CN112809708A - Handle operating means and robot - Google Patents
Handle operating means and robot Download PDFInfo
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- CN112809708A CN112809708A CN202110213199.6A CN202110213199A CN112809708A CN 112809708 A CN112809708 A CN 112809708A CN 202110213199 A CN202110213199 A CN 202110213199A CN 112809708 A CN112809708 A CN 112809708A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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Abstract
A handle operating device and a robot, comprising: the device comprises a handle, an arm placing seat, a first linkage mechanism, a second linkage mechanism, a third linkage mechanism and a support, wherein the second linkage mechanism and the third linkage mechanism are arranged on the support; the first linkage mechanism comprises a connecting shaft and a first encoder, the connecting shaft is rotatably arranged in the arm placing seat, and two ends of the connecting shaft are respectively connected with the handle and the encoder. The second linkage mechanism comprises a first connecting rod, a first rotating disc and a second encoder; the third linkage mechanism comprises a second connecting rod, a second rotary disc and a third encoder. The two ends of the first connecting rod are respectively connected with the arm placing seat and the first rotating disc, and the two ends of the second connecting rod are respectively connected with the arm placing seat and the second rotating disc. The handle drives the first encoder, the second encoder and the third encoder to rotate. Each encoder is electrically connected with the robot, and each action of the robot is realized through single-handle operation.
Description
Technical Field
The present invention relates to a handle operating device, and more particularly, to a handle operating device for a robot.
Background
Multifunctional manipulators such as gripping, grinding, palletizing, etc. require a high precision in the positioning of the end of the manipulator with respect to the engineering machinery, and the mechanical structure is usually composed of a revolving base, a vertical arm and a horizontal arm. An operator can grab or stack heavy goods through the operating handle, so that the labor intensity of workers is greatly reduced. Generally, a multifunctional manipulator adopts a double-handle operation mode to control all movement axes to be distributed on two potentiometers and switch buttons with different handles. The two-hand operation requires that the two hands of the operator hold the handles all the time, and the operation is not simple and convenient enough and is not beneficial to taking emergency stop measures in an emergency state. In addition, the double-handle operation mode is mostly applied to a speed control mode, and the positioning precision of the tail end of the mechanical arm cannot be guaranteed.
Disclosure of Invention
Therefore, it is necessary to provide a single-handle operating device for solving the problems of inconvenience in operation and inconvenience in emergency braking of the double-handle in the prior art.
A handle operating device comprising: the device comprises a handle, an arm placing seat, a first linkage mechanism, a second linkage mechanism, a third linkage mechanism and a support, wherein the second linkage mechanism and the third linkage mechanism are arranged on the support; the first linkage mechanism comprises a connecting shaft and a first encoder; the second linkage mechanism comprises a first connecting rod, a first rotary disc and a second encoder; the third linkage mechanism comprises a second connecting rod, a second rotary disc and a third encoder; the connecting shaft is rotatably arranged on the arm placing seat, the arm placing seat is provided with a through cavity in the length direction, one end of the connecting shaft is connected with the handle, and the other end of the connecting shaft penetrates through the cavity to be connected with the first encoder; the first end of the first connecting rod and the first end of the second connecting rod are respectively hinged with the arm placing seat; the second end of the first connecting rod is connected with the edge of the first turntable; the second encoder is rotationally connected with the first rotary disc; the second end of the second connecting rod is fixedly connected with the center of the second rotary table, and the third encoder is rotationally connected with the second rotary table; the handle drives the first encoder to rotate when rotating along the axis of the connecting shaft; the handle drives the arm placing seat to rotate along the hinge point of the second connecting rod and the arm placing seat, and the second encoder is driven to rotate; the handle drives the arm placing seat to move back and forth, and the third encoder and/or the second encoder are/is driven to rotate.
In one embodiment, the first rotating disc and the second rotating disc are the same in outer contour size and are coaxially arranged.
