Master-slave manipulator quick installation handle

Abstract

Master-slave manipulator quick installation handle, which includes: an auxiliary grip, a handle, a clamping device, a safety locking device, and a quick adjustment buckle. The handle and the auxiliary grip form a gun shape, which conforms to ergonomics and is convenient for holding and operating. During the operation, it will not cause discomfort to the operator. The clamping device is arranged above the auxiliary grip through a fixing block and is used to control the transmission chain of the slave manipulator, so as to realize the clamping and release of the clamp of the slave manipulator. The safety locking device is arranged at the middle position between the clamping device and the auxiliary grip, and it is used to lock and release the clamping device to prevent the clamp of the slave manipulator from accidentally opening and closing due to the operator's misoperation. The quick adjustment buckle is arranged on the fixing block and can realize the installation and disassembly of the installation handle and the mechanical wrist joint without using auxiliary tools, which is convenient for maintenance.

Description

Technical Field

[0001] The present invention relates to a mounting handle, and more particularly to a quick-mounting handle for a master-slave manipulator.

Background Art

[0002] In industries such as the nuclear industry or life sciences, there are serious radioactive media or toxic and harmful substances. When the human body cannot reach them, the manipulator is an indispensable alternative tool. In the production and processing of nuclear materials, hot cells are widely used infrastructure, and there are extremely radioactive substances and a strongly corrosive atmosphere environment inside.

[0003] The master-slave manipulator consists of an operating handle (i.e., the handle), a master arm, a through-wall pipe, a slave arm, a clamp, and a balance system, etc. It can manually achieve seven independent movements, including three linear movements in the X, Y, and Z directions, three rotational movements of azimuth rotation, clamp pitch, and clamp torsion, and a clamping movement. It has the advantages of being easy to operate, having a large operating capacity, and a wide range of applications.

[0004] In view of this, the master-slave manipulator is widely used in the scientific research and production of the nuclear industry, and the hot cell is a place where the master-slave manipulator is widely used. However, the traditional master-slave manipulator handle (such as Figure 1 ) is similar to a bicycle brake handle. It includes: a handlebar and a pressing handle. By pressing the pressing handle, the clamp wire is adjusted to realize the clamping of an object by the clamp. This kind of handle is fixed to the wrist joint of the master-slave manipulator and is not easy to disassemble, which brings certain difficulties to maintenance. Moreover, when the manipulator is in the zero position, the handle grip is in a vertical state. When the human hand holds and operates, the wrist twists upward, which will bring discomfort to the operator.

Summary of the Invention

[0005] In order to solve the above problems, the present invention provides a quick-mounting handle for a master-slave manipulator, which is in a gun shape and is convenient for holding by hand, that is, during the operation process, it will not bring discomfort to the operator; at the same time, the quick-adjustment buckle can quickly install and lock the wrist joint of the manipulator and the mounting handle, which is convenient for maintenance.

[0006] The present invention is realized through the following technical solutions. A quick-mounting handle for a master-slave manipulator is provided, which is characterized by including:

[0007] An auxiliary grip, one end of which extends obliquely downward to form a handle. The auxiliary grip and the handle form a gun shape, and a groove is provided at the position where the auxiliary grip is connected to the handle;

[0008] A clamping device with a fixed block located above the handle and used to control the transmission chain of the mechanical slave hand clamp. Finger-shaped rings adapted to the fingers are symmetrically arranged on both sides thereof. An installation hole for connecting with the mechanical wrist joint and a fixing hole for fixing the transmission chain of the mechanical slave hand clamp are provided on the fixed block. An adjustment groove is provided above the installation hole, and an adjustment hole is provided at a position perpendicular to the adjustment groove on the fixed block. An arc-shaped groove extends inward on one side of the fixed block;

[0009] A quick adjustment buckle provided on the side of the arc-shaped groove, which includes: a quick locking handle and a locking rod. One end of the quick locking handle extends out an arc-shaped adjustment block adapted to the arc-shaped groove. A connection groove adapted to the end of the locking rod is opened inward at the middle position of the arc-shaped adjustment block. One end of the locking rod is inserted into the adjustment hole and locked by a circlip, and the other end is inserted into the connection groove and movably connected to the arc-shaped adjustment block through an adjustment shaft, and the end of the adjustment shaft is locked by a circlip;

[0010] An electrical control switch provided on the auxiliary grip away from the inside of the handle.

