CN104149081B - Modular handheld double-operating-end master robot - Google Patents
Modular handheld double-operating-end master robot Download PDFInfo
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- CN104149081B CN104149081B CN201410364307.XA CN201410364307A CN104149081B CN 104149081 B CN104149081 B CN 104149081B CN 201410364307 A CN201410364307 A CN 201410364307A CN 104149081 B CN104149081 B CN 104149081B
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Abstract
The invention relates to a modular handheld double-operating-end master robot comprising two handle modules, three rocking joint modules and two rotating joint modules. The modules are serially connected through snap rings according a connection sequence: the first handle module, the first rotating joint module, the first rocking joint module, the second rocking joint module, the third rocking joint module, the second rotating joint module and the second handle module; a joint sleeve is added between the second rocking joint module and the third rocking joint module so that the front and tail end structure of the robot are symmetrical around a joint mandrel of the second rocking joint module; joint mandrels of the three rocking joint modules are parallel to one another and are naturally perpendicular to joint mandrels of the rotating joint modules arranged at two ends; the handle modules are mounted at two ends of the robot; the double-claw arm-like master robot is formed. The modular handheld double-operating-end master robot is easy to construct, variable in configuration, simple in structure, good in extensibility, high in universality, convenient to operate and easy to subject to isomorphic mapping with slave robots.
Description
Technical field
The present invention is a kind of modular hand-held dual operation end main frame device people, belongs to modular hand-held dual operation end
The renovation technique of main robot.
Background technology
The mankind have increasing need for the robot that can work in danger or circumstances not known.However, being subject to artificial intelligence technology, machine
The restriction of the aspects such as structure, control and sensing technology, develops and the intelligent robot of utonomous working can also need in circumstances not known
A very long time.Therefore rely on the intelligence of people at present, the master ＆ slave control robot being operated under man-machine interaction is a kind of reality
Feasible selection.This master ＆ slave control the execution of the intelligence of people and robot is combined it is achieved that the perception of people and
The extension of behavioral competence.Operator operates to main robot, and processor is according to the posture information of main robot operator
Control be intended to be converted into and may be appreciated order from robot, and controlled from robot motion with this to realize corresponding appointing
Business, passes through vision simultaneously or power feels its status information feedback to operator, operator changes the controlling behavior of oneself accordingly.Make
Window for man-machine interaction and instrument, can act on robot the intelligence of people, realize perception and the behavioral competence of people
The main robot of extension just arise at the historic moment.
Chinese scholars have developed a lot of main robots, and has much business-like systems, such as with force feedback
Phantom, the data glove of exoskeleton-type.But the configuration of current main robot is all fixing it is impossible to be wanted according to task
Ask or correspondingly change configuration from the change of robot；And degree of freedom also immobilizes it is impossible to be increased and decreased as needed.This
Have led to main robot be difficult in adapt to various different from robot.For example, when being actually needed lower-mobility from robot
Cause main robot DOF (degree of freedom) redundance so that mapping complex between principal and subordinate, computationally intensive, the real-time of impact master ＆ slave control with
Stability.Therefore, the versatility of main robot and motility are the subject matter that research main robot faces at present.Modular
The problems such as method for designing can solve the problem that poor universality and structure and the control complexity of main robot.Modular host device people can
Obtain multiple various configurations by changing the order of connection of itself only several module or mode, to meet different slaves
Device people's configuration or mission requirements, easily realize the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modularity
Main robot has good adaptability, motility and fault-tolerance and low cost and other advantages.Modular construction simple it is easy to
Processing, can mutually replace between each module, realize quick assembling.
