CN201295925Y - Remotely operated force-feedback hydraulic servo operating manipulator - Google Patents

Abstract

The utility model relates to a remote control force feedback hydraulic servo operation manipulator used in engineering. It is mainly composed of an arm, an actuator equipped with a displacement sensor, a four-bar linkage mechanism composed of a fixed baffle, a rocker, a connecting rod and a claw, and the root is connected to the upper and lower claws of two semi-cylindrical gears that mesh with each other. , and two pressure sensors used to measure the clamping force. One end of the actuator is hinged on the arm, and the other end is hinged on the hinge point of the rocker and the connecting rod of the four-bar linkage mechanism. The upper and lower claws together with the two roots The two half-cylindrical gears are connected to the fixed baffles on both sides through two central pins, and the fixed baffles are connected to the rocker arm of the manipulator through two pins. The utility model has the characteristics of simple structure, convenient installation, easy measurement of feedback force, low manufacturing cost, synchronous movement of upper and lower claws, large clamping torque that can be tolerated, high motion precision, good reliability, and easy realization of automatic control. For the grasping of various irregular objects.

Description

Remote control force feedback hydraulic servo manipulator

technical field

The utility model relates to a remote control force feedback hydraulic servo operation manipulator used in engineering, which is suitable for remote control grabbing operations in extreme environments such as high temperature, high pressure, strong radiation, suffocation, etc. Environment crawling jobs.

Background technique

In extreme environments such as high temperature, high pressure, strong radiation, and suffocation that are difficult for humans to access, such as space, underground, deep-sea resource development, nuclear reactor maintenance, disaster rescue and other operations, the master-slave remote operation method is widely used. The operator is in a safe position and manipulates the remote robotic hand to work through the force feedback manipulation device. At the same time, the force between the remote robotic hand and the work object is fed back to the manipulation device and sensed by the operator's hand, so that the operator It can judge the softness and hardness of the work object and the size of the work resistance, and has the feeling of operating the remote robot hand personally. This mode of operation will greatly improve the operator's ability to perceive the scene, and complete various complex tasks more effectively and accurately.

The operating manipulators currently used in engineering are not suitable for teleoperation. There are mainly two types: the first type has a fixed upper gripper and only the lower gripper moves; the second type has an upper gripper and a lower gripper that are linked by a triangle mechanism. The opening angle and operating angle of the former gripper are limited; the movement of the two grippers of the latter is not synchronized during the grasping process, and the transmission angle between the active gripper and the slave gripper is always changing, especially when the object is clamped. The small angle makes the relationship between the force of the actuator and the grasping force highly nonlinear, so the effect of teleoperation force feedback control based on the force of the actuator is not good. The utility model just proposes based on such background.

Contents of the invention

The purpose of this utility model is to design a manipulator capable of overcoming the above-mentioned shortcomings of the existing grasping manipulator, and better realize remote control force feedback hydraulic servo operation manipulator. The utility model has the advantages of simple structure, low cost, reliable operation, convenient assembly, disassembly and replacement.

The above-mentioned purpose of the utility model is achieved through the following technical solutions, which are described below in conjunction with the accompanying drawings.

A remote control force feedback hydraulic servo operation manipulator, which mainly consists of an arm 1, an actuator cylinder 2 equipped with a displacement sensor, a four-bar linkage mechanism composed of a fixed baffle 5, a rocker 4, a connecting rod 6 and a claw, The root is connected with the upper and lower claws 12, 13 of two intermeshing half-cylindrical gears 7, 8, and two pressure sensors 16, 17 for measuring the clamping force. One end of the actuator 2 is hinged on the arm 1. The other end is hinged at the hinge point of the rocker 4 and the connecting rod 6 of the four-bar linkage mechanism. The upper and lower claws 12, 13 and the two semi-cylindrical gears 7, 8 at the root are connected by two center pins 9, 15. On the fixed baffles 5 on both sides, the fixed baffles 5 are connected with the manipulator rocker arm 1 through two pin shafts 18,19.