In one embodiment, the first linkage mechanism further comprises a reset component, the reset component is arranged in the cavity of the arm placing seat, and the connecting shaft passes through the reset component to be connected with the first encoder; when the handle rotates to the position, the first encoder executes the command, and the handle can be automatically reset through the reset assembly after the hand is released.
In one embodiment, the handle is provided with a button assembly.
In one embodiment, the second linkage mechanism further comprises a first servo motor and a first gear piece, the first servo motor is fixedly mounted on the bracket, and an output shaft of the first servo motor is in driving connection with the first rotary disc through a conveyor belt; the button assembly is electrically connected with the first servo motor; first gear piece fixed mounting just the teeth of a cogwheel protrusion on the first carousel the edge of first carousel, the second encoder with first gear piece meshing is connected.
In one embodiment, the second linkage mechanism further includes a tensioning wheel, the tensioning wheel is located between the first servo motor and the second turntable, and the tensioning wheel is matched with the conveyor belt and mounted on the mounting bracket for tensioning the conveyor belt.
In one embodiment, the third linkage mechanism further comprises a second servo motor and a second gear plate, the second servo motor is fixedly mounted on the bracket, and an output shaft of the second servo motor is in driving connection with the second turntable through a conveyor belt; the button assembly is electrically connected with the second servo motor; the third linkage mechanism is further provided with a second gear plate, the second gear plate is fixedly installed on the second rotary table, gear teeth protrude out of the edge of the second rotary table, and the third encoder is meshed with the second gear plate.
In one embodiment, the third linkage mechanism further includes a tension wheel, the tension wheel is located between the second servo motor and the second turntable, and the tension wheel is matched with the conveyor belt and is mounted on the bracket for tensioning the conveyor belt; most preferably, the second turntable and the tensioning wheel are pulleys or sprockets; the conveyor belt is a belt or a chain.
In one embodiment, the first link and the second link have the same length.
A robot comprises the handle operating device.
The utility model provides a handle operating means, just can realize the action of three dimension through one-hand operation handle, and then realizes the action of three encoder, easy operation and accuracy height. The problem of bimanualness has not only been solved, and the accuracy of data transmission is further provided through encoder transmission signal moreover, is favorable to improving the accuracy of robot operation.
Drawings
FIG. 1 is a schematic view showing the overall structure of a handle operating mechanism;
FIG. 2 is a schematic structural view of the handle operating mechanism with two coaxially disposed turntables;
FIG. 3 is a schematic structural diagram of a second linkage mechanism;
FIG. 4 is a schematic structural diagram of a third linkage mechanism;
FIG. 5 is a schematic view of the initial position of the handle actuator;
FIG. 6 is a schematic diagram of the robot moving in the moving state of FIG. 5;
FIG. 7 is a schematic view of the handle operating mechanism moving back and forth;
FIG. 8 is a schematic diagram of the robot moving in the moving state of FIG. 7;
FIG. 9 is a schematic view of the handle actuator moving up and down along the hinge point;
FIG. 10 is a schematic diagram of the robot moving in the moving state of FIG. 9;
in the drawings:
10-handle, 20-arm placing seat, 30-first linkage mechanism, 40-second linkage mechanism, 5-third linkage mechanism and 60-bracket;
101-an operating button, 301-a connecting shaft, 302-a first encoder, 303-a reset component, 401-a first connecting rod, 402-a first rotating disc, 403-a second encoder, 404-a first servo motor, 405-a first gear piece, 406-a first conveying belt, 407-a first tensioning wheel, 501-a second connecting rod, 502-a second rotating disc, 503-a third encoder, 504-a second servo motor, 505-a second gear piece, 506-a second conveying belt and 507-a second tensioning wheel;
100-robot rotating base, 200-first mechanical arm, 300-second mechanical arm.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "top," "bottom," "top," and the like are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In one embodiment, a handle operating device includes: the device comprises a handle, an arm placing seat, a first linkage mechanism, a second linkage mechanism, a third linkage mechanism and a support, wherein the second linkage mechanism and the third linkage mechanism are arranged on the support; the first linkage mechanism comprises a connecting shaft and a first encoder; the second linkage mechanism comprises a first connecting rod, a first rotary disc and a second encoder; the third linkage mechanism comprises a second connecting rod, a second rotary disc and a third encoder; the connecting shaft is rotatably arranged on the arm placing seat, the arm placing seat is provided with a through cavity in the length direction, one end of the connecting shaft is connected with the handle, and the other end of the connecting shaft penetrates through the cavity to be connected with the first encoder; the first end of the first connecting rod and the first end of the second connecting rod are respectively hinged with the arm placing seat; the second end of the first connecting rod is connected with the edge of the first turntable; the second encoder is rotationally connected with the first rotary disc; the second end of the second connecting rod is fixedly connected with the center of the second rotary table, and the third encoder is rotationally connected with the second rotary table; the handle drives the first encoder to rotate when rotating along the axis of the connecting shaft; the handle drives the arm placing seat to rotate along the hinge point of the second connecting rod and the arm placing seat, and the second encoder is driven to rotate; the handle drives the arm placing seat to move back and forth, and the third encoder and/or the second encoder are/is driven to rotate.