Have developed a lot of main robots both at home and abroad, and have much business-like systems, such as with force feedback
Phantom, the data glove of exoskeleton-type.But there is some problem and deficiency in them, be mainly manifested in: (1) versatility and spirit
Activity is not enough.On the one hand, the configuration of current main robot is all fixing it is impossible to change according to mission requirements or from robot
Change and correspondingly change configuration；And degree of freedom also immobilizes it is impossible to be increased and decreased as needed, which results in current main frame
Device people does not adapt to the change of slave device people (such as modularization robot) configuration and degree of freedom.On the other hand, current main frame
Device people can only single-ended operation, therefore can only control have an executor from robot, and for having both-end executor's
Robot (such as tow-armed robot or both hands pawl climbing robot) is helpless.(2) high cost, due to lacking versatility,
Different generally requires corresponding main robot from robot, and the development of such main robot and use cost are high；(3) control again
Miscellaneous, existing main robot system and be isomery mostly between robot, the mapping between principal and subordinate robot is more complicated, calculates
Amount is big, the stability of impact master ＆ slave control；(4) operating characteristics is poor, existing main robot system be all wearable type or large-scale fall
Formula, the former typically has indifferent equilibrium problem, and operator easily produces tired the latter and requires operator upright, long-time operation
Afterwards also can fatigue.
Typically require main robot can have higher versatility, can control multiple different from robot system, this
Sample just can reduce development and the use cost of main robot；Require in addition that main robot is simple and reasonable, can with multiple
Carrying out simple principal and subordinate's mapping from robot, thus simplifying master ＆ slave control, improving the stability of master-slave robotic system.Therefore,
Exploitation is a kind of can control multiple from robot and structure is simple, strong operability, main robot with low cost meet robot
The trend of development and the needs of social production life.
The problems such as modular method for designing can solve the problem that poor universality and structure and the control complexity of main robot.Mould
Massing main robot can obtain multiple various configurations by changing the order of connection of itself only several module or mode,
Also number of degrees of freedom can be changed by the increase and decrease of module number, with meet different from robot modeling or mission requirements,
Easily realize the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modular host device people has good fitting
Ying Xing, motility and fault-tolerance and low cost and other advantages.Modular construction, can phase between each module simply it is easy to process
Mutually replace, realize quick assembling.
Especially as it was previously stated, also lack at present a kind of main robot can control have single end effector from robot
(motion arm), but can control have both-end executor from robot (for example tow-armed robot or both hands pawl climbing machine
People).Both hands pawl climbing robot can't realize autonomous or intelligence climbing at present, needs manual remote control, but current shortage has
The remote control mode of effect and means, teaching box and stick be not directly perceived, causes teaching or remote control highly difficult.It is thus desirable to exploitation
Kind of structure is simple, strong adaptability, easy to use, remote control is directly perceived, convenient hand-held main robot.
Content of the invention
It is an object of the invention to consider the problems referred to above and provide that a kind of structure is simple, strong adaptability, easy to use, remote control
Intuitively, convenient hand-held modular hand-held dual operation end main frame device people.The present invention is reasonable in design, convenient and practical, can be to double
Paw climbing robot is remotely controlled.
The technical scheme is that the modular hand-held dual operation end main frame device people of the present invention, include two
Handle module, three rotating and swinging joint modules, two revolute joint modules have seven modules, and each module is used successively in a series arrangement
Snap ring connects, and the order of connection is: first handle module, the first revolute joint module, the first rotating and swinging joint module, the second rotation are closed
Section module, the 3rd rotating and swinging joint module, the second revolute joint module, second handle module, in the second rotating and swinging joint module and the
A joint sleeve is added so that robot head and the tail two-end structure is with regard to the second rotating and swinging joint module between three rotating and swinging joint modules
Joint rotating shaft symmetrical, the joint rotating shaft of three rotating and swinging joint modules is parallel to each other, and the revolute joint mould with two ends naturally
The joint shaft of block is vertical, and two handle module are separately mounted to the two ends of robot, and one both hands claw of composition imitates arm main frame
Device people.
Above-mentioned revolute joint module refers to only one of which rotational freedom and joint rotating shaft is overlapped with module centrage itself
Module；Described rotating and swinging joint module refers to only one of which rotational freedom and joint rotating shaft and module central axis itself
Joint module；Described handle module is a kind of functional module facilitating staff to grip and operating being provided with multiple control knobs.
