CN110076821A - A kind of mechanical carpal joint for nuclear radiation environment - Google Patents
A kind of mechanical carpal joint for nuclear radiation environment Download PDFInfo
- Publication number
- CN110076821A CN110076821A CN201910461949.4A CN201910461949A CN110076821A CN 110076821 A CN110076821 A CN 110076821A CN 201910461949 A CN201910461949 A CN 201910461949A CN 110076821 A CN110076821 A CN 110076821A
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- China
- Prior art keywords
- spline
- lead screw
- screw
- clamp
- rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mechanical arm, in particular to a kind of mechanical carpal joint for nuclear radiation environment.Including clamp, rotary extension cylinder, spline I, shell, lead screw, screw I, rotary drive mechanism and telescoping drive mechanism, wherein spline I, lead screw, screw I, rotary drive mechanism and telescoping drive mechanism are all set in shell, one end of rotary extension cylinder and shell is slidably connected, clamp is set to the outside of shell, and it is connect with the outboard end of rotary extension cylinder, the inner end of rotary extension cylinder is connect with lead screw, spline I and screw I are sheathed on lead screw, telescoping drive mechanism is connect with screw I, for driving screw I to rotate, to drive rotary extension cylinder flexible by lead screw, rotary drive mechanism is connect with spline I, for driving spline I and screw synchronous to rotate, to drive rotary extension cylinder to rotate.The present invention has rotation and flexible freedom degree, and has both clamp parallelly opening-and-closing function, and mechanical structure lasts a long time, and overall stability is relatively good.
Description
Technical field
The present invention relates to a kind of mechanical arm, in particular to a kind of mechanical carpal joint for nuclear radiation environment.
Background technique
With the continuous development of China's nuclear industry technology, relevant industry for be applied to nuclear radiation environment manipulator,
The requirement of the equipment such as robot is also gradually increased.Dynamic power machine hand is a kind of to be widely used in the typical nuclear radiation environment such as hot cell
On the one hand robotic device, the equipment meet the requirement of shelter of corresponding nuclear radiation environment, on the other hand have special freedom
Degree is designed to meet the general operational requirements of such environment.
Dynamic power machine hand equipment needs to complete complicated operation in narrow space, to meet the demand, needs to dynamic
The wrist joint of power manipulator does special designing, makes it have freedom degree needed for meeting operation, while also to guarantee equipment body
Small, the characteristics such as convenient for safeguarding of product.The carpal rotation of the prior art and telescoping mechanism are realized by inside and outside double layer sleeve barrel, mechanical
Structure is complex, and assembling and setting and later maintenance difficulty are larger.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of mechanical carpal joint for nuclear radiation environment, it should
Wrist joint has rotation and flexible freedom degree, and has the function of clamp parallelly opening-and-closing.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of mechanical carpal joint for nuclear radiation environment, including clamp, rotary extension cylinder, spline I, shell, lead screw,
Screw I, rotary drive mechanism and telescoping drive mechanism, wherein spline I, lead screw, screw I, rotary drive mechanism and flexible driving
Mechanism is all set in the shell, and one end of the rotary extension cylinder and the shell is slidably connected, and the clamp is set to
It the outside of the shell and is connect with the outboard end of the rotary extension cylinder, the inner end of the rotary extension cylinder and the silk
Thick stick connection, the spline I and screw I are sheathed on lead screw, and the screw I forms screw thread pair, the flexible driving with lead screw
Mechanism and the screw I are sequentially connected, for driving the screw I to rotate, to drive the rotation to stretch by the lead screw
Contracting cylinder is flexible, and the rotary drive mechanism and the spline I are sequentially connected, for driving the spline I and screw synchronous to rotate,
To drive the rotary extension cylinder to rotate.
The outside of the spline I and screw I is equipped with spline nut seat, and the spline nut seat is connect with the shell.