[0011] Specifically, the included angle between the handle and the auxiliary grip is an obtuse angle.

[0012] Specifically, the clamping device is provided above the auxiliary grip, and it includes: a slide rod, a slider, two movable arms, two connecting rods, and a steel wire. The slide rod is arranged parallel to the auxiliary grip above the fixed block. The slider is sleeved on the end of the slide rod away from the handle, and a guide wheel for guiding the movement of the steel wire is provided on the top of the slider away from the auxiliary grip. The two movable arms are symmetrically arranged at both ends of the slide rod. One end of the movable arm is movably arranged on the fixed block, and the other end is movably connected to one end of the connecting rod. The finger-shaped rings are respectively arranged on the outer sides of the movable arms. The other end of the connecting rod is movably arranged on the side wall of the slider. One end of the steel wire is connected to the transmission chain of the mechanical slave hand clamp, and the other end bypasses the guide wheel and is fixed at the fixing hole.

[0013] Specifically, a plurality of connection holes are evenly opened along the arm body of the movable arm.

[0014] Specifically, it further includes: a safety locking device, which includes: a guide rail, a locking pin, a trigger, and a compression spring. A chute is opened in the fixed block. One end of the guide rail is inserted into the chute, and the other end is fixed below the slider. A rack is provided at the bottom of the guide rail. A receiving groove is provided on one side of the auxiliary grip perpendicular to the guide rail. The locking pin is arranged above the receiving groove, and teeth meshing with the rack are provided at the top of the locking pin. The compression spring is arranged below the receiving groove. One end of the trigger is inserted into the receiving groove between the compression spring and the locking pin, and the other end extends out of the groove;

[0015] Specifically, the cross-section of the guide rail is I-shaped, and the chute is an I-shaped chute.

[0016] Specifically, the guide rail is on the same horizontal plane as the bottom of the slider, and there is no contact between the ends of the guide rail and the slider away from the handle and the auxiliary grip.

[0017] Specifically, it further includes: a protective cover provided outside the clamping device, one end of which is fixed to the end of the sliding rod by a hand-tightening screw, and the other end is arranged on the top of the end of the fixed block away from the slider.

[0018] The present invention provides a quick-installation handle for a master-slave manipulator, which can realize the installation and disassembly of the handle and the wrist joint of the manipulator through a quick-adjustment buckle without using external auxiliary tools, facilitating maintenance; the handle and the auxiliary grip form a gun shape, which is convenient for holding and will not cause any discomfort to the operator; the setting of the safety locking device enables the installation handle to release the clamping device only when the trigger is pressed, thereby realizing the clamping and release of the slave hand clamp of the manipulator, with high safety; by inserting the thumb, index finger, and middle finger into the finger rings on both sides respectively, the clamping operation of the installation handle can be realized, and combined with the design of the sliding clamping device, a transmission torque double that of the traditional handle can be achieved, saving time and effort while having high transmission efficiency; the clamping device can be adjusted according to the hand shape through the connection hole, so that the quick-installation handle can be suitable for different operators, further improving the use comfort of the installation handle.

Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of a traditional mechanical handle;

[0020] Figure 2 is a side view of the quick-installation handle for a master-slave manipulator of the present invention;

[0021] Figure 3 In the quick-installation handle for a master-slave manipulator of the present invention Figure 2 is a sectional view;

[0022] Figure 4 is a three-dimensional view (without the protective cover) of the quick-installation handle for a master-slave manipulator of the present invention;

[0023] Figure 5 is a connection relationship diagram of the quick-installation handle for a master-slave manipulator of the present invention and the wrist joint.