Each joint module of the present invention has a rotational freedom, is driven by external force or moment of face, its encoder detects
Joint rotation angle, antivibrator applies certain damping to articulation.By two handles of operator's two-handed hand-held end during work
Control main frame device people moves, and guiding is followed from robot, and by the button control on handle from end effector of robot
Action.The present invention compared with prior art, has following features and an advantage:
1) modularity: be made up of the joint module and two handle module of two kinds of single-degree-of-freedoms, pass through snap ring between module
Realize connecting and fasten, the structure of robot and dismounting are simple, conveniently and quickly.Configuration is variable, and degree of freedom is variable.
2) highly versatile, motility are good: modular construction featuress make the configuration of main robot and degree of freedom according to from
The concrete condition of robot and variable, thus main robot strong adaptability, have good versatility and motility；Especially both
Can be used for single operation end (such as motion arm) from Robot remote it is also possible to control dual operation end from robot (for example
Tow-armed robot and both hands pawl climbing robot) remote control.
3) easy to operate: due to light structure, relatively can be operated with two-handed hand-held.
4) structure is simple, with low cost: main robot only has three kinds of module compositions, and each this body structure of module is very simple
Single, so its structure is very simple, and development, operation and maintenance are with low cost.
The present invention build easily, configuration is variable, structure is simple, favorable expandability, highly versatile, easy to operate, easily realization
Isomorphism mapping with from robot, can be widely applied to the fields such as industry, agricultural, forestry, building industry, nuclear industry and chemical industry tool
Have single end effector or both-end executor from Robot remote.
Brief description
Fig. 1 is dual operation end main frame device people's outside drawing of the present invention；
Fig. 2 is the dual operation end main frame device robot mechanism schematic diagram of the present invention；
Fig. 3 is the revolute joint module outside drawing of the present invention；
Fig. 4 is the revolute joint module profile of the present invention；
Fig. 5 is the rotating and swinging joint module outside drawing of the present invention；
Fig. 6 is the rotating and swinging joint module profile of the present invention；
Fig. 7 is the handle module outside drawing of the present invention；
Fig. 8 is the handle module profile of the present invention.
Specific embodiment
Embodiment:
The outside drawing of the present invention modular hand-held dual operation end main frame device people and structural scheme of mechanism such as Fig. 1 and Fig. 2 institute
Show, include two handle module, 003, two revolute joint modules 002 of 001, three rotating and swinging joint modules and have seven modules,
Each module successively in a series arrangement with snap ring connect, the order of connection is: first handle module, the first revolute joint module, first
Rotating and swinging joint module, the second rotating and swinging joint module, the 3rd rotating and swinging joint module, the second revolute joint module, second handle module,
Between the second rotating and swinging joint module and the 3rd rotating and swinging joint module add a joint sleeve 005 so that robot head and the tail two
End structure is symmetrical with regard to the joint rotating shaft of the second rotating and swinging joint module, and the joint rotating shaft of three rotating and swinging joint modules 003 is mutually equal
OK, and naturally vertical with the joint shaft of the revolute joint module 002 at two ends, two handle module 001 are separately mounted to machine
The two ends of people, one both hands claw of composition imitates arm main robot.
Above-mentioned revolute joint module refers to only one of which rotational freedom and joint rotating shaft is overlapped with module centrage itself
Module；Described rotating and swinging joint module refers to only one of which rotational freedom and joint rotating shaft and module central axis itself
Joint module；Described handle module is a kind of functional module facilitating staff to grip and operating being provided with multiple control knobs.
Electrical connection between above-mentioned seven modules is realized by usb interface.Electrical connection between seven modules is passed through
The micro usb interface of module side is realized.