The operating handle device can realize the rotation of the first encoder by rotating the handle; the rotation of the second encoder can be realized through the back-and-forth movement; the third encoder rotates by swinging up and down along the hinged point of the second connecting rod and the arm placing seat. A single handle is operated by a single hand, 3-dimensional actions are realized, the movable degree of freedom is more, and the operation is simple and convenient. The problem of can not in time brake or scram under emergency appears in the bimanualness is solved, the security is higher.
The operating handle device and the robot will be described below with reference to specific embodiments to further understand the concept of the operating handle device and the robot, and referring to fig. 1, a handle operating device includes: the arm placing base comprises a handle 10, an arm placing base 20, a first linkage mechanism 30, a second linkage mechanism 40, a third linkage mechanism 50 and a bracket 60, wherein the second linkage mechanism and the third linkage mechanism are arranged in parallel and are installed on the bracket. The first linkage mechanism includes a connecting shaft 301 and a first encoder 302; the second linkage mechanism includes a first link 401, a first turntable 402, and a second encoder 403; the third linkage mechanism includes a second link 501, a second dial 502, and a third encoder 503. The connecting shaft is rotatably arranged on the arm placing seat. Specifically, the arm placing seat 20 is provided with a through cavity in the length direction thereof, one end of the connecting shaft 301 is fixedly connected with the handle 10, and the other end thereof penetrates through the cavity of the arm placing seat to be connected with the first encoder. Therefore, the first encoder can be driven to rotate by rotating the handle along the axis direction of the connecting shaft. Further, the first end of the first link 401 and the first end of the second link 501 are respectively hinged to the bottom of the arm rest 20. A second end of the first link 401 is connected with an edge of the first turntable 402; the second encoder is rotatably connected with the first rotary disc. The second end of the second link 501 is fixedly connected with the center of the second rotary disc 502, and the third encoder is rotatably connected with the second rotary disc. It should be noted that, the centers of the first turntable and the second turntable are rotatably connected with the bracket, and can be connected with the shaft by adopting a bearing. The second encoder and the third encoder are also fixedly arranged on the bracket.
Like this, the arm is placed on the seat is placed to the arm, and the right hand is held the handle and is driven the arm and place the seat along the pin joint (the pin joint that the seat was placed to second connecting rod and arm) luffing motion near handle one end, because the second connecting rod is connected with the center of second carousel, so only first connecting rod can drive first carousel and rotate this moment, and the second encoder rotates thereupon. When the handle drives the arm to place the seat for the front and the back to act, at the moment, the second connecting rod can place the driving third encoder of the seat at the arm to rotate due to the fixed connection of the second connecting rod and the second turntable. It should be noted that, if the first connecting rod is hinged to the first rotary disk, when the arm placing seat moves back and forth, the first rotary disk will not rotate along with the movement of the first connecting rod, and the second encoder will not rotate. If the first connecting rod is fixedly connected with the first rotating disc, when the arm placing seat runs back and forth, the first rotating disc rotates along with the movement of the first connecting rod, and then the second encoder rotates.