[0024] In the drawings, 1 is an auxiliary grip, 2 is a handle, 3 is a groove, 4 is a fixed block, 5 is a finger ring, 6 is a mounting hole, 7 is a fixing hole, 8 is an adjustment groove, 9 is an arc groove, 10 is a quick-locking handle, 11 is a locking rod, 12 is an arc adjustment block, 13 is an electric control switch, 14 is a protective cover, 15 is an adjustment shaft, 16 is a sliding rod, 17 is a slider, 18 is a movable arm, 19 is a connecting rod, 20 is a guide wheel, 21 is a connection hole, 22 is a guide rail, 23 is a locking pin, 24 is a trigger, 25 is a compression spring, 26 is a sliding groove, 27 is a rack, 28 is a receiving groove, 29 is a tooth, 30 is a hand-tightening screw, and 31 is a connection groove.

Detailed Implementation Manner

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings.

[0026] Please refer to Figure 2-5 , the present invention provides a quick installation handle for a master-slave manipulator, including:

[0027] An auxiliary grip 1, one end of which extends obliquely downward to form a handle 2. The auxiliary grip 1 and the handle 2 form a gun shape. The gun-shaped installation handle improves the holding comfort of the operator. A groove 3 is provided at the connection position of the auxiliary grip 1 and the handle 2. The shape of the groove 3 is similar to the shape of the trigger 24. When the operator presses the trigger 24, the inner wall of the trigger 24 contacts the bottom of the groove 3, which can protect the trigger 24 and prevent excessive pressing, thereby improving the pressing comfort.

[0028] A clamping device for controlling the transmission chain of the slave hand clamp is provided above the handle 2 through a fixing block 4. Finger rings 5 adapted to the fingers are symmetrically provided on both sides thereof. The finger rings 5 are adapted to the fingers, enabling the thumb, index finger, and middle finger to be inserted respectively to complete the control of the clamping device. An installation hole 6 for connecting with the mechanical wrist joint and a fixing hole 7 for fixing the transmission chain of the slave hand clamp are provided on the fixing block 4. An adjustment groove 8 is provided above the installation hole 6. An adjustment hole (not marked in the figure) is provided on the fixing block 4 perpendicular to the adjustment groove 8. An arc-shaped groove 9 extends inward on one side of the fixing block 4.

[0029] A quick adjustment buckle provided on the side of the arc-shaped groove 9, which includes: a quick locking handle 10 and a locking rod 11. One end of the quick locking handle 10 extends out an arc-shaped adjustment block 12 adapted to the arc-shaped groove 9. A connection groove 31 adapted to the end of the locking rod 11 is provided inward at the middle position of the arc-shaped adjustment block 12. One end of the locking rod 11 is inserted into the adjustment hole and locked by a circlip. The other end is inserted into the connection groove 31 and is movably connected to the arc-shaped adjustment block 12 through an adjustment shaft 15. The end of the adjustment shaft 15 is locked by a circlip. When it is necessary to install the installation handle on the mechanical wrist joint, the quick locking handle 10 is lifted upward. At this time, the arc-shaped adjustment block 12 removes the extrusion of the arc-shaped groove 9, and the locking rod 11 does not tighten the adjustment groove 8, that is, the adjustment groove 8 is in an uncompressed state. After inserting the wrist joint installation part into the installation hole 6, press the quick locking handle 10 downward. At this time, the arc-shaped adjustment block 12 squeezes the arc-shaped groove 9. At the same time, under the pulling of the locking rod 11, the width of the adjustment groove 9 becomes smaller, and the aperture of the installation hole 6 becomes smaller, tightly fitting with the wrist joint installation part. At this time, the installation of the wrist joint and the installation handle is completed.