It is respectively outside drawing and the profile of revolute joint module 002, above-mentioned revolute joint module 002 shown in Fig. 3 and Fig. 4
Include the first rotation base 101, the data wire 102 with usb joint, revolute joint module processor 103, encoder 104, double end
Stud 105, diagonal screw 106, encoder installing plate 107, antivibrator 108, rotary shaft 109, ball bearing 110, thrust bearing
111st, the second rotating base 112, attachment screw 113, holding screw 114；The connected mode of each parts is: rotary shaft 109 with
One fork ear of the second rotating base 112 passes through attachment screw 113 and realizes being connected；Rotary shaft 109 and the second rotating base 112 with
Pass through realization while ball bearing 110 is realized axially and radially locating with thrust bearing 111 relative between first rotating base 101
Rotate；Two identical one-way dampers 108 are placed in rotary shaft 109 back-to-back, and two ends are by the first rotating base 101 and coding
Device installing plate 107 compresses, the rectangular channel tight fit of the boss of one end and encoder installing plate 107；Encoder installing plate 107 passes through
Diagonal screw 106 is affixed on the boss of the first rotating base 101 inner chamber；Encoder 104 is affixed to coding by holding screw 114
On device installing plate 107；Rotary shaft 109 runs through antivibrator 108 and encoder installing plate 107, and the center of encoder 104 is stretched in end
The code-disc of Kong Zhongyu encoder 104 is connected；Revolute joint module processor 103 is fixed on encoder peace by studs 105
On dress plate 107, there is gap with the end face of encoder 104, the symmetrical usb electricity of two on revolute joint module processor 103
Gas interface is directed at two holes on the first rotating base 101；Data wire 102 with usb joint passes through on the first rotating base 101
Hole be connected with revolute joint module processor 103, realize supply and the can bus signal transmission of power supply signal.
Above-mentioned data wire 102 carries micro usb joint；Two on revolute joint module processor 103 symmetrical usb electricity
Gas interface is micro usb electric interfaces；Encoder installing plate 107 is affixed to the first rotation base by four diagonal screws 106
On the boss of seat 101 inner chambers；Encoder 104 is affixed on encoder installing plate 107 by four holding screws 114；Revolute joint
Module handler 103 is fixed on encoder installing plate 107 by two studs 105；Rotary shaft 109 and the second rotation base
One fork ear of seat 112 passes through three attachment screws 113 and realizes being connected.
It is respectively outside drawing and the profile of rotating and swinging joint module 003, above-mentioned rotating and swinging joint module 003 shown in Fig. 5 and Fig. 6
Include the first swinging base 201, rotating and swinging joint module processor 202, the data wire 203 with usb joint, studs 204,
Pin 205, diagonal screw 206, encoder 207, rotary shaft 208, first flange bearing 209, end face bearing 210, antivibrator
211st, the second swinging base 212, holding screw 213, second flange bearing 214；The end cap of rotary shaft 208 and the second swinging base
212 realize axially position by four holding screws 213, and the plane of end cap side is contacted with the second swinging base 212 tight fit,
Realize tangentially oriented, so that rotary shaft 208 and the second swinging base 212 are connected；Two journal stirrups of the first swinging base 201 lead to
Cross bearing to be connected with rotary shaft 208；First flange bearing 209, end face bearing 210 and 214 3 sliding axles of second flange bearing
Bearing sleeve, in rotary shaft 208, separates mutual two parts rotating；Two identical one-way dampers 211 cover back-to-back
In rotary shaft 208, two little journal stirrups that its radial lobes is passed through on pin 205 and the first swinging base 201 end face are connected, limit
Make its rotation；Encoder 207 is affixed to the lateral surface of the s type journal stirrup of the first swinging base 201, rotary shaft by diagonal screw 206
208 end is stretched in its centre bore and is connected with encoder 207；It is solid that rotating and swinging joint module processor 202 passes through studs 204
It is scheduled on the first swinging base 201, symmetrical usb electric interfaces be aligned first pendulum of two on rotating and swinging joint module processor 202
Two holes on moving base 201；Data wire 203 with usb joint passes through hole and rotating and swinging joint mould on the first swinging base 201
Block processor (202) connects, and realizes supply and the can bus signal transmission of power supply signal.