It should be noted that the encoder and the corresponding rotary table may be rotated by meshing gears, chain wheels, chains, or belts or pulleys. Optimally, gear mesh transmission is adopted.
In one embodiment, the first encoder may be electrically connected to the rotating base of the robot through programming; the second encoder is electrically connected with an operating arm of the robot through program control; the third encoder is electrically connected with the other operation arm of the robot through program control, so that when the encoder rotates, corresponding data information is transmitted to the control program, and the base and the mechanical arm of the robot can be controlled to rotate. In order to improve the comfort of the hand wall of the operator on the arm placing seat, a layer of flexible material, such as a spongy cushion, a rubber pad and the like, can be paved on the upper surface of the arm placing seat.
In order to reduce the whole volume of the handle operating device, the structure is more compact, the installation is simpler, and the first rotating disc and the second rotating disc are coaxially arranged and have the same outline size.
Referring to fig. 2, in one embodiment, in order to allow the handle to automatically return to the initial position after rotating, the first linkage 30 further includes a reset component 303. Reset assembly fixed mounting places the cavity of seat at the arm in, and connecting axle one end is connected with the handle, and the other end passes reset assembly and is connected with first encoder. Can establish the torsional spring in the reset assembly, when the handle rotated, the torsional spring received torsion and produced bounce, works as the handle is rotatory to the position, and after first encoder execution order was ended, the handle can make the handle return the normal position together with the connecting axle through reset assembly's bounce after the hand release, need not artifical secondary operation, simplified step and improvement operating efficiency.
Referring again to fig. 2, in one embodiment, a button assembly is provided on the handle 10. The button assembly includes function buttons and operation buttons 101. Specifically, function buttons are provided at positions of the handle facing the operator, and these buttons are connected and controlled by an electrical system. When the mechanical arm of the robot moves to the designated position, the workpiece can be clamped, polished or carried by pressing the corresponding function button. An operation button 101 is provided on the back of the function button.
In one embodiment, the speed of the operation may be unstable due to the fact that the manual operation may be too hard or too small. In order to ensure that the rotation of the second encoder is stable and uniform when the handle drives the connecting rod. Referring to fig. 3, the second linkage mechanism 40 further includes a first servo motor 404 and a first gear plate 405. First servo motor fixed mounting is on the support, installs the drive wheel on its output shaft. The driving wheel is connected with the first rotating disc through the conveyor belt 406, namely the driving wheel and the first rotating disc are linked through the conveyor belt. Further, a first gear plate 405 matches a second encoder and is fixedly mounted on the first rotary table and the gear teeth of the first encoder protrude the edge of the second rotary table, and the second encoder is engaged with the first gear plate through the encoder gear of the second encoder. The operating button 101 on the handle is electrically connected with the first servo motor, and the operating button is used as an enabling key of the first servo motor, namely, used as a switch for powering on and powering off the servo motor.
The specific work is as follows: the handle drives the arm placing seat to swing up and down along the hinged point of the second connecting rod and the arm placing seat, and meanwhile, the operating button 101 is pressed, and the first servo motor enters an enabling state (which can be understood as a power-on state). At the moment, the first connecting rod drives the first rotating disc to rotate under the movement of the arm placing seat, and the second encoder also rotates along with the first rotating disc. Because the first servo motor is in flexible connection with the first rotating disc through the connection of the conveyor belt, and the second encoder is in tooth-meshed hard connection with the first rotating disc, when the handle drives the first connecting rod to move, the second encoder acts before the first servo motor, at the moment, the second encoder can output a certain amount of position increment signals, the signals are given as the position increment of the first servo motor (the first servo motor is driven to rotate), and at the moment, the first servo motor can drive the first rotating disc to rotate. When the arm driving force is very big, first servo motor can play the reaction force, makes opposite direction to the rotation of first carousel promptly, prevents through reverse moment of torsion that first carousel from rotating too fast. When the encoder executes the command, the operating button 101 on the handle is released, the connecting rod and the turntable keep the current position and posture still, and if the operation is to be continued, the handle and the operating button are continuously operated. The servo motor can ensure that the second encoder rotates at a constant speed, and the problem that components connected with the second encoder move too fast is avoided; but also can keep the posture of the connecting rod. It should be noted that the first rotating disk may be a pulley or a sprocket; the conveyor belt may be provided as a belt or a chain. First gear piece can set up to fan-shaped, avoids the large tracts of land to set up, and the cost is lower, installation space is little when realizing the encoder pivoted.
