CN103817682A - Joint force feedback remote operation main hand - Google Patents
Joint force feedback remote operation main hand Download PDFInfo
- Publication number
- CN103817682A CN103817682A CN201410090804.5A CN201410090804A CN103817682A CN 103817682 A CN103817682 A CN 103817682A CN 201410090804 A CN201410090804 A CN 201410090804A CN 103817682 A CN103817682 A CN 103817682A
- Authority
- CN
- China
- Prior art keywords
- housing
- vii
- potentiometer
- iii
- driving gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention specifically discloses a joint force feedback remote operation main hand. The joint force feedback remote operation main hand comprises six sequentially connected connection parts I, II, III, IV, V and VI and a handle VII connected with the connection rod part VI; all connection rod parts and the connection rod part VI and the handle VII are connected by rotary joints; each rotary joint is provided with an angular displacement measuring device; the joint at the connection position of each connection rod part is provided with a motor and a speed reducer; the input end of each speed reducer is directly connected with a corresponding motor shaft; the angular displacement of each output end of each speed reducer is measured by the corresponding angular displacement measuring device through the transmission of a pair of gears; a turnup plate potentionmeter, a linear displacement potentionmeter and button switches which are used for controlling operation tools affiliated to the tail end of a driven end manipulator are arranged on the handle. The one turnup plate potentionmeter, one linear displacement potentionmeter and three button switches are arranged in the handle, so the controllable tools affiliated to the tail end of the driven end manipulator can be controlled.
Description
Technical field
The present invention relates to the main hand of the distant operation of a kind of mechanical arm principal and subordinate, the main hand of the distant operation of especially small-sized articulated type force feedback, belongs to industrial robot teleoperation field.
Background technology
Along with developing rapidly of industrial technology, industrial robot is used widely in industries such as assembling, welding, carryings, and has realized automatic control, without personnel's participation.But in nuclear radiation, under water and in non-structure environment, the diversified Mission Operations such as electrification in high voltage, be still difficult to realize the automatic job of robot, still need personnel to participate in controlling, the distant operation of principal and subordinate is the most frequently used method of operating.
Principal and subordinate's tele-robotic system can carry out complicated manipulation operation telepresenc technology under uncertain condition to be between man-robot and between robot-environment, to have created a kind of multidimensional information interactive environment of harmony, extensive employing power feel telepresenc technology in higher master-slave system, makes operator have real power feel impression to the process of handled operation.
Chinese patent literature 103170961A discloses a kind of " the main hand of modularization master-slave manipulators tool arm control ", and this main hand physical dimension and quality are larger, can only fix use, and can not provide power feel feedback to operator in the time of operation.
At present, have power feel feedback the main hand of distant operation all exist physical dimension and quality larger, the problem that can only fix use, in the time of operation, operator's visual angle is fixed, and even has blind spot, must rely on various visual angles image display system operate.In addition, the main hand of existing distant operation does not generally have unnecessary gauge tap, to needing to add in addition control device from the additional controllable tool of end mechanical arm tail end.
Summary of the invention
For above problem, the present invention has designed a kind of small-sized, main hand of the distant operation of articulated type force feedback, can fix use, also can carry and carry out movable type and operate by operator, a seesaw potentiometer, a trigger potentiometer and three press buttones are installed in handle of the present invention, have been can be used for controlling from the additional controllable tool of end mechanical arm tail end.
The present invention is by the following technical solutions:
The main hand of a kind of distant operation of articulated type force feedback, comprise 6 linkage component I, II, III, IV, V, VI and handle VII that are connected with linkage component VI that connect successively, and the junction between each linkage component and between linkage component VI and handle VII is all connected by rotary joint, potentiometer is all installed on each rotary joint, wherein on the joint of each linkage component junction, motor and speed reducer is installed; Described reductor input is directly connected with motor shaft, the angular displacement of output by a pair of gear drive by the potentiometer measurement corresponding with it; On described handle, be provided with for controlling from seesaw potentiometer, straight-line displacement potentiometer and the press button of end mechanical arm tail end Appendage Task instrument.