Above-mentioned data wire 203 is the data wire with micro usb joint；Rotating and swinging joint module processor 202 is provided with
Two symmetrical usb electric interfaces are micro usb electric interfaces；The end cap of rotary shaft 208 is passed through with the second swinging base 212
Axially position realized by four holding screws 213；Encoder 207 is affixed to the s type of the first swinging base 201 by diagonal screw 206
The lateral surface of journal stirrup, rotating and swinging joint module processor 202 is fixed on the first swinging base 201 by studs 204.
It is respectively outside drawing and the profile of handle module as shown in Figure 7 and Figure 8, above-mentioned handle module includes handle
301st, button switch 306, the first button mounting bar 307, the second button mounting bar 308 and handle module processor 302 are constituted；The
One button mounting bar 307 and the second button mounting bar 308 are fixed on by screw 305 in the cavity of handle 301 bottom respectively, and first
Both button mounting bar 307 and the second button mounting bar 308 are distributed around the centre of gyration of handle 301 cavity；First button is installed
One button switch 306 is provided with bar 307, the second button mounting bar 308 is provided with two button switches 306, so grasp
Author easily can control these three button switches 306 by thumb and forefinger；Install on first button mounting bar 307
Two button switches 306 installed on one button switch 306 and the second button mounting bar 308 can be produced by permutation and combination
The mode of operation of 8 kinds of different easy switchings；The top that handle module processor 302 is fixed on handle 301 by pin 303 is empty
Intracavity.
In the present embodiment, both above-mentioned first button mounting bar 307 and the second button mounting bar 308 are around handle 301 cavity
Centre of gyration distribution in 90 °；The button switch 306 installed on first button mounting bar 307 and the second button mounting bar
Two button switches 306 installed on 308 are all self-lock switchs.
In the present embodiment, above-mentioned first button mounting bar 307 and the second button mounting bar 308 are respectively by two screws 305
It is fixed in the cavity of handle 301 bottom, handle module processor 302 passes through the top that two pins 303 are fixed on handle 301
In cavity；Electric interfaces for being connected with other modules are designed with handle module processor 302, realize power supply signal
Supply and can bus signal transmission；The top of handle 301 is additionally provided with the SMIF with other modules.
The operation principle of the present invention is as follows: the main robot of the present invention has two operating sides, and operator's both hands hold this
Two handle module, can easily control main frame device people motion, five joint modules detect corresponding joint rotation angles.When distant
Control only one of which operating side when robot, according to the relative pose between two handle module by the motion of principal and subordinate robot
Learn the pose from the end of robot for the mapping control, or controlled from machine by the mapping one by one between principal and subordinate's joint of robot
The pose of people；When remote control have two operating sides from robot (such as tow-armed robot or both hands pawl climbing robot or
Tow-armed robot) when, the pose from two ends of robot is controlled according to the relative pose between two handle module, or profit
With the symmetry of main robot structure, controlled respectively from robot relative to the change of the pose at center according to two handle module
Two ends, or the pose from robot is controlled by the mapping one by one between principal and subordinate's joint of robot.Button on handle
Control the action from end effector of robot.
Claims (10)
1. a kind of modular hand-held dual operation end main frame device people it is characterised in that include two handle module (001), three
Individual rotating and swinging joint module (003), two revolute joint modules (002) have seven modules, and each module is used successively in a series arrangement
Snap ring connects, and the order of connection is: first handle module, the first revolute joint module, the first rotating and swinging joint module, the second rotation are closed
Section module, the 3rd rotating and swinging joint module, the second revolute joint module, second handle module, in the second rotating and swinging joint module and the
A joint sleeve (005) is added so that robot head and the tail two-end structure closes with regard to the second rotation between three rotating and swinging joint modules
The joint rotating shaft of section module is symmetrical, and the joint rotating shaft of three rotating and swinging joint modules (003) is parallel to each other, and naturally with two ends
The joint shaft of revolute joint module (002) is vertical, and two handle module (001) are separately mounted to the two ends of robot, forms one
Individual both hands claw imitates arm main robot.