In one embodiment, in order to avoid the transmission efficiency being affected by the slack of the transmission belt in the long-time operation, the second linkage mechanism further comprises a first tension wheel 407. The first tensioning wheel is located between the first servo motor and the first rotary disc, is matched with the conveyor belt and is rotatably installed on the support and used for tensioning the conveyor belt. Furthermore, the first tensioning wheel can be positioned on the inner side of the conveyor belt and stretches the conveyor belt outwards, and can also be arranged on the outer side of the conveyor belt and compresses inwards to tension the conveyor belt. It should be noted that the tensioning wheel is arranged in match with the conveying belt and can be arranged as a rotating roller, a belt wheel or a chain wheel.
Referring to fig. 4, in an embodiment, the operation speed may be unstable due to the fact that the manual operation may be too hard or too small. In order to ensure that the third encoder rotates stably and uniformly when the handle drives the connecting rod, the third linkage mechanism further comprises a second servo motor 504 and a second gear plate 505, the second servo motor is fixedly arranged on the bracket, and an output shaft of the second servo motor is provided with a driving wheel and is then in driving connection with the second rotary table through a conveying belt 506. The second gear plate 505 matches the third encoder and is fixedly mounted on the third turntable with its gear teeth projecting beyond the edge of the third turntable, the third encoder being engaged with the second gear plate through its encoder gear. An operating knob 101 is provided on the handle, and the operating knob is electrically connected to the second servo motor. The handle drives the arm to place the seat and move forward and backward while pressing the operating button, and the second servo motor enters into the enabling shape. The second connecting rod drives the second rotary table to rotate under the action of the arm placing seat, and the third encoder also rotates along with the second rotary table. Specifically, the function and operation of the second servo motor are the same as those of the second linkage mechanism, and are not described in detail here.
It should be noted that the second turntable may be a pulley or a sprocket; the conveyor belt may be provided as a belt or a chain. The second gear plate and the first gear plate may be provided with the same size. Preferably, set up to fan-shaped, cost is lower, occupation space is little when realizing the encoder rotation.
In one embodiment, to avoid the transmission efficiency being affected by the slack of the belt in the long-term operation, the third linkage mechanism further comprises a second tension wheel 507. The second tensioning wheel is located between the second servo motor and the second rotating disc, is matched with the conveying belt and is installed on the support and used for tensioning the conveying belt. Further, the second tensioning wheel can be located inside the conveyor belt and stretch the conveyor belt outwards to be tensioned, and can also be arranged outside the conveyor belt and press inwards to tension the conveyor belt. It should be noted that the second tensioning wheel may be provided in the same size or pattern as the first tensioning wheel.
In one embodiment, the first link is preferably equal in length to the second link. Therefore, when the handle and the arm placing seat are in the initial positions, a connecting line between the connecting point of the first connecting rod and the first rotating disc and the center of the second rotating disc is parallel to the arm placing seat. At this moment, the size of the connecting rod can be set to be shortest, and when the arm placing seat acts, the stroke of the connecting rod driving the rotating disc is the largest (the rotating angle is the largest).
