103 includes an encoder rotating shaft 1032, an encoder pulley 1033, and a first encoder 1034.

[0077] The encoder pulley 1033 is fixed on the encoder rotating shaft 1032 through fasteners such as screws. The upper end of the encoder rotating shaft 1032 passes through a flange bearing 1031 and is fixedly connected to a rotary damper 1039, and the lower end thereof passes through the flange bearing 1031 and is fixedly connected to the hollow shaft of the first encoder 1034.

[0078] The encoder pulley 1033 is wound with a traction rope from the front guide wheel 212 and the rear guide wheel 215, a traction rope from the single-groove pulley 204 on the rotating shaft, or a traction rope from the rotating frame pulley 214. The first encoder 1034 is fixedly connected to the encoder rotating shaft 1032. Among them, when the traction rope drives the encoder pulley 1033 to rotate, it drives the encoder rotating shaft 1032 and the first encoder 1034 to rotate to output the rotation angle information.

[0079] The upper end of the encoder rotating shaft 1032 is also connected with a bi-directional rotary damper 1039. The bi-directional rotary damper 1039 is used to increase the damping during the process of the traction rope driving the rotating shaft of the first encoder 1034 to rotate, thereby improving the smoothness of the rotary drive.

[0080] The drive assembly component 103 further includes a towing rope guide tube, which includes a first towing rope guide tube 1035 and a second towing rope guide tube 1036. Both the first towing rope guide tube 1035 and the second towing rope guide tube 1036 are hollow tubular structures, and side holes for the towing rope to pass through are provided on the side walls of both of them.

[0081] The position of the encoder pulley 1033 on the encoder rotating shaft 1032 can be adjusted so that its position is at the same height as the position where the towing rope passes out of the side hole, so as to enable the towing rope entering the drive assembly unit 1 to be orderly led out and wound around the encoder pulley 1033.

[0082] The first towing rope guide tube 1035 and the second towing rope guide tube 1036 can realize the commutation of the towing rope.

[0083] Such as Figure 3 and 4 As shown, the drive assembly component 103 includes 3 sets of encoder rotating shafts 1032, encoder pulleys 1033 and first encoders 1034; they respectively correspond to the swing shaft (A shaft) of the guide pulley support frame 213 in the cross drive unit 2, the rotating shaft (B shaft) of the rotating shaft double groove pulley 205 and the rotating shaft (C shaft) of the swing rod pulley 202. When these three shafts are driven passively, the steel wire ropes wound around them pass through a series of corresponding pulleys and then reach the corresponding pulleys in the drive box 101, thereby driving the 3 sets of encoder rotating shafts to rotate, so that the 3 sets of first encoders respectively output the rotating shaft angle signals. The angle signals output by these encoders are connected to the slave manipulator 200 of the vehicle-mounted robot through a communication cable, and the slave manipulator 200 moves along the motion trajectory of the master manipulator 100, so as to realize the master-slave remote control of the manipulator.

[0084] The towing rope drive can place all the encoders directly connected at the traditional joints behind the drive box 101 (the above-mentioned 3 sets of encoder rotating shafts 1032, encoder pulleys 1033 and first encoders 1034 are all located in the drive box 101), thereby reducing the mass of the control part and reducing the lateral dimension of the control part, so as to improve the use flexibility.

[0085] Such as Figure 5 As shown, the front end shaft rotating assembly component 105 includes a rotating shaft 1052, a second encoder 1054 (rotary encoder) and an encoder fixing seat plate 1051. The rotating shaft 1052 is connected to the manual button 104 on the drive box 101. The second encoder 1054 is fixedly connected to the rotating shaft 1052. The encoder fixing seat plate 1051 is used to fix the second encoder 1054. A rotary damper 1039 is provided on the encoder fixing seat plate 1051. The rotary damper 1039 is fixed to the encoder fixing seat plate 1051 through two struts 1056, and the struts are also connected to the drive box 101.

[0086] When the manual button 104 drives the rotation of the rotating shaft 1052 and the inner shaft of the second encoder 1054, the second encoder 1054 outputs rotation angle information.

[0087] A control button 102 is further provided on the driving box body 101. The control button 102 is used to control the on / off of the communication connection between the main operating arm 100 and the slave operating arm 200 and the on / off of the main power supply.

[0088] As described above, after the steel wire rope bypassing the double-groove pulley 205 of the rotating shaft passes through the hole on the main support frame 207, it first passes through the left guide seat 211 and then crosses and bypasses the front guide pulley 212 and the rear guide pulley 215. After the cross winding, it passes through the hole on the driving base support plate 208 and then enters the driving box driving assembly unit 1, and is wound around the corresponding encoder pulley 1033 through the second steel wire rope guide tube 1036; then the other end of the steel wire rope passes through the hole on the driving box body 101 again, first passes through the rear guide pulley 215, and then crosses and bypasses the front guide pulley 212 and returns to the other groove of the double-groove pulley 205 of the rotating shaft, thus forming a first steel wire rope driving loop.