The telescoping drive mechanism includes lead screw spur gear group and lead screw driving motor, the output of the lead screw driving motor
End is connect with lead screw spur gear group, and the lead screw spur gear group is connect with the screw I, and the lead screw driving motor passes through lead screw
Spur gear group drives the screw I to rotate, to drive the lead screw for linear motion.
The rotary drive mechanism includes spline driving motor and spline gear group, the output end of the spline driving motor
It is connect with spline gear group, the spline gear group is connect with the spline I, and the spline driving motor passes through spline gear group
The spline I is driven to rotate, so that the screw synchronous be driven to rotate.
Self-lubricating bearing is equipped between the rotary extension cylinder and the shell.
The mechanical carpal joint for nuclear radiation environment further includes for driving the clamp to open or be closed
Clamp driving mechanism for opening or closing, the clamp include the first clamping jaw and the second clamping jaw, and first clamping jaw and second clamping jaw are logical
The end that two groups of parallelogram connection-rods are connected to the rotary extension cylinder is crossed, the clamp driving mechanism for opening or closing passes through two companies
Bar is hinged with parallelogram connection-rod described in two groups respectively.
The clamp driving mechanism for opening or closing includes ball spline, clamp lead screw, connecting cylinder, screw II and clamp power dress
Set, wherein ball spline passes through the centre bore of the lead screw, and one end is inserted in the rotary extension cylinder, the other end with it is described
The connection of clamp power device；The clamp lead screw be set in the rotary extension cylinder and one end by splined member with it is described
Ball spline connection, it is hinged that the other end passes through screw II and two connecting rod being threadedly engaged.
The splined member includes spline II, connecting cylinder and expansion set, and wherein spline II is connect with the ball spline, described
Connecting cylinder is rotatablely arranged in the rotary extension cylinder, and one end is connect with the spline II, the other end by expansion set with
The clamp lead screw connection.
The axis collinear of the ball spline and clamp lead screw.
First clamping jaw and second clamping jaw are parallel to each other.
The present invention has the following advantages and beneficial effects:
1. the transmission device inside inventive shell all uses gear drive, without the common synchronous belt of general industrial robot
Parts, the mechanical structures such as wheel last a long time.
2. having the part of relative motion few between the present invention and shell, overall stability is relatively good.
3. the present invention uses ball-screw ball spline device, with an axis transmitting rotation and expanding-contracting action, simplify interior
Portion's mechanical structure, and effectively reduce equipment overall volume.
4. the present invention uses the structure type of lead screw nesting, the lead screw for controlling clamp is set to control rotation and flexible silk
In thick stick, the space utilization rate of equipment is effectively improved.
5. entirety mechanical mechanism easy access maintenance of the invention.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the A-A cross-sectional view of Fig. 1；
Fig. 3 is the B-B cross-sectional view of Fig. 2；
Fig. 4 is explosive view of the invention；
Fig. 5 is structure principle chart of the invention.
In figure: 1, clamp, 2, self-lubricating bearing, 3, rotary extension cylinder, 4, lead screw, 5, spline gear group, 6, spline I, 7,
Screw I, 8, lead screw spur gear group, 9, spline driving motor, 10, lead screw driving motor, 11, ball spline, 12, ball spline it is straight
Gear set, 13, ball spline driving motor, 14, clamp lead screw, 15, shell, 16, side shell, 17, spline nut seat, 18,
Rolling bearing I, 19, rolling bearing II, 20, spline II, 21, connecting cylinder, 22 be expansion set, and 23 be screw II, and 24 be connecting rod, and 25 are
Parallelogram connection-rod.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figs 1-4, a kind of mechanical carpal joint for nuclear radiation environment provided by the invention, including clamp 1, rotation
Turn retracting cylinder 3, spline I 6, shell 15, lead screw 4, screw I 7, rotary drive mechanism and telescoping drive mechanism, wherein spline I 6, silk
Thick stick 4, screw I 7, rotary drive mechanism and telescoping drive mechanism are all set in shell 15, and the one of rotary extension cylinder 3 and shell 15
End is slidably connected, and clamp 1 is set to the outside of shell 15 and connect with the outboard end of rotary extension cylinder 3, rotary extension cylinder 3
Inner end is connect with lead screw 4, and spline I 6 and screw I 7 are sheathed on lead screw 4, and screw I 7 and lead screw 4 form screw thread pair, spline I
6 and the outside of screw I 7 be equipped with spline nut seat 17, spline nut seat connect with shell 15.Telescoping drive mechanism and screw I 7 pass
Dynamic connection, for driving screw I 7 to rotate, thus drive rotary extension cylinder 3 flexible by lead screw 4, rotary drive mechanism and spline
I 6 transmission connections, for driving 4 synchronous rotary of spline I 6 and lead screw, so that rotary extension cylinder 3 be driven to rotate.