2. modular hand-held dual operation end main frame device people according to claim 1 is it is characterised in that above-mentioned revolution is closed
The module that section module refers to only one of which rotational freedom and joint rotating shaft is overlapped with module centrage itself；Described rotating and swinging joint
Module refers to only one of which rotational freedom and the joint module of joint rotating shaft and module central axis itself；Described handle mould
Block is a kind of functional module facilitating staff to grip and operating being provided with multiple control knobs.
3. modular hand-held dual operation end main frame device people according to claim 2 is it is characterised in that above-mentioned seven moulds
Electrical connection between block is realized by usb interface.
4. modular hand-held dual operation end main frame device people according to claim 2 is it is characterised in that above-mentioned revolution is closed
Section module (002) includes the first rotating base (101), the data wire with usb joint (102), revolute joint module processor
(103), encoder (104), studs (105), diagonal screw (106), encoder installing plate (107), antivibrator (108),
Rotary shaft (109), ball bearing (110), thrust bearing (111), the second rotating base (112), attachment screw (113), clamp screw
Nail (114)；The connected mode of each parts is: rotary shaft (109) is passed through to be connected with a fork ear of the second rotating base (112)
Screw (113) is realized being connected；It is connected by ball bearing (110) between rotary shaft (109) and the first rotating base (101), second
It is connected by thrust bearing (111) between rotating base (112) and the first rotating base (101)；Two identical unidirectional dampings
Device (108) is placed in rotary shaft (109) back-to-back, and two ends are pressed by the first rotating base (101) and encoder installing plate (107)
Tightly, the rectangular channel tight fit of the boss of one end and encoder installing plate (107)；Encoder installing plate (107) passes through diagonal screw
(106) it is affixed on the boss of the first rotating base (101) inner chamber；Encoder (104) is affixed to coding by holding screw (114)
On device installing plate (107)；Rotary shaft (109) runs through antivibrator (108) and encoder installing plate (107), and encoder is stretched in end
(104) it is connected with the code-disc of encoder (104) in centre bore；Revolute joint module processor (103) passes through studs
(105) it is fixed on encoder installing plate (107), there is gap, revolute joint module processor with the end face of encoder (104)
(103) two on symmetrical usb electric interfaces are directed at two holes on the first rotating base (101)；Number with usb joint
Pass through the hole on the first rotating base (101) to be connected with revolute joint module processor (103) according to line (102), realize power supply letter
Number supply and can bus signal transmission.
5. modular hand-held dual operation end main frame device people according to claim 4 is it is characterised in that above-mentioned data wire
(102) carry micro usb joint；Two on revolute joint module processor (103) symmetrical usb electric interfaces are
Micro usb electric interfaces；Encoder installing plate (107) is affixed to the first rotating base by four diagonal screws (106)
(101) on the boss of inner chamber；Encoder (104) is affixed on encoder installing plate (107) by four holding screws (114)；Return
Turn joint module processor (103) to be fixed on encoder installing plate (107) by two studs (105)；Rotary shaft
(109) pass through three attachment screws (113) with a fork ear of the second rotating base (112) to realize being connected.