In one embodiment, a robot comprises the handle operating device of all the above embodiments. Specifically, referring to fig. 6 to 10, the robot includes a base 100, a first robot arm 200, and a second robot arm 300, which are sequentially connected. The base and the first encoder are electrically connected through program control; the first mechanical arm and the second encoder are electrically connected through program control; the second mechanical arm and the third encoder are electrically connected through program control.
Referring to fig. 5-10, there are shown schematic diagrams of the handle in the neutral position, the handle pushed forward position and the handle pushed up position, respectively, and corresponding schematic diagrams of the robot arm movements.
The specific operation process is as follows: the operator places the elbow of the right hand on the arm placing seat, the handle is grabbed by the right hand, and the thumb controls the operating button on the handle. The rotation of handle drives first encoder and rotates, and first encoder signal constitutes closed loop system as the position given signal of manipulator base gyration, and the position feedback signal of robot body realizes that manipulator base gyration is followed the handle gyration and is rotated.
Referring to fig. 7-8, the handle drives the arm placing base to push forward or pull backward in the horizontal direction, and the second mechanical arm of the corresponding robot swings left and right at the position where the second mechanical arm is connected with the base. Specifically, the handle is grabbed to the right hand and the arm is driven and the seat is placed and is pushed forward or is pressed the operating button when pulling backward in the horizontal direction, and servo motor gets into the enable state this moment. Because the carousel passes through the conveyer belt with second servo motor and is connected, third encoder and second carousel gear connection. Therefore, when the handle moves back and forth to drive the second connecting rod to rotate, the third encoder rotates before the second servo motor, so that the third encoder can output a certain amount of position increment signals, the signals serve as the position increment of the second servo motor to be given, and the second servo motor drives the connecting rod to move at the moment. And the output signal of the third encoder is simultaneously used as the position-giving signal for the movement of the second robot arm. The effect achieved is that when the operator's arm pushes or pulls the handle backwards, the second mechanical arm follows the movement of the handle. When an operator visually inspects that the tail end of the mechanical arm reaches the target position, the control handle stops, the position signal output by the third encoder is not increased any more, the second servo motor stops rotating along with the position signal, the handle keeps the current posture, and the second mechanical arm stops at the current posture. When the posture of the second mechanical arm needs to be adjusted, the operation handle is continuously operated to move. If the second mechanical arm does not need to act again, the operating button on the handle is loosened, the servo motor is disabled (equivalently, power is cut off), and the posture of the connecting rod is kept all the time. It should be noted that in this figure, the first link is connected to the first turntable in an articulated manner, so that during the horizontal movement, the first turntable is not moved, i.e. only the second robot arm moves.
Further, as shown in FIGS. 9-10, the first arm swings up and down along its point of attachment to the second arm as the operating handle swings up and down along the hinge point near the handle. Specifically, when the handle swings up and down along the hinge point close to one end of the handle, the second connecting rod is connected with the center of the second rotary disc, so that the second rotary disc and the third encoder are not moved at the moment, namely, the second connecting arm does not move. The first rotary disc and the second encoder rotate, the working principle is the same as that of forward pushing or backward pulling of the operating handle, and the detailed description is omitted here.
The rotation, the front-back and the up-down movement of the operating handle respectively correspond to the rotation of the base of the robot and the movement of the second mechanical arm and the first mechanical arm. The whole operation process can be continuously carried out, and the mechanical arm of the robot rotates to follow the movement of the arm of an operator, so that the robot is more in line with ergonomics and is simple to operate. Not only is the man-machine cooperation coordinated, but also the linkage of the robot base, the first mechanical arm and the second mechanical arm can be realized only by the action of the operating handle along three dimensions. The functions of the robot can be completely realized through the rotation of the base and the actions of the first mechanical arm and the second mechanical arm. And the integrated function of the tail end execution device of the robot is controlled by the function button on the handle, so that the operation is simpler and more convenient.