[0030] An electrical control switch 13 is provided on the auxiliary grip 1 away from the inside of the handle 2. The electrical control switch 13 can control the operation of the motor, thereby completing the auxiliary extension of the mechanical slave hand at the X, Y, and Z ends.

[0031] Specifically, the included angle between the handle 2 and the auxiliary grip 1 is an obtuse angle; with such a design, when the installation handle is held by hand, it can fit perfectly with the position of the thumb web of the hand, further improving the operation comfort of the operator.

[0032] Specifically, the clamping device is provided above the auxiliary grip 1 and includes: a slide rod 16, a slider 17, two movable arms 18, two connecting rods 19, and a steel wire (not marked in the figure). The slide rod 16 is arranged parallel to the auxiliary grip 1 above through a fixed block 4. The slider 17 is sleeved on one end of the slide rod 16 away from the handle 2, and a guide wheel 20 for guiding the movement of the transmission chain of the mechanical slave hand clamp is provided at the top of the slider 17 away from the auxiliary grip 1. The two movable arms 18 are symmetrically arranged at both ends of the slide rod 16. One end of the movable arm 18 is movably arranged on the fixed block 4, and the other end is movably connected to one end of the connecting rod 19. The finger rings 5 are respectively arranged on the outer sides of the movable arms 18. The other end of the connecting rod 19 is movably arranged on the side wall of the slider 17. One end of the steel wire is connected to the transmission chain of the mechanical slave hand clamp, and the other end bypasses the rear end of the guide wheel 20 and is fixed at the fixed hole 7; when the operator holds the installation handle by hand, the thumb, index finger, and middle finger are sleeved on the finger rings 5 on both sides. By manually controlling the finger rings 5, the angle change of the clamping device is controlled, that is, the finger rings 5 press the movable arms 18 inward, and the movable arms 18 drive the connecting rods 19 to move. Thus, the slider 17 connected to the end of the connecting rod 19 moves along the slide rod 16 toward the side of the hand-operated screw 30. Thus, under the action of the guide wheel 20, the transmission chain of the mechanical slave hand clamp elongates. When the operator manually controls the finger rings 5 to move the two finger rings 5 in opposite directions, the connecting rod 19 will drive the slider 17 to move along the slide rod 16 away from the side of the hand-operated screw 30. Thus, under the action of the guide wheel 20, the transmission chain of the mechanical slave hand clamp shortens. Through the above operations, the clamping and releasing of the mechanical slave hand clamp can be completed.

[0033] Specifically, since the hand sizes of different operators will be different, the forces exerted by operators with different hand shapes on the same installation handle and the holding comfort will be different. Therefore, a number of connection holes 21 are evenly opened along the arm body of the movable arm 18. The connection holes 21 can adjust the connection position between the movable arm 18 and the connecting rod 19 according to the hand shape of the operator, so that the installation handle can be suitable for any operator, improving the applicability of the installation handle and the operation comfort at the same time.

[0034] Specifically, in the present invention, when the operator operates the installation handle, in order to prevent the operator from adjusting the movement of the slider 17 through the finger ring 5 when it is unnecessary, thereby causing the mechanical slave hand clamp to be clamped and released due to misoperation, the present invention further provides a safety locking device, which includes: a guide rail 22, a locking pin 23, a trigger 24, and a compression spring 25. A chute 26 is opened in the fixed block 4. One end of the guide rail 22 is inserted into the chute 26, and the other end is fixedly arranged below the slider 17. A rack 27 is arranged at the bottom of the guide rail 22. A receiving groove 28 is arranged on one side of the auxiliary grip 1 perpendicular to the guide rail 22. The locking pin 23 is arranged above the receiving groove 28, and a tooth 29 meshing with the rack 27 is arranged at the top of the locking pin 23. The compression spring 25 is arranged below the receiving groove 28. One end of the trigger 24 is inserted into the receiving groove 28 between the compression spring 25 and the locking pin 23, and the other end extends out of the groove 3. With such a design, during work, when the trigger 24 is pressed, the tooth 29 at the top of the locking pin 23 is separated from the rack 27. At this time, the movement of the slider 17 can be realized through the finger ring 5. At the same time, the slider 27 drives the lower guide rail 22 to move. When the requirement is met, the trigger 24 is released. At this time, the trigger 24 pushes the locking pin 23 upward, so that the tooth 29 at its top meshes with the corresponding rack 27 below the guide rail 22, realizing the locking of the clamping device. In this way, even if the finger ring 5 is misoperated, the mechanical slave hand clamp will not be misclamped and released due to misoperation.

