CN104149081A - Modular handheld double-operating-end master robot - Google Patents
Modular handheld double-operating-end master robot Download PDFInfo
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- CN104149081A CN104149081A CN201410364307.XA CN201410364307A CN104149081A CN 104149081 A CN104149081 A CN 104149081A CN 201410364307 A CN201410364307 A CN 201410364307A CN 104149081 A CN104149081 A CN 104149081A
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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 robot, belongs to the renovation technique of modular hand-held dual operation end main robot.
Background technology
The mankind more and more need the robot that can work in danger or circumstances not known.But, be subject to the restriction of the aspects such as artificial intelligence technology, mechanism, control and sensing technology, develop and can in circumstances not known, also need a very long time by the intelligent robot of utonomous working.Therefore rely at present people's intelligence, the principal and subordinate's control being operated under man-machine interaction is the feasible selection of a kind of reality.This principal and subordinate controls the execution of people's intelligence and robot is combined, and has realized people's perception and the extension of capacity.Operator operates main robot, processor is converted into the understandable order from robot according to the posture information of main robot operator's control intention, and control from robot motion to realize corresponding task with this, feel by its status information feedback that by vision or power, to operator, operator revises the control behavior of oneself accordingly simultaneously.As window and the instrument of man-machine interaction, people's intelligence can be acted on to robot, the main robot of realizing people's perception and the extension of capacity just arises at the historic moment.
Chinese scholars has been developed a lot of main robots, and has a lot of business-like systems, for example data glove of the Phantom with force feedback, exoskeleton-type.But the configuration of current main robot is all fixed, can not correspondingly change configuration according to mission requirements or from the variation of robot; And the free degree also immobilizes, can not increase and decrease as required.This has just caused main robot to be difficult to adapt to various from robot.For example, when actual needs lower-mobility causes main robot DOF (degree of freedom) redundance during from robot, make the mapping complex between principal and subordinate, amount of calculation is large, affects real-time and stability that principal and subordinate controls.Therefore, the versatility of main robot and flexibility are to study at present the subject matter that main robot faces.Modular method for designing can solve the poor and problem such as structure and control complexity of the versatility of main robot.Modularization main robot can obtain multiple not isomorphism type by the order of connection or the mode that change self only several module, different from robot modeling or mission requirements to meet, and easily realizes the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modularization main robot has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction is simple, is easy to processing, between each module, can mutually replace, and realizes rapid-assembling.
Develop a lot of main robots both at home and abroad, and had a lot of business-like systems, for example data glove of the Phantom with force feedback, exoskeleton-type.But there are some problem and shortage in them, is mainly manifested in: (1) versatility and flexibility deficiency.On the one hand, the configuration of current main robot is all fixed, and can not correspondingly change configuration according to mission requirements or from the variation of robot; And the free degree also immobilizes, can not increase and decrease as required, this has just caused current main robot for example can not adapt to, from the variation of robot (modularization robot) configuration and the free degree.On the other hand, current main robot can only single-ended operation, therefore can only control have an actuator from robot, and for example, for the robot (tow-armed robot or both hands pawl climbing robot) with both-end actuator helpless.(2) cost is high, and owing to lacking versatility, different often needs corresponding main robot from robot, and the development and application cost of main robot is high like this; (3) control complicatedly, existing main robot system is with, from being isomery mostly between robot, the mapping between principal and subordinate robot is more complicated, and amount of calculation is large, affects the stability of principal and subordinate's control; (4) operating characteristics is poor, existing main robot system be all wearable type or large-scale fall formula, the former generally has indifferent equilibrium problem, operator easily produces tired the latter and requires operator upright, also can be tired after long-time operation.
General Requirements main robot can have higher versatility, can control multiple differently from robot system, so just can reduce the development and application cost of main robot; Require in addition main robot simple and reasonable, can carry out simple principal and subordinate's mapping from robot with multiple, control thereby simplify principal and subordinate, improve the stability of principal and subordinate's robot system.Therefore, develop a kind of can control and multiplely meet the trend of robot development and the needs of social production life from robot and simple in structure, strong operability, main robot with low cost.