Described linkage component I comprises housing I and is arranged at the motor I in housing, motor flange I, reductor I, potentiometer I, driven gear I, driving gear I, support I, bearing holder (housing, cover) I, pin I, bearing I and output flange I, described motor I is connected in reductor I by motor flange I, described driving gear I is arranged on the output flange of reductor I, described driven gear I is arranged on the axle of potentiometer I and engages with driving gear, the outer surface of described bearing holder (housing, cover) I and the endoporus of bearing I is joined merga pass pin I and driving gear I is circumferentially located, the outer surface of described output flange I is joined merga pass screw with the endoporus of bearing I and is connected with bearing holder (housing, cover) I, bearing holder (housing, cover) I and output flange I are carried out axial location by the inner ring of bearing I, on output flange I outer face, being processed with screwed hole is used for being connected with linkage component II.
Described linkage component I is arranged on base;
Described reductor I is arranged in support I, and described support I positions and be fixed on housing I inside by the outer ring of bearing I.
Described linkage component II comprises housing II and is arranged on motor II, reductor II, potentiometer II, driving gear II, driven gear II, the motor flange II in housing II, described housing II is connected in the output flange I in linkage component I, described motor II is connected in reductor II by motor flange II, described reductor II and potentiometer II are installed in housing II, described driving gear II is arranged on the output flange of reductor II, and described driven gear II is arranged on the axle of potentiometer II and engages with driving gear II.
The two ends of described housing II are provided with protecgulum II and bonnet II, be processed with internal thread and be used for being connected with linkage component III on the end face of described driving gear II.
Described linkage component III comprises connecting plate III, housing III and be arranged on the motor III in housing III, reductor III, potentiometer III, driving gear III, driven gear III, motor flange III, described connecting plate III is connected by screw in the driving gear II in linkage component II, one end of described housing III is connected by screw in connecting plate III, described motor III is connected in reductor III by motor flange III, described reductor III and potentiometer III are installed in housing III, described driving gear III is arranged on the output flange of reductor III, described driven gear III is arranged on the axle of potentiometer III and engages with driving gear III,
The two ends of described housing III are provided with protecgulum III and bonnet III, be processed with internal thread and be used for being connected with linkage component IV on the end face of described driving gear III.
Described linkage component IV comprises connecting plate IV, housing IV and be arranged on the motor IV in housing IV, reductor IV, potentiometer IV, driving gear IV, driven gear IV, motor flange IV, described connecting plate IV is connected by screw in the driving gear III in linkage component III, one end of described housing IV is connected by screw in connecting plate IV, described motor IV is connected in reductor IV by motor flange IV, described reductor IV and potentiometer IV are installed in housing IV, described driving gear IV is arranged on the output flange of reductor IV, described driven gear IV is arranged on the axle of potentiometer IV and engages with driving gear IV,
The two ends of described housing IV are provided with protecgulum IV and bonnet IV, be processed with internal thread and be used for being connected with linkage component IV on the end face of described driving gear IV.
Described linkage component V comprises connecting plate V, housing V and be arranged on the motor V in housing V, reductor V, potentiometer V, driving gear V, driven gear V, motor flange V, described connecting plate V is connected by screw in the driving gear IV in linkage component IV, one end of described housing V is connected by screw in connecting plate V, described motor V is connected in reductor V by motor flange V, described reductor V and potentiometer V are installed in housing V, described driving gear V is arranged on the output flange of reductor V, described driven gear V is arranged on the axle of potentiometer V and engages with driving gear V.
The two ends of described housing V are provided with protecgulum V and bonnet V, be processed with internal thread and be used for being connected with linkage component VI on the end face of described driving gear V.
Described linkage component VI comprises connecting plate VI, housing VI and be arranged on the potentiometer frame VI in housing VI, potentiometer VI, internal bearing sleeve VI, little O type circle VI, bearing VI and outer bearing sleeve VI, described connecting plate VI is connected by screw in the driving gear V in linkage component V, one end of described housing VI is connected by screw in connecting plate VI, described potentiometer frame VI and the outer ring of bearing VI are pressed in connecting plate VI by housing VI, described potentiometer VI is arranged in potentiometer frame VI, described internal bearing sleeve VI and outer bearing sleeve VI are carried out axial location and are connected by screw by the inner ring of bearing VI, and internal bearing sleeve VI and hold axle sleeve VI composition surface outward and the axle of potentiometer VI between little O type circle VI is installed, the frictional force increasing by little O type circle VI distortion is rotated the axle of potentiometer VI together with holding axle sleeve VI outward, in described outer bearing sleeve VI, be processed with joint face and the screwed hole for being connected with handle VII.