6. modular hand-held dual operation end main frame device people according to claim 2 is it is characterised in that above-mentioned rotation is closed
Section module (003) includes the first swinging base (201), rotating and swinging joint module processor (202), the data wire with usb joint
(203), studs (204), pin (205), diagonal screw (206), encoder (207), rotary shaft (208), first flange
Bearing (209), end face bearing (210), antivibrator (211), the second swinging base (212), holding screw (213), second flange
Bearing (214)；The end cap of rotary shaft (208) and the second swinging base (212) pass through four holding screws (213) and realize axially determining
Position, the plane of end cap side is contacted with the second swinging base (212) tight fit, realizes tangentially oriented, so that rotary shaft (208)
It is connected with the second swinging base (212)；Two journal stirrups of the first swinging base (201) are connected with rotary shaft (208) by bearing；
First flange bearing (209), end face bearing (210) and (214) three sliding bearings of second flange bearing are enclosed within rotary shaft (208)
On, mutual two parts rotating are separated；Two identical one-way dampers (211) are enclosed within rotary shaft (208) back-to-back
On, its radial lobes is passed through pin (205) and is connected with two little journal stirrups on the first swinging base (201) end face, limits its turn
Dynamic；Encoder (207) is affixed to the lateral surface of the s type journal stirrup of the first swinging base (201), rotary shaft by diagonal screw (206)
(208) end is stretched in its centre bore and is connected with encoder (207)；Rotating and swinging joint module processor (202) passes through double end spiral shell
Post (204) is fixed on the first swinging base (201), and two symmetrical usb on rotating and swinging joint module processor (202) are electric
Interface is directed at two holes on the first swinging base (201)；Data wire with usb joint (203) passes through the first swinging base
(201) hole on is connected with rotating and swinging joint module processor (202), realizes supply and the can bus signal transmission of power supply signal.
7. modular hand-held dual operation end main frame device people according to claim 6 is it is characterised in that above-mentioned data wire
(203) it is the data wire with micro usb joint；Two symmetrical usb that rotating and swinging joint module processor (202) is provided with
Electric interfaces are micro usb electric interfaces；The end cap of rotary shaft (208) and the second swinging base (212) pass through four tightenings
Axially position realized by screw (213)；Encoder (207) is affixed to the s type of the first swinging base (201) by diagonal screw (206)
The lateral surface of journal stirrup, processor (202) is fixed on the first swinging base (201) by studs (204).
8. the modular hand-held dual operation end main frame device people according to any one of claim 2 to 7 it is characterised in that on
State handle module and include handle (301), button switch (306), the first button mounting bar (307), the second button mounting bar
(308) constitute with handle module processor (302)；First button mounting bar (307) and the second button mounting bar (308) respectively by
Screw (305) is fixed in the cavity of handle (301) bottom, the first button mounting bar (307) and the second button mounting bar (308)
Both are around the centre of gyration distribution of handle (301) cavity；On first button mounting bar (307), a button switch is installed
(306), the second button mounting bar (308) is provided with two button switches (306), such operator can easily pass through
Thumb and forefinger control these three button switches (306)；The upper button switch installed of first button mounting bar (307)
(306) two button switches (306) and installed on the second button mounting bar (308) can produce 8 kinds not by permutation and combination
The mode of operation of same easy switching；Handle module processor (302) is fixed on the top of handle (301) by pin (303)
In cavity.
9. modular hand-held dual operation end main frame device people according to claim 8 is it is characterised in that above-mentioned first presses
Both button mounting bar (307) and the second button mounting bar (308) are around the centre of gyration distribution in 90 ° of handle (301) cavity；First
The upper button switch (306) installed of button mounting bar (307) and upper two buttons installed of the second button mounting bar (308)
Switch (306) is all self-lock switch.
10. modular hand-held dual operation end main frame device people according to claim 9 is it is characterised in that above-mentioned first presses
Button mounting bar (307) and the second button mounting bar (308) are fixed on the sky of handle (301) bottom respectively by two screws (305)
Intracavity, handle module processor (302) is fixed in the apex cavity of handle (301) by two pins (303)；Handle module
Electric interfaces for being connected with other modules are designed with processor (302), realize supply and the can bus of power supply signal
Signal transmission；The top of handle (301) is additionally provided with the SMIF with other modules.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364307.XA CN104149081B (en) | 2014-07-28 | 2014-07-28 | Modular handheld double-operating-end master robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364307.XA CN104149081B (en) | 2014-07-28 | 2014-07-28 | Modular handheld double-operating-end master robot |
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| Publication Number | Publication Date |
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| CN104149081A CN104149081A (en) | 2014-11-19 |
| CN104149081B true CN104149081B (en) | 2017-01-18 |
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| CN104575232A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Teaching mechanical arm |
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