Modular method for designing can solve the poor and problem such as structure and control complexity of the versatility of main robot.Modularization main robot can obtain multiple not isomorphism type by the order of connection or the mode that change self only several module, also can change free degree number by the increase and decrease of module number, different from robot modeling or mission requirements to meet, easily realize the isomorphism mapping between principal and subordinate robot.Compare legacy hosts device people, modularization main robot has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction is simple, is easy to processing, between each module, can mutually replace, and realizes rapid-assembling.
Especially as previously mentioned, also lack at present a kind of main robot can control have single-ended actuator from robot (motion arm), can control again have both-end actuator for example, from robot (tow-armed robot or both hands pawl climbing robot).Both hands pawl climbing robot can't be realized autonomous or intelligence climbing at present, needs manual remote control, but lacks effective remote control mode and means at present, and teach box and control stick are not directly perceived, cause teaching or remote control very difficult.Therefore need to develop a kind of simple in structure, strong adaptability, easy to use, remote control is directly perceived, convenient hand-held main robot.
Summary of the invention
The object of the invention is to consider the problems referred to above and a kind of simple in structure, strong adaptability is provided, easy to use, remote control is directly perceived, convenient hand-held modular hand-held dual operation end main robot.The present invention is reasonable in design, convenient and practical, can carry out remote control to both hands pawl climbing robot.
Technical scheme of the present invention is: modular hand-held dual operation end main robot of the present invention, include two handle module, three rotating and swinging joint modules, two revolute joint modules have seven modules, each module connects with snap ring with series system successively, the order of connection is: first handle module, the first revolute joint module, the 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, make the joint rotating shaft symmetry of robot head and the tail two-end structure about the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules is parallel to each other, and naturally vertical with the joint shaft of the revolute joint module at two ends, two handle module are arranged on respectively the two ends of robot, form an imitative arm main robot of two gripper types.
Above-mentioned revolute joint module refers to the module of only having a rotational freedom and joint rotating shaft to overlap with the center line of module own; Described rotating and swinging joint module refers to only have a rotational freedom and the joint rotating shaft joint module vertical with the center line of module own; Described handle module is a kind of functional module that facilitates staff to grip and operate that is provided with multiple control buttons.
The each joint module of the present invention has a rotational freedom, is driven by external force or moment of face, and its encoder detects joint rotation angle, and damper rotates and applies certain damping joint.When work, moved by two handle main control system device people of operator's two-handed hand-held end, guiding is followed from robot, and the action from end effector of robot by the button control on handle.The present invention compared with prior art, has following features and advantage:
1) modularization: joint module and two handle module by two kinds of single-degree-of-freedoms form, realizes connection and fastening by snap ring between module, and the structure of robot and dismounting are simple, convenient and quick.Configuration is variable, and the free degree is variable.
2) highly versatile, flexibility are good: modular design feature makes the configuration of main robot and the free degree according to the concrete condition from robot and variable, thereby main robot strong adaptability, has good versatility and flexibility; Especially both can for single operation end (for example motion arm) from robot remote control, also can control for example, the remote control from robot (tow-armed robot and both hands pawl climbing robot) of dual operation end.
3) easy to operate: because structure is light and handy, can two-handed hand-held, relatively operation.
4) simple in structure, with low cost: main robot only has three kinds of modules composition, and each this body structure of module is very simple, and its structure is very simple like this, development, operation and maintenance are with low cost.
The present invention builds easily, configuration is variable, simple in structure, favorable expandability, highly versatile, easy to operate, easily realize and isomorphism mapping from robot, can be widely used in the fields such as industry, agricultural, forestry, building industry, nuclear industry and chemical industry have single-ended actuator or both-end actuator from robot remote control.
Brief description of the drawings
Fig. 1 is dual operation end main robot outside drawing of the present invention;
Fig. 2 is dual operation end main robot structural scheme of mechanism of the present invention;
Fig. 3 is revolute joint module outside drawing of the present invention;
Fig. 4 is revolute joint module profile of the present invention;
Fig. 5 is rotating and swinging joint module outside drawing of the present invention;
Fig. 6 is rotating and swinging joint module profile of the present invention;
Fig. 7 is handle module outside drawing of the present invention;
Fig. 8 is handle module profile of the present invention.