[0089] One end of the steel wire rope on the single-groove pulley 204 of the rotating shaft passes through the main support frame 207, and adopts a steel wire rope routing method similar to the above method. After reaching the driving box body 101, it bypasses another group of encoder pulleys adjacent to the above-mentioned encoder pulley 1033 and then returns through the single-groove pulley 204 of the rotating shaft, thus forming a second steel wire rope driving loop.

[0090] The rotating frame pulley 214 is fixedly connected to the guide pulley support frame 213 itself. After the steel wire rope bypasses the rotating frame pulley 214, it passes through the hole of the driving base support plate 208 and then enters the driving box body 101. Since the corresponding encoder pulley and the rotating frame pulley 214 in the driving box body 101 are in the same horizontal direction (by adjusting the height of the encoder pulley on the encoder rotating shaft, the encoder pulley and the rotating frame pulley 214 can be adjusted to be on the same horizontal line), the driving steel wire rope on the rotating frame pulley 214 directly winds back and forth between the rotating frame pulley 214 and the encoder pulley to form a driving loop, which is the driving loop of the third steel wire rope.

[0091] It should be noted that the above-mentioned first encoder 1034 and second encoder 1054 can both be replaced by components such as angle sensors that can realize angle detection, and the various functions of the main operating arm 100 can also be realized.

[0092] As Figure 8 shown, the control handle includes a carbon fiber rod 402, a connecting plate 201 provided at one end of the carbon fiber rod 402, and a self-resetting button 403 provided at the other end of the carbon fiber rod 402; the connecting plate 201 is rotatably connected to the front swing rod 201.

[0093] When the front swing rod 201 is rotated, under the action of the steel wire rope, the swing rod pulley 202 drives the rotating shaft double-groove pulley 205 to rotate. Another groove of the rotating shaft double-groove pulley 205 drives the encoder pulley 1033 wound therewith in the driving box body 101 to rotate under the drive of the steel wire rope, and outputs the rotation angle information of the front swing rod 201 through the first encoder 1034.

[0094] Understandably, when the rotating connection side plate 209 is rotated, the rotating shaft single-groove pulley 204 rotates, and drives the corresponding encoder pulley in the corresponding driving box body 101 to rotate through the steel wire rope, so that the corresponding first encoder outputs the rotation angle information of the connection side plate 209.

[0095] Understandably, when the guiding pulley support frame 213 swings left and right, the rotating frame pulley 214 thereon drives the driving steel wire rope to drive the corresponding encoder pulley in the driving box body 101 to rotate, and then the corresponding encoder outputs the swing angle information through the encoder.

[0096] Such as Figure 9a and 9b the schematic diagram of the wire routing of the traction rope shown, Figure 9a and Figure 9b the A, B, and C axes shown respectively correspond to Figure 1 the A, B, and C axes shown. As described above, the drive assembly component 103 includes 3 groups of encoder rotating shafts 1032, encoder pulleys 1033, and first encoders 1034. The 3 groups of first encoders 1034 are respectively encoder 1034-1, encoder 1034-2, and encoder 1034-3, and the 3 groups of encoder pulleys 1033 are respectively pulley 1033-1, pulley 1033-2, and pulley 1033-3.

[0097] Such as Figure 9a and 9b shown, the first traction rope 11, the second traction rope 12, and the third traction rope 13 respectively drive the joint axes C, B, and A. After passing through a pair of pulleys, the first traction rope 11 bypasses the upper and lower pulleys of the cross transmission unit 2 and then is knotted on the pulley 1033-3; the second traction rope 12 is knotted on the pulley 1033-2, and the wire routings of the first traction rope 11 and the second traction rope 12 both pass through the second traction rope guiding tube 1036 for direction change. The third traction rope 13 is directly knotted on the pulley 1033-3. Each group of traction ropes forms a loop and the joint parts are connected with special wire clips, so that the above three shaft joints can rotate or swing within a certain range.

[0098] Figure 10a 、 10bAs shown in FIGS. 10a and 10c, a schematic diagram of a commutator is shown. The commutator 22 may include a main support frame 207, a right guide seat 210, a left guide seat 211, and a system of holes on the three components.

[0099] Figure 3 The rotation shaft of the manual button 104 shown corresponds to the Figure 1 D-axis shown.

[0100] The present invention can be applied to the spraying operation of a steel frame structure. For the spraying application of an actual steel frame structure, the main operating arm 100 of the present invention is mainly used to remotely control the actions of the slave operating arm 200 on the vehicle-mounted robot on the ground. As Figures 3 - 5 shown, the three degrees of freedom are respectively used to control the rotation and pitching actions of the slave operating arm 200, and the angle information output of the front-end shaft rotation assembly 105 is used to control the rotation action of the end shaft part of the slave operating arm 200.

[0101] The control button 102 on the drive box unit 1 can achieve the on / off control of the main-slave arm communication and the on / off control of the main power supply. The self-resetting button 403 arranged at the end of the control handle unit 4 is used for the on / off control of the action of the spray gun 201 at the end of the slave operating arm 200. When the operator presses and holds the self-resetting button 403, the spray gun 201 acts to perform the spraying operation; the spraying stops after the self-resetting button 403 is released.