Hold outside between axle sleeve VI and housing VI and large O type circle VI increase damping is installed to improve the comfortableness of operation.
Described handle VII comprises adapter sleeve VII, handle housing VII-1, linear potentiometers VII, plate machine VII, seesaw potentiometer VII, press button VII, trigger axle VII, round end axle VII, pull bar VII, square head shaft VII and handle housing VII-2, described adapter sleeve VII is fixed by screws in the outer bearing sleeve VI in linkage component VI, described handle housing VII-1 is fixed by screws in adapter sleeve VII, described handle housing VII-2 are connected by screw with handle housing VII-1 handle housing that common composition is complete, described linear potentiometers VII is fixed by screws in inner side, handle housing VII-2, described square head shaft VII is arranged on the top of linear potentiometers VII shifting axle and fixes with holding screw, described plate machine VII is arranged on the centre of handle housing VII-1 and handle housing VII-2 by trigger axle VII, one end of plate machine VII is connected with one end of pull bar VII by round end axle VII, the other end of pull bar VII is connected in square head shaft VII, described seesaw potentiometer VII and three press button VII are installed on handle housing.
Operation principle of the present invention is as follows:
If from end mechanical arm and the main hand isomorphism of the present invention, can be by the potentiometer composition control closed loop of the potentiometer from the each joint of end mechanical arm or encoder and the each joint installation of the main hand of the present invention, in the time that operator operates main hand, follow the motion in the each joint of main hand completely from the motion in the each joint of arm.
If from end mechanical arm and the main hand isomery of the present invention, the main hand working space of model and the relation of hinting obliquely at from end mechanical arm working space, in the time that operator operates main hand, the position of main hand handle and attitude are hinted obliquely at from end mechanical arm end effector, by determining from the motion in the end each joint of mechanical arm from the kinematic contrary solution of end mechanical arm.
From holding the service load of mechanical arm tail end by being arranged on the force sensor measuring from end mechanical arm, after suitably dwindling, should feed back to operator's power as main hand end, this feedback force is produced and is obtained after reductor amplifies by the motor that is arranged on the each joint of main hand, and the size of each joint motor power output is determined jointly by feedback force, the each linkage component gravity of main hand, joint-friction power and main hand attitude.
The linear potentiometers, seesaw potentiometer and three press buttones that are arranged in handle of the present invention can provide two groups of analog quantitys and three groups of switching values, according to selecting from the working control of end mechanical arm tail end auxiliary tools.
Beneficial effect of the present invention is as follows:
1. volume of the present invention is little, quality is light, can be used as the main hand of portable distant operation and uses.
2. the present invention can, according to the workload size from arm end, provide corresponding power visual information to improve the comfortableness of operation and to alleviate the sense of fatigue of operator's long-time operation to operator.
3. the linear potentiometers of installing in handle of the present invention, seesaw potentiometer and three press buttones can be used for controlling electric, the hydraulic pressure additional from end mechanical arm tail end or pneumatic tool.
4. the potentiometer using in the present invention can change the high-precision encoder of analog structure different operating principle as required into.
Accompanying drawing explanation
Fig. 1 is the schematic three dimensional views of the main hand of the present invention's distant operation of a kind of articulated type force feedback.
Fig. 2 is the structure chart of linkage component A1 and linkage component A2 in the present invention.
Fig. 3 is the structure chart of linkage component A3 and linkage component A4 in the present invention.
Fig. 4 is the main TV structure figure of linkage component A5 in the present invention, linkage component A6 and handle A7.