Detailed description of the invention
Embodiment:
The outside drawing of the modular hand-held dual operation of the present invention end main robot and structural scheme of mechanism are as depicted in figs. 1 and 2, include two handle module 001, three rotating and swinging joint modules 003, two revolute joint modules 002 have seven modules, each module connects with snap ring with series system successively, the order of connection is: first handle module, the first revolute joint module, the 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, make the joint rotating shaft symmetry of robot head and the tail two-end structure about the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules 003 is parallel to each other, and naturally vertical with the joint shaft of the revolute joint module 002 at two ends, two handle module 001 are arranged on respectively the two ends of robot, form an imitative arm main robot of two gripper types.
Above-mentioned revolute joint module refers to the module of only having a rotational freedom and joint rotating shaft to overlap with the center line of module own; Described rotating and swinging joint module refers to only have a rotational freedom and the joint rotating shaft joint module vertical with the center line of module own; Described handle module is a kind of functional module that facilitates staff to grip and operate that is provided with multiple control buttons.
Electrical connection between above-mentioned seven modules realizes by USB interface.Electrical connection between seven modules realizes by the micro USB interface of module side.
Shown in Fig. 3 and Fig. 4, be respectively outside drawing and the profile of revolute joint module 002, above-mentioned revolute joint module 002 includes the first rotation base 101, the data wire 102 with USB joint, revolute joint module processor 103, encoder 104, studs 105, diagonal angle screw 106, encoder installing plate 107, damper 108, turning cylinder 109, ball bearing 110, thrust bearing 111, the second rotating base 112, attachment screw 113, holding screw 114; The connected mode of each parts is: a fork ear of turning cylinder 109 and the second rotating base 112 is realized and being connected by attachment screw 113; When realizing axial and radial location by ball bearing 110 and thrust bearing 111 between turning cylinder 109 and the second rotating base 112 and the first rotating base 101, realize and relatively rotating; Two identical one-way dampers 108 are placed on turning cylinder 109 back-to-back, and two ends are compressed by the first rotating base 101 and encoder installing plate 107, the rectangular channel tight fit of the boss of one end and encoder installing plate 107; Encoder installing plate 107 is affixed to by diagonal angle screw 106 on the boss of the first rotating base 101 inner chambers; Encoder 104 is affixed on encoder installing plate 107 by holding screw 114; Turning cylinder 109 runs through damper 108 and encoder installing plate 107, and end stretches in the centre bore of encoder 104 and is connected with the code-disc of encoder 104; Revolute joint module processor 103 is fixed on encoder installing plate 107 by studs 105, have gap with the end face of encoder 104, two symmetrical USB electric interfaces on revolute joint module processor 103 are aimed at two holes on the first rotating base 101; Data wire 102 with USB joint is connected with revolute joint module processor 103 through the hole on the first rotating base 101, realizes supply and the CAN bus signal transmission of power supply signal.
Above-mentioned data wire 102 is with micro USB joint; Two symmetrical USB electric interfaces on revolute joint module processor 103 are micro USB electric interfaces; Encoder installing plate 107 is affixed to by four diagonal angle screws 106 on the boss of the first rotating base 101 inner chambers; Encoder 104 is affixed on encoder installing plate 107 by four holding screws 114; Revolute joint module processor 103 is fixed on encoder installing plate 107 by two studs 105; A fork ear of turning cylinder 109 and the second rotating base 112 is realized and being connected by three attachment screws 113.