Telescoping drive mechanism includes lead screw spur gear group 8 and lead screw driving motor 10, and lead screw spur gear group 8 includes mutually nibbling
The large straight gear and small Spur gear of conjunction, small Spur gear are set to the output end of lead screw driving motor 10, large straight gear and screw I 7
It is co-axially mounted and is connect with screw I 7.Lead screw driving motor 10 drives screw I 7 to rotate by lead screw spur gear group 8, to drive
Dynamic lead screw 4 is for linear motion.
Rotary drive mechanism includes spline driving motor 9 and spline gear group 5, the output end and flower of spline driving motor 9
Key gear set 5 connects, and spline gear group 5 is connect with spline I 6, and spline driving motor 9 drives spline I 6 by spline gear group 5
Rotation, to drive 4 synchronous rotary of lead screw.
Self-lubricating bearing 2 is equipped between rotary extension cylinder 3 and shell 15.
Mechanical carpal joint for nuclear radiation environment further includes that clamp 1 opens or the opening and closing of the clamp of closure is driven for driving
Motivation structure, clamp 1 include the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw pass through two groups of parallelogram connection-rods 25
It is connected to the end of rotary extension cylinder 3, clamp driving mechanism for opening or closing is connected with two groups of parallelogram respectively by two connecting rods 24
Bar 25 is hinged.First clamping jaw and the second clamping jaw are parallel to each other.
As shown in figs. 3 and 5, clamp driving mechanism for opening or closing includes ball spline 11, clamp lead screw 14, connecting cylinder 21, screw
II 23 and clamp power device, wherein ball spline 11 passes through the centre bore of lead screw 4, and one end is inserted in rotary extension cylinder 3,
The other end is connect with clamp power device；Clamp lead screw 14 is set in rotary extension cylinder 3 and one end passes through splined member and rolling
Spline 11 connects, and the other end passes through the screw II 23 being threadedly engaged and two connecting rods 24 are hinged.
Splined member includes spline II 20, connecting cylinder 21 and expansion set 22, and wherein spline II 20 is connect with ball spline 11, even
Connect cylinder 21 is rotatablely arranged in rotary extension cylinder 3, and one end is connect with spline II 20, and the other end passes through expansion set 22 and clamp
Lead screw 14 connects.The axis collinear of ball spline 11 and clamp lead screw 14.
Clamp power device includes ball spline spur gear group 12 and ball spline driving motor 13, and wherein ball spline drives
Dynamic motor 13 is set to the bottom of shell 15 and output end is connected by ball spline spur gear group 12 and the transmission of ball spline 11
It connects, ball spline driving motor 13 drives ball spline 11 and clamp lead screw 14 to rotate, because of screw II 23 and 14 spiral shell of clamp lead screw
Line connection, the screw II 23 is for linear motion, to push two clamping jaws of clamp 1 to open or be closed by link mechanism.
The rotation of rotary extension cylinder 3 and the realization of expanding-contracting action:
Axis expanding-contracting action: spline 6 is static, and lead screw driving motor 10 drives screw 7 to rotate by lead screw spur gear group 8, because
Screw 7 is threadedly coupled with lead screw 4, then lead screw 4 drive rotary extension cylinder 3 do stretching motion, at this time spline driving motor 9 it is static,
And band-type brake is locked.
Axis rotary motion: spline 6 and screw 7 are rotated with same rotational speed, and spline driving motor 9 passes through spline gear group at this time
5 driving splines 6 rotate, so that lead screw 4 be driven to rotate.
Clamp pedestal is connect with rotary extension cylinder 3, the clamp lead screw 14 and ball spline 11 as clamp power intake
It is connect with clamp opening and closing power device (brush direct current motor and planet-gear speed reducer) in shell 15, when clamp power device
When driving clamp lead screw 14 to rotate by ball spline 11, screw drives the clamping jaw parallelly opening-and-closing of link mechanism driving clamp 1.
Lead screw 4 is to intersect the straight line lead screw for having opened up ball-screw groove and ball spline groove on a shaft, lead screw
With Special support bearing has been directly loadable on screw outer ring respectively；The device is widely used in the z-axis of horizontal articulated robot.
The present invention uses the structure type of lead screw nesting, and the lead screw for controlling clamp is set to control rotation and flexible lead screw
It is interior, effectively improve the space utilization rate of equipment.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of mechanical carpal joint for nuclear radiation environment, which is characterized in that including clamp (1), rotary extension cylinder (3),
Spline I (6), shell (15), lead screw (4), screw I (7), rotary drive mechanism and telescoping drive mechanism, wherein spline I (6), silk
Thick stick (4), screw I (7), rotary drive mechanism and telescoping drive mechanism are all set in the shell (15), the rotary extension
Cylinder (3) and one end of the shell (15) be slidably connected, the clamp (1) be set to the outside of the shell (15) and with institute
The outboard end connection of rotary extension cylinder (3) is stated, the inner end of the rotary extension cylinder (3) is connect with the lead screw (4), the flower
Key I (6) and screw I (7) are sheathed on lead screw (4), and the screw I (7) and lead screw (4) form screw thread pair, the flexible drive
Motivation structure and the screw I (7) are sequentially connected, for driving the screw I (7) to rotate, to be driven by the lead screw (4)
The rotary extension cylinder (3) is flexible, and the rotary drive mechanism and the spline I (6) are sequentially connected, for driving the spline
I (6) and lead screw (4) synchronous rotary, so that the rotary extension cylinder (3) be driven to rotate.
2. the mechanical carpal joint according to claim 1 for nuclear radiation environment, which is characterized in that the spline I (6)
Spline nut seat (17) are equipped with the outside of screw I (7), the spline nut seat is connect with the shell (15).
3. the mechanical carpal joint according to claim 1 for nuclear radiation environment, which is characterized in that the flexible driving
Mechanism includes lead screw spur gear group (8) and lead screw driving motor (10), the output end and lead screw of the lead screw driving motor (10)
Spur gear group (8) connection, the lead screw spur gear group (8) connect with the screw I (7), and the lead screw driving motor (10) is logical
It crosses lead screw spur gear group (8) and drives screw I (7) rotation, to drive the lead screw (4) for linear motion.
4. the mechanical carpal joint according to claim 1 for nuclear radiation environment, which is characterized in that the rotation driving
Mechanism includes spline driving motor (9) and spline gear group (5), the output end and spline gear of the spline driving motor (9)
Group (5) connection, the spline gear group (5) connect with the spline I (6), and the spline driving motor (9) passes through spline gear
Group (5) drives spline I (6) rotation, to drive the lead screw (4) synchronous rotary.
5. the mechanical carpal joint according to claim 1 for nuclear radiation environment, which is characterized in that the rotary extension
Self-lubricating bearing (2) are equipped between cylinder (3) and the shell (15).
6. the mechanical carpal joint according to claim 1 for nuclear radiation environment, which is characterized in that further include for driving
The clamp driving mechanism for opening or closing that the clamp (1) is opened or is closed is moved, the clamp (1) includes the first clamping jaw and the second clamping jaw,
First clamping jaw and second clamping jaw pass through two groups of parallelogram connection-rods (25) and are connected to the rotary extension cylinder (3)
End, the clamp driving mechanism for opening or closing are cut with scissors with parallelogram connection-rod (25) described in two groups respectively by two connecting rods (24)
It connects.
7. the mechanical carpal joint according to claim 6 for nuclear radiation environment, which is characterized in that the clamp opening and closing
Driving mechanism includes ball spline (11), clamp lead screw (14), connecting cylinder (21), screw II (23) and clamp power device,
Middle ball spline (11) passes through the centre bore of the lead screw (4), and one end is inserted in the rotary extension cylinder (3), the other end
It is connect with the clamp power device；The clamp lead screw (14) is set in the rotary extension cylinder (3) and one end passes through flower
Key asembly is connect with the ball spline (11), and the other end passes through the screw II (23) being threadedly engaged and two connecting rods (24)
Hingedly.
8. the mechanical carpal joint according to claim 7 for nuclear radiation environment, which is characterized in that the splined member
Including spline II (20), connecting cylinder (21) and expansion set (22), wherein spline II (20) is connect with the ball spline (11), described
Connecting cylinder (21) is rotatablely arranged in the rotary extension cylinder (3), and one end is connect with the spline II (20), the other end
It is connect by expansion set (22) with the clamp lead screw (14).
9. the mechanical carpal joint according to claim 8 for nuclear radiation environment, which is characterized in that the ball spline
(11) and the axis collinear of clamp lead screw (14).
10. the mechanical carpal joint according to claim 6 for nuclear radiation environment, which is characterized in that first folder
Pawl and second clamping jaw are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910461949.4A CN110076821A (en) | 2019-05-30 | 2019-05-30 | A kind of mechanical carpal joint for nuclear radiation environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910461949.4A CN110076821A (en) | 2019-05-30 | 2019-05-30 | A kind of mechanical carpal joint for nuclear radiation environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110076821A true CN110076821A (en) | 2019-08-02 |
Family
ID=67422667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910461949.4A Pending CN110076821A (en) | 2019-05-30 | 2019-05-30 | A kind of mechanical carpal joint for nuclear radiation environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110076821A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06300106A (en) * | 1993-04-10 | 1994-10-28 | T H K Kk | Electric actuator |
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN105895181A (en) * | 2016-05-09 | 2016-08-24 | 上海交通大学 | Grabbing device used for medium-low-radioactivity waste barrels |
| CN107443417A (en) * | 2017-09-22 | 2017-12-08 | 中国东方电气集团有限公司 | A kind of wrist joint with the flexible free degree |
| CN107662198A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of five degree-of-freedom manipulator suitable for small space |
| CN108544524A (en) * | 2018-04-25 | 2018-09-18 | 西安工业大学 | A kind of parallel clamping hand based on diving robot |
-
2019
- 2019-05-30 CN CN201910461949.4A patent/CN110076821A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06300106A (en) * | 1993-04-10 | 1994-10-28 | T H K Kk | Electric actuator |
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN105895181A (en) * | 2016-05-09 | 2016-08-24 | 上海交通大学 | Grabbing device used for medium-low-radioactivity waste barrels |
| CN107443417A (en) * | 2017-09-22 | 2017-12-08 | 中国东方电气集团有限公司 | A kind of wrist joint with the flexible free degree |
| CN107662198A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of five degree-of-freedom manipulator suitable for small space |
| CN108544524A (en) * | 2018-04-25 | 2018-09-18 | 西安工业大学 | A kind of parallel clamping hand based on diving robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190802 |
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| RJ01 | Rejection of invention patent application after publication |