[0102] During the construction operation, the main operating arm 100 is hung on the operator's body through a harness. The operator stands on the ground and manually drags and operates the main operating arm 100 according to the area to be sprayed. The joint information of the main operating arm 100 is driven and commutated through a series of traction ropes and transmitted to the encoder. The encoder analyzes and processes the angle information and then outputs it to the slave operating arm 200, so as to achieve the purpose that the slave operating arm 200 follows the trajectory of the main operating arm 100. Since the operator performs remote control operation on the ground, on the one hand, it avoids the danger brought by high-altitude operation and endures the harsh operating environment, and at the same time, the ground operation has a wide field of vision, which also brings a certain degree of flexibility to the spraying operation; on the other hand, since the operator controls the main operating arm 100 on the ground instead of directly operating the spray gun by a traditional sprayer, the wrist load of the operator is greatly reduced, which will greatly improve the fatigue strength of the construction personnel. At the same time, since the construction personnel are farther away from the spraying surface, the paint dust floating and adhering to the human body will also be reduced, thus further improving the industry operating environment.

[0103] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components thereof can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any manner. The present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A manipulator arm for master-slave remote operation driven by wire ropes, characterized in that, It includes a main operating arm, and the main operating arm is communicatively connected to a slave operating arm through an electrical interface; Among them, the main operating arm includes a driving box unit, a cross transmission unit, and a control handle unit. The cross transmission unit is connected to the driving box unit by a traction rope, and the control handle unit is rotatably connected to the cross transmission unit; The control handle unit can make the cross transmission unit rotate at least along three axes, and the cross transmission unit transmits its rotation angle information to the driving box unit; The cross transmission unit includes: A front swing rod, which is rotatably connected to the control handle unit; A main support frame, which is connected to the front swing rod through a connecting side plate; A guide pulley support frame, which is connected to the main support frame; and A driving base support plate, which is fixed on the driving box unit; The number of the connecting side plates is two. The two connecting side plates are respectively arranged on both sides of the front swing rod. A rotating shaft double groove pulley is arranged between the two connecting side plates. A rotating shaft single groove pulley is arranged between one of the connecting side plates and the main support frame. A swing rod pulley is connected between the other connecting side plate and the front swing rod; The traction rope wound on the rotating shaft single groove pulley passes through the hole on the main support frame; The swing rod pulley is connected to the rotating shaft double groove pulley through a traction rope; The upper and lower parts of the guide pulley support frame are respectively provided with a right guide seat and a left guide seat. A rear guide pulley is arranged on the right guide seat, and a front guide pulley is arranged on the left guide seat; The traction rope of the rotating shaft double groove pulley passes through the left guide seat, then crosses around the front guide pulley and the rear guide pulley, and then passes through the driving base support plate and enters the driving box unit; A rotating frame pulley is fixedly arranged in the middle part of the guide pulley support frame, and the traction rope on the rotating frame pulley extends into the driving box unit; The driving box unit includes a driving box and a driving assembly component arranged in the driving box. The driving assembly component includes: An encoder rotating shaft; An encoder pulley, which is fixed on the encoder rotating shaft. The encoder pulley is wound with a traction rope from the front guide pulley and the rear guide pulley, a traction rope from the rotating shaft single groove pulley, or a traction rope from the rotating frame pulley; and A first encoder or a first angle sensor, which is fixedly connected to the encoder rotating shaft; Among them, when the traction rope drives the encoder pulley to rotate, it drives the encoder rotating shaft and the first encoder to rotate, so as to output rotation angle information.

2. The manipulator arm for master-slave remote operation driven by wire ropes according to claim 1, wherein, A bidirectional rotary damper is further connected to the upper end of the encoder rotating shaft.

3. The manipulator arm for master-slave remote operation driven by wire rope according to claim 1, characterized in that, The driving assembly component further includes a traction rope guide tube, and side holes for the traction rope to pass through are formed on the side wall of the traction rope guide tube, The position of the encoder pulley on the encoder rotating shaft corresponds to the position where the traction rope passes through the side hole.

4. The manipulator arm for master-slave remote control operation driven by wire rope according to claim 1, wherein The driving box unit further includes a front shaft rotating assembly component. The front shaft rotating assembly component includes: A rotating shaft, which is connected to the manual button on the driving box; A second encoder or a second angle sensor, which is fixedly connected to the rotating shaft; and An encoder fixing base plate, which is used to fix the second encoder; A rotary damper is provided on the encoder fixing base plate. The rotary damper is fixed to the encoder fixing base plate through a support column, and the support column is also connected to the drive box body; Wherein, when the manual button drives the rotating shaft and the second encoder to rotate, the second encoder outputs rotation angle information.

5. The control arm for master-slave remote operation driven by wire rope according to claim 1, characterized in that, A control button is further provided on the drive box body, and the control button is used to control the on-off of the communication connection between the main operating arm and the slave operating arm.

6. The control arm for master-slave remote control operation driven by wire rope according to claim 1, characterized in that, The control handle includes a carbon fiber rod, a connecting plate provided at one end of the carbon fiber rod, and a self-resetting button provided at the other end of the carbon fiber rod; The connecting plate is rotatably connected to the front swing rod.

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