Shown in Fig. 5 and Fig. 6, be respectively outside drawing and the profile of rotating and swinging joint module 003, above-mentioned rotating and swinging joint module 003 includes the first swinging base 201, rotating and swinging joint module processor 202, the data wire 203 with USB joint, studs 204, pin 205, diagonal angle screw 206, encoder 207, turning cylinder 208, the first flange bearing (209), end face bearing (210), damper 211, the second swinging base 212, holding screw 213, the second flange bearing 214; The end cap of turning cylinder 208 and the second swinging base 212 are realized axial location by four holding screws 213, and the plane of end cap side contacts with the second swinging base 212 tight fits, realize tangentially location, thereby turning cylinder 208 and the second swinging base 212 are connected; Two journal stirrups of the first swinging base 201 are connected with turning cylinder 208 by bearing; The first flange bearing 209, end face bearing 210 and 214 3 sliding bearings of the second flange bearing are enclosed within on turning cylinder 208, and two parts that mutually rotate are separated; Two identical one-way dampers 211 are enclosed within on turning cylinder 208 back-to-back, and its radial lobes is connected by two little journal stirrups on pin 205 and the first swinging base 201 end faces, limits its rotation; Encoder 207 is affixed to the lateral surface of the S type journal stirrup of the first swinging base 201 by diagonal angle screw 206, the end of turning cylinder 208 stretches in its centre bore and is connected with encoder 207; Rotating and swinging joint module processor 202 is fixed on the first swinging base 201 by studs 204, and two symmetrical USB electric interfaces on rotating and swinging joint module processor 202 are aimed at two holes on the first swinging base 201; Data wire 203 with USB joint is connected with rotating and swinging joint module processor (202) through the hole on the first swinging base 201, realizes supply and the CAN bus signal transmission of power supply signal.
Above-mentioned data wire 203 is the data wires with micro USB joint; Two symmetrical USB electric interfaces that rotating and swinging joint module processor 202 is provided with are micro USB electric interfaces; The end cap of turning cylinder 208 and the second swinging base 212 are realized axial location by four holding screws 213; Encoder 207 is affixed to the lateral surface of the S type journal stirrup of the first swinging base 201 by diagonal angle screw 206, rotating and swinging joint module processor 202 is fixed on the first swinging base 201 by studs 204.
Be respectively as shown in Figure 7 and Figure 8 outside drawing and the profile of handle module, above-mentioned handle module includes handle 301, press button 305, the first button mounting bar 307, the second button mounting bar 308 and handle module processor 302 and forms; The first button mounting bar 307 and the second button mounting bar 308 are fixed in the cavity of handle 301 bottoms by screw 304 respectively, and the centre of gyration of the first button mounting bar 307 and second button mounting bar 308 both thorny handle 301 cavitys distributes; On the first button mounting bar 307, be provided with on a press button 305, the second button mounting bars 308 two press buttones 305 are installed, so operator can be easily by thumb and these three press buttones 305 of forefinger control; Two press buttones 305 installing on press button 305 installing on the first button mounting bar 307 and the second button mounting bar 308 can produce the mode of operation of 8 kinds of different easy switchings by permutation and combination; Handle module processor 302 is fixed in the apex cavity of handle 301 by studs 303.
In the present embodiment, the centre of gyration distribution in 90 ° of above-mentioned the first button mounting bar 307 and second button mounting bar 308 both thorny handle 301 cavitys; Two press buttones 305 installing on press button 305 installing on the first button mounting bar 307 and the second button mounting bar 308 are all self-lock switch.
In the present embodiment, above-mentioned the first button mounting bar 307 and the second button mounting bar 308 are fixed in the cavity of handle 301 bottoms by two screws 304 respectively, and handle module processor 302 is fixed in the apex cavity of handle 301 by two studs 303; On handle module processor 302, be designed with the electric interfaces for being connected with other modules, realize supply and the CAN bus signal transmission of power supply signal; The top of handle 301 is also provided with the SMIF with other module.
Operation principle of the present invention is as follows: main robot of the present invention has two operating sides, and operator's both hands are held this two handle module, main control system device people's motion easily, and five joint modules detect corresponding joint rotation angle.When remote control only have an operating side from robot time, control from the pose of the end of robot by the kinematics mapping of principal and subordinate robot according to the relative pose between two handle module, or control the pose from robot by the mapping one by one between principal and subordinate's joint of robot; When remote control have two operating sides for example, from robot (tow-armed robot or both hands pawl climbing robot or tow-armed robot) time, pose according to the relative pose control between two handle module from two ends of robot, or utilize the symmetry of main robot structure, control respectively two ends from robot according to the variation of the pose at two relative centers of handle module, or control the pose from robot by the mapping one by one between principal and subordinate's joint of robot.Button control on handle is from the action of end effector of robot.