Fig. 5 is the side-looking structure chart of linkage component A5 in the present invention, linkage component A6 and handle A7
In figure: A1 linkage component I, A2 linkage component II, A3-linkage component III, A4-linkage component IV, A5-linkage component V, A6-linkage component VI, A7-handle VII, 101-base, 102-motor I, 103-housing I, 104-motor flange I, 105-potentiometer I, 106-reductor I, 107-driven gear I, 108-driving gear I, 109-support I, 110-bearing holder (housing, cover) I, 111-pin I, 112-bearing I, 113-output flange I, 201-housing II, 202-driven gear II, 203-protecgulum II, 204-bonnet II, 205-potentiometer II, 206-motor II, 207-motor flange II, 208-reductor II, 209-driving gear II, 301-connecting plate III, 302-housing III, 303-driven gear III, 304-protecgulum III, 305-bonnet III, 306-potentiometer III, 307-motor III, 308-motor flange III, 309-reductor III, 310-driving gear III, 401-connecting plate IV, 402-housing IV, 403-driven gear IV, 404-protecgulum IV, 405-bonnet IV, 406-potentiometer IV, 407-motor IV, 408-motor flange IV, 409-reductor IV, 410-driving gear IV, 501-connecting plate V, 502-housing V, 503-driven gear V, 504-protecgulum V, 505-bonnet V, 506-potentiometer V, 507-motor V, 508-motor flange V, 509-reductor V, 510-driving gear V, 601-connecting plate VI, 602-potentiometer frame VI, 603-potentiometer VI, 604-internal bearing sleeve VI, 605-housing VI, the little O type of 606-circle VI, 607-bearing VI, the large O type of 608-circle VI, 609-outer bearing sleeve VI, 701-adapter sleeve VII, 702-handle housing VII-1, 703-linear potentiometers VII, 704-trigger VII, 705-seesaw potentiometer VII, 706-press button VII, 707-trigger axle VII, 708-round end axle VII, 709-pull bar VII, 710-square head shaft VII, 711-handle housing VII-2.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
The main hand of a kind of distant operation of articulated type force feedback, as shown in Figure 1, comprises 6 linkage component A1, A2, A3, A4, A5, A6 and handle A7 that are connected with linkage component A6 that connect successively.
The detailed construction of described linkage component A1 and linkage component A2 as shown in Figure 2.
Described linkage component A1 comprises base 101, housing 102 and the motor 103 that is arranged at housing interior 102, motor flange 104, reductor 106, potentiometer 105, driven gear 107, driving gear 108, support 109, bearing holder (housing, cover) 110, pin 111, bearing 112 and output flange 113, described motor 103 is connected on reductor 106 by motor flange 104, described reductor 106 is arranged on support 109, described support 109 positions and is fixed on housing 102 inside by the outer ring of bearing 112, described driving gear 108 is arranged on the output flange of reductor 106, the outer surface of described bearing holder (housing, cover) 110 and the endoporus of bearing 112 are joined merga pass pin 111 and are circumferentially located with driving gear 108, the outer surface of described output flange 113 is joined merga pass screw with the endoporus of bearing 112 and is connected with bearing holder (housing, cover) 110, bearing holder (housing, cover) 110 and output flange 113 carry out axial location by the inner ring of bearing 112, on output flange 113 outer faces, being processed with screwed hole is used for being connected with linkage component A2.
Described linkage component A2 comprises housing 201 and is arranged on the motor 206 in housing 201, reductor 208, potentiometer 205, driving gear 209, driven gear 202, motor flange 207, protecgulum 203 and bonnet 204, described housing 201 use screws are connected on the output flange 113 in linkage component A1, described motor 206 is connected on reductor 208 by motor flange 207, described reductor 208 and potentiometer 205 are installed in housing 201, described driving gear 209 is arranged on the output flange of reductor 208, described driven gear 202 is arranged on the axle of potentiometer 205 and engages with driving gear 209, described protecgulum 203 and bonnet 204 are arranged on respectively the two ends of housing 201, on the end face of described driving gear 209, being processed with internal thread is used for being connected with linkage component A3.
The detailed construction of described linkage component A3 and linkage component A4 as shown in Figure 3.