[0035] Specifically, the cross-section of the guide rail 22 is I-shaped, and the chute 26 is an I-shaped chute. With such a design, the connection stability between the guide rail 22 and the chute 26 is further improved.

[0036] Specifically, the guide rail 22 and the bottom of the slider 17 are at the same horizontal plane, and there is no contact between the end of the guide rail 22 and the slider 17 far from the handle 2 and the auxiliary grip 1. With such a design, it is convenient for the operator to hold the hand, and when holding the auxiliary grip 1, the guide rail 22 will not be touched, which will affect the clamping and release of the mechanical slave hand clamp.

[0037] Specifically, it further includes: a protective cover 14 arranged outside the clamping device. One end of it is fixed to the end of the sliding rod 16 through a hand-tightening screw 30, and the other end is arranged at the top of the end of the fixed block 4 far from the slider 17. In the present invention, the protective cover 14 can play a protective role for the clamping device. When the installation handle needs to be installed on the wrist joint, the protective cover 14 is removed through the hand-tightening screw 30. When the installation of the mechanical slave hand wire and the wrist joint is completed, the protective cover 14 is installed through the hand-tightening screw 30.

[0038] In the present invention, the auxiliary grip 1 and the handle 2 of the quick-installation handle are made of rubber. Among the remaining components, the slide rod 16 is processed from stainless steel, and the remaining parts are processed from hard aluminum, with an anodized color oxidation treatment on the surface. And the auxiliary grip 1 is embedded with a small electric connector, which can be quickly connected to the motor.

[0039] Installation method:

[0040] After docking the installation handle with the mechanical wrist joint, the installation handle can be quickly installed on the mechanical wrist joint part through the quick adjustment buckle. Manually remove the protective cover, then manually connect the transmission chain of the mechanical hand gripper and the steel wire through the quick connector, install the protective cover, pull down the rubber sleeve and plug in the electrical connection plug. After the rubber sleeve resets, the installation is completed.

[0041] Working process or working principle:

[0042] After the installation is completed, if it is necessary to open and close the mechanical hand gripper, by pressing the trigger 24, the tooth 29 at the top of the locking pin 23 is separated from the rack 27 below the guide rail 22. At this time, by operating the finger ring 5, the slider 17 can be moved along the slide rod 16, so as to realize the opening and closing of the mechanical hand gripper under the action of the guide wheel 20. When the clamping is completed or the gripper is closed, release the trigger 24. At this time, the tooth 29 meshes with the rack 27. At this time, even if the operator releases the installation handle, the clamped item will not fall off, and the operation is relatively convenient, time-saving and labor-saving.