The single-handle operating device in this application, through the motion that the single-hand operation handle just can drive robot base and arm to realize actions such as snatching, polishing, welding of robot.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A handle operating device, comprising: the device comprises a handle, an arm placing seat, a first linkage mechanism, a second linkage mechanism, a third linkage mechanism and a support, wherein the second linkage mechanism and the third linkage mechanism are arranged on the support;
the first linkage mechanism comprises a connecting shaft and a first encoder;
the second linkage mechanism comprises a first connecting rod, a first rotary disc and a second encoder;
the third linkage mechanism comprises a second connecting rod, a second rotary disc and a third encoder;
the connecting shaft is rotatably arranged on the arm placing seat, the arm placing seat is provided with a through cavity in the length direction, one end of the connecting shaft is fixedly connected with the handle, and the other end of the connecting shaft penetrates through the cavity to be connected with the first encoder;
the first end of the first connecting rod and the first end of the second connecting rod are respectively hinged with the arm placing seat; the second end of the first connecting rod is connected with the edge of the first rotating disc, and the second encoder is rotationally connected with the first rotating disc; the second end of the second connecting rod is fixedly connected with the center of the second rotary table, and the third encoder is rotationally connected with the second rotary table;
the handle drives the first encoder to rotate when rotating along the axis of the connecting shaft; the handle drives the arm placing seat to rotate along the hinge point of the second connecting rod and the arm placing seat, and the second encoder is driven to rotate; the handle drives the arm placing seat to move back and forth, and the third encoder and/or the second encoder are/is driven to rotate.
2. The handle operating device of claim 1, wherein the first dial and the second dial are identically sized in outer profile and are coaxially disposed.
3. The handle operating device of claim 1, wherein the first linkage further comprises a reset assembly disposed within the arm rest cavity and through which the connecting shaft passes to connect with the first encoder; when the handle rotates to the position, the first encoder executes the command, and the handle can be automatically reset through the reset assembly after the hand is released.
4. The handle operating device of any one of claims 1-3, wherein a button assembly is provided on the handle.
5. The handle operating device according to claim 4, wherein the second linkage mechanism further comprises a first servo motor and a first gear piece, the first servo motor is fixedly mounted on the bracket, and an output shaft of the first servo motor is in driving connection with the second rotary table through a conveyor belt; the button assembly is electrically connected with the first servo motor; first gear piece fixed mounting just the teeth of a cogwheel protrusion on the first carousel the edge of first carousel, the second encoder with first gear piece meshing is connected.
6. The handle operating device according to claim 5, wherein the second linkage mechanism further comprises a tension wheel, the tension wheel being located between the first servomotor and the first rotary disk, the tension wheel matching the conveyor belt and being mounted on the mounting bracket for tension of the conveyor belt; most preferably, the second turntable and the tensioning wheel are pulleys or sprockets; the conveyor belt is a belt or a chain.
7. The handle operating device according to claim 4, wherein the third linkage mechanism further comprises a second servo motor and a second gear plate, the second servo motor is fixedly mounted on the bracket, and an output shaft of the second servo motor is in driving connection with the second rotary table through a conveyor belt; the button assembly is electrically connected with the second servo motor; the third linkage mechanism is further provided with a second gear plate, the second gear plate is fixedly installed on the second rotary table, gear teeth protrude out of the edge of the second rotary table, and the third encoder is meshed with the second gear plate.
8. The handle operating device according to claim 7, wherein the third linkage further comprises a tension wheel, the tension wheel being located between the second servomotor and the second turntable, the tension wheel matching the conveyor belt and being mounted on the bracket for tension of the conveyor belt; most preferably, the second turntable and the tensioning wheel are pulleys or sprockets; the conveyor belt is a belt or a chain.
9. The handle operating device of claim 1, wherein the first link is the same length as the second link.
10. A robot comprising a handle operating device according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110213199.6A CN112809708A (en) | 2021-02-26 | 2021-02-26 | Handle operating means and robot |
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| Application Number | Priority Date | Filing Date | Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310976A (en) * | 2021-11-29 | 2022-04-12 | 共享智能装备有限公司 | Operating handle and manipulator |
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