Due to the adoption of the above mechanism, the remote control force feedback hydraulic servo operation manipulator proposed by the utility model has the following advantages compared with the existing grasping manipulator:

1. Simple structure, easy assembly and disassembly. Between the upper and lower grippers and the semi-cylindrical gear, and between them and the four-bar linkage mechanism, all are connected by pins, which is convenient for assembly and disassembly.

2. Stable performance and reliable operation. The two sensors used by the manipulator, including the displacement sensor for measuring the elongation of the piston rod of the actuator, can use differential transformer displacement sensors or magnetostrictive displacement sensors, and are installed on the inlet and outlet pipelines of the actuator. , the pressure sensor used to measure the grasping force is a sensor commonly used in engineering, and it has been proved that it can be used for a long time and has reliable performance.

3. The force of the claw is more reasonable. Since the roots of the two claws are driven by gear meshing, the transmission angle is the same no matter where the claws move, so the force of each component inside the gripper is more reasonable.

4. It is easy to realize force feedback. Due to the gear transmission between the two claws, the force of the actuator and the grasping force become weakly nonlinear or close to linear, so the pressure difference between the two chambers of the actuator is used as the feedback force signal, which can be directly It is easy to obtain a better force feedback control effect by using it as a feedback force signal or using it as a feedback force signal after simple adjustment.

Description of drawings

Figure 1: Structural diagram of the remote control force feedback hydraulic servo operation manipulator.

Figure 2: Structural diagram of the claw linkage part.

Figure 3: An example of the structure of an actuator.

Figure 4: An example of the structure of a joystick.

Figure 5: Example of telepilot control principle.

In the figure: 1. is the arm, 2. is the actuator, 3. is the piston rod, 4. is the rocker, 5. is the fixed baffle, 6. is the connecting rod, 7, 8. is the semi-cylindrical gear, 9. . is the center pin, 10. is the fixed pin, 11. is the claw connecting rod, 12. is the upper claw, 13. is the lower claw, 14. is the fixed pin, 15. is the center pin, 16, 17 . are pressure sensors, 18 and 19 are quick-loading pins, 20. are displacement sensors, 21. are the oil inlet and outlet ports of the rodless chamber of the actuating cylinder, 22. are the oil inlet and outlet ports of the actuating rod chamber, and 23. are the control Handle, 24. is angle sensor, 25. is return spring, 26. is bevel gear, 27. is pinion, 28. is torque motor, 29. is force feedback joystick, 30. is remote control force feedback hydraulic servo Working manipulator, 31. is the displacement signal output by the joystick, 31. is the displacement signal output by the manipulator, 33. is the adjustment and driver, 34. is the driving valve, 35. is the pressure signal of the rodless chamber of the manipulator actuator, 36. It is the pressure signal of the rod chamber for the manipulator actuator, and 37 is the nonlinear correction and driver.

Detailed ways

Further illustrate the concrete content of the present utility model below in conjunction with accompanying drawing.

Referring to a remote control force feedback hydraulic servo operation manipulator shown in Figure 1, it is mainly composed of an arm 1, an actuator 2 equipped with a displacement sensor, and a fixed baffle 5, a rocker 4, a connecting rod 6 and a claw. The four-bar linkage mechanism is composed of the upper and lower jaws 12, 13 of two intermeshed semi-cylindrical gears 7, 8 at the root, and two pressure sensors 16, 17 for measuring the clamping force, and one end of the actuator cylinder 2 It is hinged on the arm 1, and the other end is hinged on the hinge point of the rocker 4 and the connecting rod 6 of the four-bar linkage mechanism. The upper and lower claws 12, 13 together with the two semi-cylindrical gears 7, 8 at the root pass through two center pins The shafts 9, 15 are connected to the fixed baffles 5 on both sides, and the fixed baffles 5 are connected with the rocking arm 1 of the manipulator through two bearing pins 18, 19.