Claims

1. A quick installation handle for a master-slave manipulator, characterized in that, Comprising: An auxiliary grip (1), one end of which extends obliquely downward to form a handle (2). The auxiliary grip (1) and the handle (2) form a gun shape, and a groove (3) is provided at the position where the auxiliary grip (1) is connected to the handle (2); A clamping device disposed above the handle (2) through a fixing block (4) for controlling the transmission chain of the mechanical slave hand clamp. Finger-adapted finger rings (5) are symmetrically provided on both sides thereof. An installation hole (6) for connecting to the mechanical wrist joint and a fixing hole (7) for fixing the transmission chain of the mechanical slave hand clamp are provided on the fixing block (4). An adjustment groove (8) is provided above the installation hole (6). An adjustment hole is provided on the fixing block (4) at a position perpendicular to the adjustment groove (8), and an arc-shaped groove (9) extends inwardly on one side of the fixing block (4); A quick adjustment buckle disposed on the side of the arc-shaped groove (9), which includes: a quick locking handle (10) and a locking rod (11). One end of the quick locking handle (10) extends to form an arc-shaped adjustment block (12) adapted to the arc-shaped groove (9). A connection groove (31) adapted to the end of the locking rod (11) is provided inwardly at the middle position of the arc-shaped adjustment block (12). One end of the locking rod (11) is inserted into the adjustment hole and locked by a circlip, and the other end is inserted into the connection groove (31) and is movably connected to the arc-shaped adjustment block (12) through an adjustment shaft (15), and the end of the adjustment shaft (15) is locked by a circlip; An electrical control switch (13) disposed inside the auxiliary grip (1) away from the handle (2).

2. The master-slave manipulator quick installation handle according to claim 1, characterized in that The included angle between the handle (2) and the auxiliary grip (1) is an obtuse angle.

3. The quick installation handle for the master-slave manipulator according to claim 1, characterized in that, The clamping device is disposed above the auxiliary grip (1) and includes: a slide rod (16), a slider (17), two movable arms (18), two connecting rods (19), and a steel wire. The slide rod (16) is disposed parallel to the auxiliary grip (1) above through the fixing block (4). The slider (17) is sleeved on the end of the slide rod (16) away from the handle (2), and a guide wheel (20) is provided at the top of the slider (17) away from the auxiliary grip (1). The two movable arms (18) are symmetrically disposed at both ends of the slide rod (16). One end of the movable arm (18) is movably disposed on the fixing block (4), and the other end is movably connected to one end of the connecting rod (19). The finger rings (5) are respectively disposed on the outer sides of the movable arms (18). The other end of the connecting rod (19) is movably disposed on the side wall of the slider (17). One end of the steel wire is connected to the transmission chain of the mechanical slave hand clamp, and the other end bypasses the rear of the guide wheel (20) and is fixed at the fixing hole (7).

4. The master-slave manipulator quick installation handle according to claim 3, characterized in that, The movable arm (18) is uniformly provided with a plurality of connection holes (21) along the arm body.

5. The master-slave manipulator quick-installation handle according to claim 3, wherein Also comprising: Safety locking device, comprising: a guide rail (22), a locking pin (23), a trigger (24), a compression spring (25), a chute (26) is formed in the fixed block (4), one end of the guide rail (22) is inserted into the chute (26), and the other end is fixedly arranged below the slider (17). A rack (27) is arranged at the bottom of the guide rail (22). A receiving groove (28) is arranged on one side of the auxiliary grip (1) perpendicular to the guide rail (22). The locking pin (23) is arranged above the receiving groove (28), and a tooth (29) meshing with the rack (27) is arranged at the top of the locking pin (23). The compression spring (25) is arranged below the receiving groove (28). One end of the trigger (24) is inserted into the receiving groove (28) between the compression spring (25) and the locking pin (23), and the other end extends out of the groove (3).

6. The master-slave manipulator quick installation handle according to claim 5, characterized in that The cross-section of the guide rail (22) is I-shaped, and the chute (26) is an I-shaped chute.

7. The master-slave manipulator quick installation handle according to claim 5, characterized in that The guide rail (22) and the bottom of the slider (17) are on the same horizontal plane, and there is no contact between the ends of the guide rail (22) and the slider (17) away from the handle (2) and the auxiliary grip (1).

8. The master-slave manipulator quick installation handle according to claim 3, characterized in that, It further comprises: A protective cover (14) arranged outside the clamping device, one end of which is fixed to the end of the sliding rod (16) by a hand-tightening screw (30), and the other end is arranged at the top of the end of the fixed block (4) away from the slider (17).

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