Claims (10)
1. a modular hand-held dual operation end main robot, it is characterized in that including two handle module (001), three rotating and swinging joint modules (003), two revolute joint modules (002) have seven modules, each module connects with snap ring with series system successively, the order of connection is: first handle module, the first revolute joint module, the 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), make the joint rotating shaft symmetry of robot head and the tail two-end structure about the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules (003) is parallel to each other, and naturally vertical with the joint shaft of the revolute joint module (002) at two ends, two handle module (001) are arranged on respectively the two ends of robot, form an imitative arm main robot of two gripper types.
2. modular hand-held dual operation end main robot according to claim 1, is characterized in that above-mentioned revolute joint module refers to the module of only having a rotational freedom and joint rotating shaft to overlap with the center line of module own; Described rotating and swinging joint module refers to only have a rotational freedom and the joint rotating shaft joint module vertical with the center line of module own; Described handle module is a kind of functional module that facilitates staff to grip and operate that is provided with multiple control buttons.
3. modular hand-held dual operation end main robot according to claim 2, is characterized in that the electrical connection between above-mentioned seven modules realizes by USB interface.
4. modular hand-held dual operation end main robot according to claim 2, it is characterized in that above-mentioned revolute joint module (002) includes the first rotating base (101), data wire (102) with USB joint, revolute joint module processor (103), encoder (104), studs (105), diagonal angle screw (106), encoder installing plate (107), damper (108), turning cylinder (109), ball bearing (110), thrust bearing (111), the second rotating base (112), attachment screw (113), holding screw (114), the connected mode of each parts is: turning cylinder (109) is realized and being connected by attachment screw (113) with a fork ear of the second rotating base (112), when realizing axial and radial location by ball bearing (110) and thrust bearing (111) between turning cylinder (109) and the second rotating base (112) and the first rotating base (101), realize and relatively rotating, two identical one-way dampers (108) are placed on turning cylinder (109) back-to-back, two ends are compressed by the first rotating base (101) and encoder installing plate (107), the rectangular channel tight fit of the boss of one end and encoder installing plate (107), encoder installing plate (107) is affixed to by diagonal angle screw (106) on the boss of the first rotating base (101) inner chamber, encoder (104) is affixed on encoder installing plate (107) by holding screw (114), turning cylinder (109) runs through damper (108) and encoder installing plate (107), and end stretches in the centre bore of encoder (104) and is connected with the code-disc of encoder (104), revolute joint module processor (103) is fixed on encoder installing plate (107) by studs (105), have gap with the end face of encoder (104), two symmetrical USB electric interfaces on revolute joint module processor (103) are aimed at two holes on the first rotating base (101), data wire (102) with USB joint is connected with revolute joint module processor (103) through the hole on the first rotating base (101), realizes supply and the CAN bus signal transmission of power supply signal.
5. modular hand-held dual operation end main robot according to claim 2, is characterized in that above-mentioned data wire (102) band micro USB joint; Two symmetrical USB electric interfaces on revolute joint module processor (103) are micro USB electric interfaces; Encoder installing plate (107) is affixed to by four diagonal angle screws (106) on the boss of the first rotating base (101) inner chamber; Encoder (104) is affixed on encoder installing plate (107) by four holding screws (114); Revolute joint module processor (103) is fixed on encoder installing plate (107) by two studs (105); Turning cylinder (109) is realized and being connected by three attachment screws (113) with a fork ear of the second rotating base (112).