Referring to Fig. 2, be contained in two half cylindrical gears 7,8 of upper and lower claw 12,13 roots, its half circumference is a spur gear and the other half circumference is a cylinder, is provided with shaft hole on the half cylinder, passes through this Hole, two half-cylindrical gears 7,8 and upper and lower claws 12,13 are connected together by transition fit by two fixed pins 10,14 respectively.

Described upper and lower claws 12,13 and two semi-cylindrical gears 7,8 adopt clearance fit with two central pins 9,15, and can rotate around two central pins 9,15, and upper claws 12 and connecting The rods 6 are hinged by the paw connecting rod 11, the upper paw 12 is driven by the rocker 4 and the connecting rod 6 driven by the hydraulic cylinder 2, and is synchronized with the lower paw 13 through the meshing transmission of two semi-cylindrical gears 7 and 8 linkage.

The action principle of the manipulator is that the hydraulic cylinder 2 drives the rocker 4, drives the upper hand claw 12 to move through the swing connecting rod 6, and then drives the lower hand claw 13 to move in the opposite direction with equal amplitude through the meshing transmission of the two semi-cylindrical gears 7 and 8. Thereby, the grasping linkage of the upper and lower jaws 12, 13 is realized.

Actuating cylinder 2 is a hydraulic servo actuating cylinder equipped with a displacement sensor capable of measuring the elongation of piston rod 3 inside or outside, and pressure sensors 16 and 17 for feedback force measurement are installed at the inlet and outlet of actuator 2. On the oil pipeline, the clamping force of the manipulator is calculated by the difference of the measured pressure values.

The implementation process of the utility model will be described below through an implementation example of a remote control force feedback hydraulic servo operation manipulator, and an implementation example of using it to form a remote control system.

1. Manipulator

Figure 1 shows a specific example of a remote control force feedback hydraulic servo manipulator. It mainly includes: an arm 1, an actuator 2, a four-bar linkage mechanism composed of a fixed baffle 5, a rocker 4, a connecting rod 6, and upper and lower claws 11 and 12, and two upper and lower jaws connected with semi-cylindrical gears at the root. , lower jaws 12, 13, and pressure sensors 16, 17 for measuring the clamping force. One end of the cylinder 2 is hinged on the arm 1, and the other end is hinged on the hinge point of the rocker 4 and the connecting rod 6 of the four-bar linkage mechanism. The two upper and lower claws 12, 13 and the semi-cylindrical gears 7, 8 at the root are connected to the fixed baffles 5 on both sides through the central pin 9, 15, and the fixed baffle 5 is connected to the manipulator through the two pins 18, 19. Rocker 1 is connected.

Referring to Fig. 2, two semi-cylindrical gears 7, 8 that are contained in the root of the upper and lower paws, its half circumference is a spur gear and the other half circumference is a cylinder, and the middle position on one side of the half cylinder is provided with a shaft hole, through which Hole, with fixed pin 10,14 respectively half cylinder gear 7,8 and upper and lower pawl 12,13 adopt transition fit to be connected together. Upper and lower claws 12,13 and two semi-cylindrical gears 7,8 adopt clearance fit with fixed spindles 9,15, so that upper and lower claws 12,13 can rotate around fixed spindles 9,15.

During manipulator work, promote rocking bar 4 by actuating cylinder, promote the gripper connecting rod 11 that is welded on the upper claw 12 by connecting rod 6, drive upper claw 12 motions. Through the meshing transmission of the two semi-cylindrical gears 7 and 8, the lower jaw 13 is driven to move in the opposite direction with equal amplitude, thereby realizing the synchronous linkage between the lower jaw and the jaw 12 and 13.