Described linkage component A3 comprises connecting plate 301, housing 302 and be arranged on the motor 307 in housing 302, reductor 309, potentiometer 306, driving gear 310, driven gear 303, motor flange 308, protecgulum 304 and bonnet 305, described connecting plate 301 is connected by screw on the driving gear 209 in linkage component A2, one end of described housing 302 is connected by screw on connecting plate 301, described motor 307 is connected on reductor 309 by motor flange 308, described reductor 309 and potentiometer 306 are installed in housing 302, described driving gear 310 is arranged on the output flange of reductor 309, described driven gear 303 is arranged on the axle of potentiometer 306 and engages with driving gear 310, described protecgulum 304 and bonnet 305 are arranged on respectively the two ends of housing 302, on the end face of described driving gear 310, being processed with internal thread is used for being connected with linkage component A4.
Described linkage component A4 comprises connecting plate 401, housing 402 and be arranged on the motor 407 in housing 402, reductor 409, potentiometer 406, driving gear 410, driven gear 403, motor flange 408, protecgulum 404 and bonnet 405, described fishplate bar 401 is connected by screw on the driving gear 310 in linkage component A3, one end of described housing 402 is connected by screw on connecting plate 401, described motor 407 is connected on reductor 409 by motor flange 408, described reductor 409 and potentiometer 406 are installed in housing 402, described driving gear 410 is arranged on the output flange of reductor 409, described driven gear 403 is arranged on the axle of potentiometer 406 and engages with driving gear 410, described protecgulum 404 and bonnet 405 are arranged on respectively the two ends of housing 402, on the end face of described driving gear 410, being processed with internal thread is used for being connected with linkage component A5.
The detailed construction of described linkage component A5, linkage component A6 and handle A7 as shown in Figure 4, Figure 5.
Described linkage component A5 comprises connecting plate 501, housing 502 and be arranged on the motor 507 in housing 502, reductor 509, potentiometer 506, driving gear 510, driven gear 503, motor flange 508, protecgulum 504 and bonnet 505, described connecting plate 501 is connected by screw on the driving gear 410 in linkage component A4, one end of described housing 502 is connected by screw on connecting plate 501, described motor 507 is connected on reductor 509 by motor flange 508, described reductor 509 and potentiometer 506 are installed in housing 502, described driving gear 510 is arranged on the output flange of reductor 509, described driven gear 503 is arranged on the axle of potentiometer 506 and engages with driving gear 510, described protecgulum 504 and bonnet 505 are arranged on respectively the two ends of housing 502, on the end face of described driving gear 510, being processed with internal thread is used for being connected with linkage component A6.
Described linkage component A6 comprises connecting plate 601, housing 605 and be arranged on the potentiometer frame 602 in housing 605, potentiometer 603, internal bearing sleeve 604, little O type circle 606, bearing 607, large O type circle 608 and outer bearing sleeve 609, described connecting plate 601 is connected by screw on the driving gear 510 in linkage component A5, one end of described housing 605 is connected by screw on connecting plate 601, described potentiometer frame 602 and the outer ring of bearing 607 are pressed on connecting plate 601 by housing 605, described potentiometer 603 is arranged on potentiometer frame 602, described internal bearing sleeve 604 and outer bearing sleeve 609 are carried out axial location and are connected by screw by the inner ring of bearing 607, and internal bearing sleeve 604 and hold axle sleeve 609 composition surfaces outward and the axle of potentiometer 603 between little O type circle 606 is installed, the frictional force increasing by little O type circle 606 distortion is rotated the axle of potentiometer 603 together with holding axle sleeve 609 outward, hold outside and large O type circle 608 is installed between axle sleeve 609 and housing 605 increases damping to improve the comfortableness of operation, on described outer bearing sleeve 609, be processed with joint face and the screwed hole for being connected with handle A7.
