Quick mounting handle of master-slave manipulator

Abstract

A quick mounting handle of a master-slave manipulator comprises an auxiliary grip, a handle body, a clamping device, a safety locking device and a quick adjusting buckle, the handle body and the auxiliary grip form a gun shape and conform to ergonomics, holding operation is facilitated, discomfort cannot be brought to an operator in the operation process, the clamping device is arranged above the auxiliary grip through a fixing block, and the safety locking device is arranged on the clamping device. The clamping device is arranged between the clamping device and the auxiliary grip and used for controlling a mechanical slave hand transmission chain so that clamping and releasing of the mechanical slave hand clamp can be achieved, the safety locking device is arranged between the clamping device and the auxiliary grip and used for locking and releasing the clamping device, the situation that the mechanical slave hand clamp is opened and closed by mistake due to misoperation of an operator is avoided, and the quick adjusting buckle is arranged on the fixing block. The mounting handle and the mechanical wrist joint can be mounted and dismounted under the condition that no auxiliary tool is used, and maintenance is convenient.

Description

【Technical field】 [0001] The invention relates to an installation handle, in particular to a quick installation handle of a master-slave manipulator. 【Background technique】 [0002] In the nuclear industry or life science and other industries, there are serious radioactive media or toxic and harmful substances, and the manipulator is an indispensable alternative tool when the human body cannot reach it. In the production and processing of nuclear materials, the hot cell is a widely used infrastructure, and there are extremely strong radiation active substances and a strong corrosive atmosphere inside it. [0003] The master-slave manipulator is composed of operating handle (ie handle), active arm, wall pipe, slave arm, clamp and balance system. It can manually realize seven independent movements, including X, Y, and Z directions. Three linear motions, azimuth rotation, clamp pitch, clamp torsion, three rotation motions and clamping motion, have the advantages of light and f...

AI Technical Summary

Problems solved by technology

However, traditional master-slave manipulator handles (such as figure 1 ) is similar to a bicycle hand brake, which includes: a handle, a pressing handle, and the steel wire of the clamp is adjusted by pressing the pressing handle, so as to realize the clamping of the object by the clamp. This handle is fixed with the master-slave mechanical wrist joint, It is not easy to disassemble, which brings certain difficulties to maintenance, and when the manipulator is at zero position, the handle grip is in a vertical state, so when the human hand is holding the operation, the wrist is twisted upward, which will bring discomfort to the operator

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