Referring to Fig. 3, the actuator cylinder 2 in this example uses a servo cylinder equipped with a differential transformer type displacement sensor on the outside, and the elongation of the piston rod 3 is output in the form of voltage. Pressure sensors 16 and 17 are installed on the oil inlet and outlet pipelines of the rod cavity and the rodless cavity of the actuator 2, which are used to measure the clamping force of the manipulator and serve as feedback force initial signals.

2. Joystick

Figure 4 shows an example of the structure of the joystick. Its working principle is that when the joystick 23 is pushed, the angular displacement sensor 24 provided at the handle shaft can measure the rotational angular displacement of the joystick. In order to make the joystick be in the neutral position when it is in a normal state, a return spring 25 is respectively provided in the front and rear directions of the joystick. The lower end of the joystick is provided with a bevel gear 26, and a torque motor 28 drives the bevel gear 26 through the pinion 27 to form a feedback force on the joystick.

3. Remote control scheme

Fig. 5 is an example of a control scheme when the aforementioned joystick is used for telecontrolling the hydraulic servo work manipulator. When the operator pushes the force feedback joystick 29, the angular displacement of the joystick rotation is measured by the angular displacement sensor 24, and the displacement signal 31 of the joystick that is measured is the same as that of the manipulator output that the displacement sensor 20 on the operation manipulator records. After calculating the difference of the displacement signal 32, the driving valve 34 of the operating manipulator is driven through the conditioning and driver 33, so that the remote control force feedback hydraulic servo operating manipulator 30 moves. The two pressure sensors 16 and 17 installed on the rodless chamber and the rod chamber oil passage of the operating manipulator actuator respectively measure the pressure signal 35 of the rodless chamber of the manipulator actuator and the pressure of the rod chamber of the manipulator actuator The signal 36, after taking the difference, passes through the nonlinear correction and the driver 37 to drive the torque motor 28 on the joystick to provide the operator with operation feedback force.

Claims (4)

1, the servo manipulator of a kind of distant steering force feedback hydraulic, it is characterized in that mainly by arm (1), the start cylinder (2) of displacement transducer is housed, by fixed dam (5), rocking bar (4), the quadric chain that connecting rod (6) and paw constitute, root is connected with two intermeshing semicolumn gears (7,8) on, following paw (12,13), and measure two pressure sensors (16 that chucking power is used, 17) form, start cylinder (2) one ends are hinged on the arm (1), the other end is hinged on the hinge place of rocking bar (4) Yu the connecting rod (6) of quadric chain, on, following paw (12,13) together with two semicolumn gears (7 of root, 8) by two central pin shaft (9,15) be connected on the fixed dam (5) of both sides, fixed dam (5) is by two bearing pins (18,19) connect with manipulator rocking arm (1).

2, the servo manipulator of distant steering force feedback hydraulic according to claim 1, half circumference that it is characterized in that described two semicolumn gears (7,8) be spur gear and in addition semi-circumference be cylinder, on semicolumn, be provided with axis hole, adopt interference fits to be linked together two semicolumn gears (7,8) and upper and lower paw (12,13) by two fixed pin shafts (10,14) respectively.

3, the servo manipulator of distant steering force feedback hydraulic according to claim 1 and 2, it is characterized in that described on, following paw (12,13) and two semicolumn gears (7,8) with two central pin shaft (9,15) adopt matched in clearance, and can be around two central pin shaft (9,15) rotate, hinged between last paw (12) and the connecting rod (6) by paw connecting rod (11), the rocking bar (4) of last paw (12) by driving by hydraulic cylinder (2), connecting rod (6) drives motion, and by two semicolumn gears (7,8) engaged transmission and following paw (13) synchronous interaction.

4, the servo manipulator of distant steering force feedback hydraulic according to claim 1, it is characterized in that described start cylinder (2) is equipped with the hydraulic servo cylinder of the displacement transducer of measuring piston rod (3) elongation for its inside or outside, measuring two pressure sensors of feedback force (16,17) be installed in start cylinder (2) on oil-piping.

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