Described handle A7 comprises adapter sleeve 701, handle housing 702, linear potentiometers 703, plate machine 704, seesaw potentiometer 705, press button 706, trigger axle 707, round end axle 708, pull bar 709, square head shaft 710 and handle housing 711, described adapter sleeve 701 is fixed by screws on the outer bearing sleeve 609 in linkage component A6, described handle housing 702 is fixed by screws on adapter sleeve 701, described handle housing 711 is connected by screw with handle housing 702 handle housing that common composition is complete, described linear potentiometers 703 is fixed by screws in handle housing 711 inner sides, described square head shaft 710 is arranged on the top of linear potentiometers 703 shifting axles and fixes with holding screw, described plate machine 704 is arranged on the centre of handle housing 702 and handle housing 711 by trigger axle 707, one end of plate machine 704 is connected with one end of pull bar 709 by round end axle 708, the other end of pull bar 709 is connected on square head shaft 710, described seesaw potentiometer 705 and three press buttones 706 are installed on handle housing.
Claims (10)
1. the main hand of the distant operation of articulated type force feedback, it is characterized in that: comprise 6 linkage component I, II, III, IV, V, VI and handle VII that are connected with linkage component VI that connect successively, and the junction between each linkage component and between linkage component VI and handle VII is all connected by rotary joint, angle displacement measuring device is all installed on each rotary joint, wherein on the joint of each linkage component junction, motor and speed reducer is installed; Described reductor input is directly connected with motor shaft, the angular displacement of output by a pair of gear drive by the angle displacement measuring device corresponding with it; On described handle, be provided with for controlling from seesaw potentiometer, straight-line displacement potentiometer and the press button of end mechanical arm tail end Appendage Task instrument.
2. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, is characterized in that: described angle displacement measuring device is potentiometer.
3. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described linkage component I comprises housing I and is arranged at the motor I in housing, motor flange I, reductor I, potentiometer I, driven gear I, driving gear I, bearing holder (housing, cover) I, bearing I and output flange I, described motor I is connected in reductor I by motor flange I, described driving gear I is arranged on the output flange of reductor I, described driven gear I is arranged on the axle of potentiometer I and engages with driving gear I, the outer surface of described bearing holder (housing, cover) I and the endoporus of bearing I is joined merga pass pin I and driving gear I is circumferentially located, bearing holder (housing, cover) I and output flange I are carried out axial location by the inner ring of bearing I, output flange I outer face is connected with linkage component II.
4. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described linkage component II comprises housing II and is arranged on the motor II in housing II, reductor II, potentiometer II, driving gear II, driven gear II, motor flange II, described housing II is connected in the output flange I in linkage component I, described motor II is connected in reductor II by motor flange II, described reductor II and potentiometer II are installed in housing II, described driving gear II is arranged on the output flange of reductor II, described driven gear II is arranged on the axle of potentiometer II and engages with driving gear II, end face in described driving gear II is connected with linkage component III.
5. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described linkage component III comprises connecting plate III, housing III and be arranged on the motor III in housing III, reductor III, potentiometer III, driving gear III, driven gear III, motor flange III, described connecting plate III is connected in the driving gear II in linkage component II, one end of described housing III is connected in connecting plate III, described motor III is connected in reductor III by motor flange III, described reductor III and potentiometer III are installed in housing III, described driving gear III is arranged on the output flange of reductor III, described driven gear III is arranged on the axle of potentiometer III and engages with driving gear III, end face in described driving gear III is connected with linkage component IV.
6. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described linkage component IV comprises connecting plate IV, housing IV and be arranged on the motor IV in housing IV, reductor IV, potentiometer IV, driving gear IV, driven gear IV, motor flange IV, described connecting plate IV is connected in the driving gear III in linkage component III, one end of described housing IV is connected in connecting plate IV, described motor IV is connected in reductor IV by motor flange IV, described reductor IV and potentiometer IV are installed in housing IV, described driving gear IV is arranged on the output flange of reductor IV, described driven gear IV is arranged on the axle of potentiometer IV and engages with driving gear IV, end face in described driving gear IV is connected with linkage component IV.
7. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described linkage component V comprises connecting plate V, housing V and be arranged on the motor V in housing V, reductor V, potentiometer V, driving gear V, driven gear V, motor flange V, described connecting plate V is connected in the driving gear IV in linkage component IV, one end of described housing V is connected in connecting plate V, described motor V is connected in reductor V by motor flange V, described reductor V and potentiometer V are installed in housing V, described driving gear V is arranged on the output flange of reductor V, described driven gear V is arranged on the axle of potentiometer V and engages with driving gear V, end face in described driving gear V is connected with linkage component VI.
8. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described linkage component VI comprises connecting plate VI, housing VI and be arranged on the potentiometer frame VI in housing VI, potentiometer VI, internal bearing sleeve VI, little O type circle VI, bearing VI and outer bearing sleeve VI, described connecting plate VI is connected in the driving gear V in linkage component V, one end of described housing VI is connected in connecting plate VI, described potentiometer frame VI and the outer ring of bearing VI are pressed in connecting plate VI by housing VI, described potentiometer VI is arranged in potentiometer frame VI, described internal bearing sleeve VI and outer bearing sleeve VI are carried out axial location by the inner ring of bearing VI, and internal bearing sleeve VI and hold axle sleeve VI composition surface outward and the axle of potentiometer VI between little O type circle VI is installed, the frictional force increasing by little O type circle VI distortion is rotated the axle of potentiometer VI together with holding axle sleeve VI outward, described outer bearing sleeve VI is connected with handle VII.
9. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described handle VII comprises adapter sleeve VII, handle housing, linear potentiometers VII, plate machine VII, seesaw potentiometer VII, press button VII, trigger axle VII, round end axle VII, pull bar VII and square head shaft VII, described adapter sleeve VII is fixed in the outer bearing sleeve VI in linkage component VI, described handle housing VII is fixed in adapter sleeve VII, described linear potentiometers VII is fixed on handle housing VII inner side, described square head shaft VII is arranged on the top of linear potentiometers VII shifting axle, described plate machine VII is arranged on the centre of handle housing by trigger axle VII, one end of plate machine VII is connected with one end of pull bar VII by round end axle VII, the other end of pull bar VII is connected in square head shaft VII, described seesaw potentiometer VII and three press button VII are installed on handle housing.
10. the main hand of the distant operation of articulated type force feedback as claimed in claim 1, it is characterized in that: described handle housing VII comprises handle housing VII-1 and handle housing VII-2, handle housing VII-2 and handle housing VII-1 couple together the complete handle housing of common composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410090804.5A CN103817682B (en) | 2014-03-12 | 2014-03-12 | The main hand of a kind of distant operation of articulated type force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410090804.5A CN103817682B (en) | 2014-03-12 | 2014-03-12 | The main hand of a kind of distant operation of articulated type force feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103817682A true CN103817682A (en) | 2014-05-28 |
| CN103817682B CN103817682B (en) | 2016-05-04 |
Family
ID=50753113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410090804.5A Active CN103817682B (en) | 2014-03-12 | 2014-03-12 | The main hand of a kind of distant operation of articulated type force feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103817682B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108139748A (en) * | 2015-10-08 | 2018-06-08 | 卡斯坦宁堡有限公司 | Robots arm |
| CN110181490A (en) * | 2019-06-28 | 2019-08-30 | 长沙开山斧智能科技有限公司 | Multi-axial Simultaneous operator and its control system |
| CN111449758A (en) * | 2020-04-09 | 2020-07-28 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN111618886A (en) * | 2020-06-08 | 2020-09-04 | 山东大学 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
| CN112659120A (en) * | 2020-12-11 | 2021-04-16 | 山东大学 | Master-slave teleoperation and force feedback control method of hydraulic operation mechanical arm |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1836852A (en) * | 2005-03-21 | 2006-09-27 | 山东科技大学 | Multiple joint operating bar |
| US7204168B2 (en) * | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
| US7623945B2 (en) * | 2006-05-31 | 2009-11-24 | Kraft Telerobotics, Inc. | Robotic master controller |
| CN101623864A (en) * | 2009-08-13 | 2010-01-13 | 天津大学 | Force feedback type master manipulator with deadweight balance property |
| CN103328160A (en) * | 2011-01-20 | 2013-09-25 | 奥林巴斯株式会社 | Master-slave manipulator and medical master-slave manipulator |
