Parallel multi-manipulator mechanism

Abstract

The invention discloses a parallel multi-manipulator mechanism. The parallel multi-manipulator mechanism comprises an SP-type shaft sleeve set, a machine base, a movable table, four SPS-type driving branches, inner and outer flexible finger mechanisms and three screw drivers. The SP-type shaft sleeve set comprises a core tube, an inner sleeve, a fixed sleeve, an outer sleeve and a ball sleeve. The ball sleeve is connected with a ball pair of the machine base. One end of the fixed sleeve is vertically and fixedly connected with the movable table. The fixed sleeve is further connected with the inner sleeve and the outer sleeve in the radial direction in a sliding mode. The three screw drivers drive the core tube, the inner sleeve and the outer sleeve to be stretched and retracted. The fixed sleeve, the inner sleeve and the outer sleeve form inner and outer manipulator mechanisms which are circumferentially and evenly distributed in a staggered mode through connecting rods and under-actuated branches. One end of the core tube can move along with operation tools like scalpels, hose sight glasses, syringe needles and tooth drilling and polishing utensils to absorb and convey fluid. The long and thin SP-type shaft sleeve set can stretch into a narrow space along with the inner and outer manipulator mechanisms to achieve alternate grabbing and spatial expansion, and the core tube is used for expanding life channels. The parallel multi-manipulator mechanism is simple and compact in structure and suitable for idle station maintenance, deep sea exploration, medical operations and disaster area relief.

Description

technical field [0001] The invention belongs to the field of robots, in particular to an operating hand mechanism. Background technique [0002] Using robots to explore and maintain space stations in the deep sea is an important research content in the field of aerospace and navigation at home and abroad. In 2007, the Canadian Space Agency installed the Dextre robot outside the International Space Station to repair the space station's Hubble telescope. In recent years, my country's Jiaolong submarine has carried out deep-sea exploration, specimen collection and salvage with robots many times. However, at present, the robot is placed outside the cabin as a whole, with high movement resistance, and it is easy to be damaged or entangled in extreme or corrosive environments. In 2000, the United States developed the world's leading da-Vinci surgical robot. Although the surgical robot has the advantages of high precision, avoiding human hand tremors, and less bleeding, it has m...

AI Technical Summary

Problems solved by technology

However, performing multiple operations at the same location is a difficult problem in the design of robots for air station maintenance, deep sea exploration, medical surgery, and rescue operations in disaster areas.

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