6. modular hand-held dual operation end main robot according to claim 2, it is characterized in that above-mentioned rotating and swinging joint module (003) includes the first swinging base (201), rotating and swinging joint module processor (202), data wire (203) with USB joint, studs (204), pin (205), diagonal angle screw (206), encoder (207), turning cylinder (208), the first flange bearing (209), end face bearing (210), damper (211), the second swinging base (212), holding screw (213), the second flange bearing (214), the end cap of turning cylinder (208) and the second swinging base (212) are realized axial location by four holding screws (213), the plane of end cap side contacts with the second swinging base (212) tight fit, realize tangential location, thereby turning cylinder (208) and the second swinging base (212) are connected, two journal stirrups of the first swinging base (201) are connected with turning cylinder (208) by bearing, it is upper that the first flange bearing (209), end face bearing (210) and (214) three sliding bearings of the second flange bearing are enclosed within turning cylinder (208), and two parts that mutually rotate are separated, it is upper that two identical one-way dampers (211) are enclosed within turning cylinder (208) back-to-back, and its radial lobes is connected by pin (205) and two little journal stirrups on the first swinging base (201) end face, limits its rotation, encoder (207) is affixed to the lateral surface of the S type journal stirrup of the first swinging base (201) by diagonal angle screw (206), the end of turning cylinder (208) stretches in its centre bore and is connected with encoder (207), rotating and swinging joint module processor (202) is fixed on the first swinging base (201) by studs (204), and two symmetrical USB electric interfaces on rotating and swinging joint module processor (202) are aimed at two holes on the first swinging base (201), data wire (203) with USB joint is connected with rotating and swinging joint module processor (202) through the hole on the first swinging base (201), realizes supply and the CAN bus signal transmission of power supply signal.
7. modular hand-held dual operation end main robot according to claim 2, is characterized in that above-mentioned data wire (203) is the data wire with micro USB joint; Two symmetrical USB electric interfaces that rotating and swinging joint module processor (202) is provided with are micro USB electric interfaces; The end cap of turning cylinder (208) and the second swinging base (212) are realized axial location by four holding screws (213); Encoder (207) is affixed to the lateral surface of the S type journal stirrup of the first swinging base (201) by diagonal angle screw (206), processor (202) is fixed on the first swinging base (201) by studs (204).
8. according to the modular hand-held dual operation end main robot described in claim 2 to 7 any one, it is characterized in that above-mentioned handle module includes handle (301), press button (305), the first button mounting bar (307), the second button mounting bar (308) and handle module processor (302) and forms; The first button mounting bar (307) is fixed in the cavity of handle (301) bottom by screw (304) respectively with the second button mounting bar (308), and the first button mounting bar (307) distributes with the centre of gyration of both thorny handle (301) cavitys of the second button mounting bar (308); On the first button mounting bar (307), a press button (305) is installed, on the second button mounting bar (308), two press buttones (305) are installed, so operator can be easily by thumb and these three press buttones (305) of forefinger control; The upper press button (305) of installing of the first button mounting bar (307) and upper two press buttones (305) installed of the second button mounting bar (308) can produce the mode of operation of 8 kinds of different easy switchings by permutation and combination; Handle module processor (302) is fixed in the apex cavity of handle (301) by studs (303).
9. modular hand-held dual operation end main robot according to claim 8, is characterized in that the centre of gyration distribution in 90 ° of above-mentioned the first button mounting bar (307) and both thorny handle (301) cavitys of the second button mounting bar (308); The upper press button (305) of installing of the first button mounting bar (307) and upper two press buttones (305) installed of the second button mounting bar (308) are all self-lock switch.
10. modular hand-held dual operation end main robot according to claim 9, it is characterized in that above-mentioned the first button mounting bar (307) and the second button mounting bar (308) are fixed in the cavity of handle (301) bottom by two screws (304) respectively, handle module processor (302) is fixed in the apex cavity of handle (301) by two studs (303); On handle module processor (302), be designed with the electric interfaces for being connected with other modules, realize supply and the CAN bus signal transmission of power supply signal; The top of handle (301) is also provided with the SMIF with other module.
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| CN104546031A (en) * | 2014-12-17 | 2015-04-29 | 哈尔滨思哲睿智能医疗设备有限公司 | Multi-DoF (Degree of Freedom) surgical instrument for minimally-invasive surgery |
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| CN106926224A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of bionical mechanical arm climbed and operate |
| CN109927071A (en) * | 2019-03-18 | 2019-06-25 | 广东工业大学 | A kind of main robot single-degree-of-freedom revolute joint |
| CN111055270A (en) * | 2019-12-06 | 2020-04-24 | 广东工业大学 | Small-size modularization robot end holder model |
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