| CN103402714A (en) * | 2011-02-24 | 2013-11-20 | 奥林巴斯株式会社 | Master operation input device and master-slave manipulator |
| CN203449306U (en) * | 2013-09-02 | 2014-02-26 | 华南理工大学 | Master-slave-type double-industrial-robot coordination operation control system |
| CN203712687U (en) * | 2014-03-12 | 2014-07-16 | 山东大学 | Joint type force feedback tele-operation master manipulator |
-
2014
- 2014-03-12 CN CN201410090804.5A patent/CN103817682B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7204168B2 (en) * | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
| CN1836852A (en) * | 2005-03-21 | 2006-09-27 | 山东科技大学 | Multiple joint operating bar |
| US7623945B2 (en) * | 2006-05-31 | 2009-11-24 | Kraft Telerobotics, Inc. | Robotic master controller |
| CN101623864A (en) * | 2009-08-13 | 2010-01-13 | 天津大学 | Force feedback type master manipulator with deadweight balance property |
| CN103328160A (en) * | 2011-01-20 | 2013-09-25 | 奥林巴斯株式会社 | Master-slave manipulator and medical master-slave manipulator |
| CN103402714A (en) * | 2011-02-24 | 2013-11-20 | 奥林巴斯株式会社 | Master operation input device and master-slave manipulator |
| CN203449306U (en) * | 2013-09-02 | 2014-02-26 | 华南理工大学 | Master-slave-type double-industrial-robot coordination operation control system |
| CN203712687U (en) * | 2014-03-12 | 2014-07-16 | 山东大学 | Joint type force feedback tele-operation master manipulator |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108139748A (en) * | 2015-10-08 | 2018-06-08 | 卡斯坦宁堡有限公司 | Robots arm |
| CN108139748B (en) * | 2015-10-08 | 2020-08-25 | 卡斯坦宁堡有限公司 | Robot arm |
| CN110181490A (en) * | 2019-06-28 | 2019-08-30 | 长沙开山斧智能科技有限公司 | Multi-axial Simultaneous operator and its control system |
| CN111449758A (en) * | 2020-04-09 | 2020-07-28 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN111449758B (en) * | 2020-04-09 | 2021-01-26 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| CN111618886A (en) * | 2020-06-08 | 2020-09-04 | 山东大学 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
| CN112659120A (en) * | 2020-12-11 | 2021-04-16 | 山东大学 | Master-slave teleoperation and force feedback control method of hydraulic operation mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103817682B (en) | 2016-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103817682B (en) | The main hand of a kind of distant operation of articulated type force feedback | |
| CN104308859B (en) | Based on the heavy-loaded precision redundancy three arm manipulator of driving | |
| CN203712687U (en) | Joint type force feedback tele-operation master manipulator | |
| CN103495971B (en) | A kind of five degree of freedom Combined robot platform | |
| Tavakoli et al. | A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications | |
| CN204076281U (en) | Based on the heavy-loaded precision redundancy three arm manipulator of driving | |
| US20110120245A1 (en) | Robot arm assembly | |
| US20090139364A1 (en) | Wrist Unit to a Robot Arm | |
| CN104669299A (en) | Force sense manipulator with mechanical arm | |
| US11130226B2 (en) | Arm structure of robot and robot | |
| CN203726501U (en) | Foldable light type mechanical arm capable of following and monitoring target | |
| CN108161883B (en) | Force feedback teleoperation master hand | |
| CN105058421A (en) | Compact type mechanical arm joint module integrating two degrees of freedom | |
| CN104626108A (en) | Advanced multi-degree of freedom controllable mechanical arm | |
| CN107553467B (en) | Multifunctional master hand device with low gravity center | |
| CN109732638B (en) | Translational rotary type clamping paw, working method thereof and robot system | |
| CN108557493A (en) | A kind of metamorphic mechanisms formula robot palletizer | |
| Klas et al. | A compact, lightweight and singularity-free wrist joint mechanism for humanoid robots | |
| CN103170961A (en) | Master control arm of modular master-slave mechanical arm | |
| CN209175756U (en) | A kind of six axis all positon cutting robots | |
| KR101211658B1 (en) | 7 degree of freedom robot arm | |
| CN113580125A (en) | Mechanical arm with multiple degrees of freedom | |
| RU161185U1 (en) | MANIPULATOR | |
| CN108858260B (en) | Execution terminal device for industrial robot | |
| CN104354165B (en) | The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |