A manipulator, a robotic arm and a robot

Abstract

The present invention relates to a manipulator, a robotic arm and a robot, belonging to the technical field of robots, and comprising a clamping component and a driving component for driving the clamping component to rotate. The clamping component comprises a clamping assembly and a sleeve fixedly connected to the clamping assembly. The clamping assembly comprises at least two clamping jaws and a first driving unit for driving the relative movement of the clamping jaws. The clamping part of the sleeve is a polygonal part for clamping and rotating a workpiece. The clamping jaws are used for clamping the end part of the workpiece. The clamping part of the sleeve extends out of the end part of the clamping jaws. The beneficial effects of the present invention are as follows: safe and reliable source loading and unloading operations are realized through remote teleoperation. Normal operations can be carried out in a specific radiation environment, greatly improving the working efficiency of source loading and unloading, and effectively ensuring the personal safety of front-line workers in a radiation environment.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a manipulator, a robotic arm, and a robot. Background Art

[0002] During the exploration of offshore oil, it is necessary to calibrate data similar to the degree of oil and gas accumulation inside the test well. The operations involved mainly include the tests of neutron test wells and density test wells, which are used to calibrate the neutron wells and density wells.

[0003] The radiation source is usually connected to the test well by a thread. Before oil and gas exploration, the radiation source needs to be taken out of the source tank and installed at the source chamber position of the test well according to corresponding requirements; after the exploration, the radiation source needs to be removed from the test well and placed back at its original position in the source tank for repeated use. During the installation or disassembly of the radiation source, two actions of screwing and linear movement are required. The existing source loading tool is generally a special-structured metal slender rod. One end of this metal rod is a structure that cooperates with the end of the radiation source, and the other end is held by an operator to perform the operation of loading and unloading the radiation source.

[0004] However, the above method has problems such as high operation difficulty, damage to the human body in a radiation environment, high training cost, and low control accuracy.

[0005] To solve the above problems, the present invention provides a manipulator, a robotic arm, and a robot. Summary of the Invention

[0006] To solve at least one of the above technical problems, the present invention provides a manipulator, including a clamping component and a driving component for driving the clamping component to rotate. The clamping component includes a clamping assembly and a sleeve fixedly connected to the clamping assembly. The clamping assembly includes at least two clamping jaws and a first driving unit for driving the relative movement of each clamping jaw; the clamping portion of the sleeve is a polygonal portion for clamping and rotating the workpiece; the clamping jaws are used for clamping the end of the workpiece; the clamping portion of the sleeve extends out of the end of the clamping jaws.

[0007] According to at least one embodiment of the present invention, the sleeve has a groove passing through the corresponding clamping jaw.

[0008] According to at least one embodiment of the present invention, the clamping component further includes a mounting seat, the mounting seat sleeves at least a part of the clamping assembly, and the sleeve is detachably connected to the mounting seat.

[0009] According to at least one embodiment of the present invention, an end cap is fixedly connected to the end of the sleeve, and the end cap is screwed to the mounting seat.

[0010] According to at least one embodiment of the present invention, the end of the jaw has a stepped structure for clamping the workpiece, and the stepped structure cooperates with the end of the workpiece.

[0011] According to at least one embodiment of the present invention, the driving assembly includes a second driving unit, a flange, and a support seat; one end of the flange is detachably and fixedly connected to the manipulator actuator, and the other end is detachably and fixedly connected to the support seat, and the second driving unit is fixedly connected to the support seat.

[0012] According to at least one embodiment of the present invention, the first driving unit and the second driving unit are servo motors or stepper motors.

[0013] According to at least one embodiment of the present invention, a controller is further included, and the output end of the controller is electrically connected to the input ends of the first driving unit and the second driving unit.

[0014] A robotic arm includes the above-mentioned manipulator.

[0015] A robot includes the above-mentioned robotic arm.

[0016] The beneficial effects of the present invention are as follows: The driving assembly is used to drive the clamping assembly to rotate, and can screw the threaded part of the radiation source into or out of the threaded hole of the test well; the clamping assembly is used to clamp the radiation source and can ensure firm clamping during the transfer of the radiation source. Installing this manipulator at the end of a robotic arm or other actuator enables safe and reliable source loading and unloading operations through remote teleoperation. It can perform normal operations in a specific radiation environment, greatly improving the work efficiency of source loading and unloading, and effectively protecting the personal safety of front-line workers in a radiation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are included in this specification and form a part of this specification.

[0018] Figure 1 It is a schematic structural diagram of an embodiment;

[0019] Figure 2 It is a schematic structural diagram of the clamping assembly;

[0020] Figure 3 It is a schematic structural diagram of the sleeve;

[0021] In the figure: 1 - Second driving unit, 2 - Sleeve, 3 - First driving unit, 4 - Jaw, 5 - Groove, 6 - Clamping part, 7 - Flange, 8 - Support seat, 9 - Mounting seat, 10 - Stepped structure. Detailed implementation mode

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and implementation modes. It can be understood that the specific implementation modes described herein are only used to explain related content and do not limit the present invention. In addition, it should be noted that for the convenience of description, only parts related to the present invention are shown in the accompanying drawings.

[0023] It should be noted that, without conflict, the implementation modes in the present invention and the features in the implementation modes can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and implementation modes.

[0024] As Figures 1 - 3 shown, a manipulator includes a clamping component and a driving component for driving the clamping component to rotate. The clamping component includes a clamping assembly and a sleeve 2 fixedly connected to the clamping assembly. The clamping assembly includes at least two clamping jaws 4 and a first driving unit 3 for driving the relative movement of each clamping jaw 4; the clamping portion 6 of the sleeve 2 is a polygonal portion for clamping and rotating the workpiece. The polygonal portion here can adopt shapes such as quadrilateral and hexagon, and is adapted to the outer circle of the screwing portion of the radiation source; the clamping jaw 4 is used to clamp the end of the workpiece; the clamping portion 6 of the sleeve 2 extends out of the end of the clamping jaw 4.

[0025] With the above structure, the driving component is used to drive the clamping component to rotate, and the threaded part of the radiation source can be screwed into or out of the threaded hole of the test well; the clamping assembly is used to clamp the radiation source and can ensure firm clamping during the transfer of the radiation source. Install this manipulator at the end of a robotic arm or other actuator, and realize safe and reliable source loading and unloading operations through remote teleoperation. It can perform normal operations in a specific radiation environment, greatly improving the work efficiency of source loading and unloading, and effectively protecting the personal safety of front-line workers in the radiation environment.

[0026] In one implementation mode, the sleeve 2 has slots 5 passing through the corresponding clamping jaws 4. There are a plurality of such slots 5, which are evenly arranged along the circumferential direction of the sleeve 2. The plurality of slots 5 are arranged oppositely. In this implementation mode, there are two clamping jaws 4, and correspondingly, there are two slots 5. When the clamping jaws 4 open, they will pass through the slots 5 of the sleeve 2, so as to be not restricted by the diameter of the sleeve 2. On the premise of meeting the strength of the sleeve 2, the diameter of the sleeve 2 can be reduced as much as possible, making the structure more compact.

[0027] The diameter of the part of the radiation source end for clamping is smaller than the diameter of the part for screwing, and the clamping part is arranged at the outermost end of the radiation source. Therefore, the diameter of the sleeve 2 is larger than the diameter of the clamping jaws 4 when in the clamping state, and the ends of the clamping jaws 4 are located inside the sleeve 2.

[0028] Moreover, the inner hole of the sleeve 2 is coaxially arranged with the inner hole formed when the jaws 4 are closed, so that when the manipulator grabs the radiation source through the jaws 4, it rotates synchronously with the sleeve 2, and there is no relative movement between the jaws 4 and the radiation source during the rotation process, making the grasping of the radiation source more secure.

[0029] In one embodiment, the clamping assembly further includes a mounting seat 9, the mounting seat 9 is sleeved on at least a part of the clamping assembly, and the sleeve 2 is detachably connected to the mounting seat 9. One end of the mounting seat 9 is fixed to the output end of the second driving unit 1, and is fixedly connected to the first driving unit 3 and the sleeve 2 at the same time, so that all parts outside the driving assembly are driven by the driving assembly to rotate synchronously.

[0030] The detachable connection here can adopt at least one of screwing, clamping, etc. Of course, for the convenience of connection and compact structure, in this embodiment, an end cover is fixedly connected to the end of the sleeve 2, and the end cover is screwed to the mounting seat 9. The sleeve 2 and the end cover can adopt welding, screwing or integral connection.

[0031] In one embodiment, the end of the jaw 4 has a stepped structure 10 for clamping the workpiece. The stepped structure 10 can be a protrusion extending towards the center and can be arc-shaped. The stepped structure 10 cooperates with the end of the workpiece, and the end of the workpiece has a boss, so that the stepped structure 10 can be axially clamped to the boss, which can effectively prevent the clamped radiation source from falling off, ensure firm clamping during the transfer of the radiation source, and improve the stability and reliability of the operation.

[0032] In one embodiment, the driving assembly includes a second driving unit 1, a flange 7, and a support seat 8; one end of the flange 7 is detachably and fixedly connected to the manipulator actuator, and the other end is detachably and fixedly connected to the support seat 8, and the second driving unit 1 is fixedly connected to the support seat 8.

[0033] In one embodiment, the first driving unit 3 and the second driving unit 1 are servo motors or stepper motors. In order to prevent interference during rotation, a spring wire is connected to the first driving unit 3.

[0034] In order to achieve remote control, a controller is further provided. The output end of the controller is electrically connected to the input ends of the first driving unit 3 and the second driving unit 1. The first driving unit 3 and the second driving unit 1 can be remotely controlled by the controller for opening and closing, rotation speed, and steering, so as to achieve remote control and avoid personnel approaching the radiation source.

[0035] The present invention also discloses a robotic arm, including at least one of the above-mentioned manipulators.

[0036] The present invention also discloses a robot, including at least one of the above-mentioned robotic arms.

[0037] In the description of this specification, the description with reference to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0038] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0039] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or variations can be made on the basis of the above disclosure, and these changes or variations are still within the scope of the present invention.

Claims

1. A manipulator, characterized in that, It includes a clamping component and a driving component for driving the clamping component to rotate. The clamping component includes a clamping assembly and a sleeve (2) fixedly connected to the clamping assembly. The clamping assembly includes at least two jaws (4) and a first driving unit (3) for driving the relative movement of each jaw (4). The clamping portion of the sleeve (2) is a polygonal part for clamping and rotating the workpiece. The jaws (4) are used for clamping the end of the workpiece. The clamping portion of the sleeve (2) extends out of the end of the jaw (4). The sleeve (2) has a slot (5) passing through the corresponding jaw (4). The diameter of the sleeve is larger than the diameter of the jaws when in the clamping state. The clamping component further includes a mounting seat (9), the mounting seat (9) is sleeved on at least a part of the clamping assembly, and the sleeve (2) is detachably connected to the mounting seat (9). An end cover is fixedly connected to the end of the sleeve (2), and the end cover is screwed to the mounting seat (9).

2. The manipulator according to claim 1, wherein: The end of the jaw (4) has a stepped structure (10) for clamping the workpiece, and the stepped structure (10) cooperates with the end of the workpiece.

3. A manipulator according to claim 1, wherein: The driving component includes a second driving unit (1), a flange (7), and a support seat (8); one end of the flange (7) is detachably and fixedly connected to the manipulator actuator, and the other end is detachably and fixedly connected to the support seat (8), and the second driving unit (1) is fixedly connected to the support seat (8).

4. The manipulator according to claim 3, characterized in that: The first driving unit (3) and the second driving unit (1) are servo motors or stepper motors.

5. The manipulator according to claim 4, characterized in that: It further includes a controller, and the output end of the controller is electrically connected to the input ends of the first driving unit (3) and the second driving unit (1).

6. A robotic arm, characterized in that: It includes a manipulator according to any one of claims 1 - 5.

7. A robot, characterized in that: It includes a robotic arm according to claim 6.

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