CN109176497A - A kind of main hand of rope drive Three Degree Of Freedom remote operating - Google Patents
A kind of main hand of rope drive Three Degree Of Freedom remote operating Download PDFInfo
- Publication number
- CN109176497A CN109176497A CN201811248465.3A CN201811248465A CN109176497A CN 109176497 A CN109176497 A CN 109176497A CN 201811248465 A CN201811248465 A CN 201811248465A CN 109176497 A CN109176497 A CN 109176497A
- Authority
- CN
- China
- Prior art keywords
- rope
- degree
- remote operating
- drive
- sheave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The present invention relates to a kind of main hands of rope drive Three Degree Of Freedom remote operating, belong to and want operating technology field, solve the problems, such as the main hand inertia of existing remote operating it is larger, it is with high costs, be not suitable for small scene.The main hand of rope drive Three Degree Of Freedom remote operating includes constrained branched chain, driving branch and pedestal；Constrained branched chain includes constraint connecting rod and universal piece, and constrains connecting rod and pass through universal piece, and can slide in universal piece；Universal piece forms gimbal structure with pedestal；It drives branch to be equipped at least 3 groups, is uniformly distributed along the circumference array around constrained branched chain；Driving branch includes drive link, and drive link one end is hinged by rope transmission mechanism with pedestal, and the moving platform of the other end and constraint interlinking lever end is hinged.The main hand of Three Degree Of Freedom rope drive remote operating proposed by the present invention, has the advantages that big rigidity, big power output, small quality, high position accuracy, high response speed, fabrication design is simple, at low cost.
Description
Technical field
The present invention relates to teleoperation field more particularly to a kind of main hands of rope drive Three Degree Of Freedom remote operating.
Background technique
Force feedback is a kind of virtual reality technology, and the reaction force in virtual scene is shown using mechanical structure, is led to
Crossing force feedback technique may be implemented remote tele-operation, often be applied to remote operation and the explosion-proof equal fields of anti-terrorism.By high dynamic
The advantages such as response, high rigidity, high-precision, parallel institution are widely used in the main hand of remote operating.However in some scenes, such as
Remote operation needs under lesser motion range, carries out accurate quick force-feedback control, and the existing main hand getting of remote operating is used
Parallel institution metal material must be used to guarantee rigidity due to every connecting rod, the inertia of this main hand of remote operating is larger, shadow
Corresponding speed, the operational fluency of whole equipment have been rung, and in order to guarantee also to can guarantee control in the case where higher inertia
Precision, requirement on machining accuracy is very high, and then improves manufacturing cost height, be unfavorable for promoting and use.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of main hand of rope drive Three Degree Of Freedom remote operating, existing to solve
Have the main hand inertia of remote operating it is larger, it is with high costs, be not suitable for the problem of small scene.
The purpose of the present invention is mainly achieved through the following technical solutions:
In technical solution of the present invention, a kind of main hand of rope drive Three Degree Of Freedom remote operating, rope drive Three Degree Of Freedom remote operating
Main hand includes constrained branched chain, driving branch and pedestal；Constrained branched chain includes constraint connecting rod and universal piece, and constrains connecting rod and pass through ten thousand
To block, and can be slided in universal piece；Universal piece forms gimbal structure with pedestal；Branch is driven to be equipped at least 3 groups, along circle
Zhou Junbu array is around constrained branched chain；Driving branch includes drive link, and drive link one end and pedestal pass through rope drive
Mechanism is hinged, and the moving platform of the other end and constraint interlinking lever end is hinged.
In technical solution of the present invention, the end for constraining connecting rod is fixedly connected with moving platform；Constraint connecting rod is square bar, universal
Block is square, and universal piece of center is equipped with size square through hole identical with constraint connecting rod sectional dimension.
In technical solution of the present invention, universal piece includes interior piece and outer piece；Interior piece and outer piece is square box；Interior piece passes through
The first axle vertical with interior piece of side and outer piece of rotation connection, outer piece is cut with scissors by the second axis and pedestal vertical with outer piece of side
It connects；First axle and the second axis are orthogonal；It constrains connecting rod and passes through interior piece.
In technical solution of the present invention, rope transmission mechanism includes: motor, motor cabinet, the first rope sheave and the second rope sheave；
Motor is fixedly mounted on motor cabinet；Motor cabinet is fixedly connected with pedestal；First rope sheave passes through sheave shaft and motor
Seat rotation connection, and sheave shaft is parallel with motor output shaft；The outer rim of first rope sheave and drive link are hinged；
Second rope sheave is fixedly connected with the output shaft of motor；The outer rim of first rope sheave and the outer rim of the second rope sheave are equipped with steel wire
Rope, and the second rope sheave drives the first rope sheave to rotate by wirerope.
In technical solution of the present invention, the first rope sheave is semicircle wheel, and sheave shaft is fixed on the center point of the first rope sheave；First
The circumference side of rope sheave is equipped with the rope groove of indent, and diametric side is equipped with 2 retention mechanisms；
Second rope sheave is circle wheel, and the center point of motor and the second rope sheave is fixed；The circumference side of second rope sheave is equipped with indent
Rope groove；
The second rope sheave of wirerope-winding, and across the circumference side of the first rope sheave, and wirerope both ends respectively with fastening machine
Structure is fixedly connected.
In technical solution of the present invention, motor is equipped with first angle sensor, for measuring the corner of motor；
Sheave shaft is equipped with second angle sensor, for measuring the angle of sheave shaft rotation；
Second angle sensor is fixedly connected by sensor holder with motor cabinet.
In technical solution of the present invention, drive link is carbon fiber bar, and both ends are fixedly installed with rotation hinge body；
Rotating hinge body includes rotation axis, fixing sleeve and ball bearing；Fixing sleeve one end is equipped with blind hole, the end of drive link
It is inserted into blind hole；
The fixing sleeve other end is equipped with through-hole, passes through ball bearing and rotation axis connection；
The outer rim of first rope sheave and the outer rim of moving platform are equipped with the axle sleeve that can be fixedly connected with the rotating shaft.
In technical solution of the present invention, the first rope sheave is equipped with integrated limit pin shaft close to the semi circular surface of motor cabinet；
The position that motor cabinet corresponds to limit pin shaft is equipped with arc-shaped through slot, and limit pin shaft is inserted into through slot, forms limit
Structure.
In technical solution of the present invention, moving platform is positive polygonized structure, and number of edges is identical as the driving group number of branch；
The axis of moving platform is set on the apex of moving platform.
In technical solution of the present invention, pedestal includes the second chassis of the first chassis sum；
First chassis is circle, and driving branch is connect with the first chassis；First chassis center is equipped with square hole, constrained branched chain
It is connect with square hole；
Second chassis is vertical with the first chassis to be fixedly connected；Second chassis is annulus or elliptical ring or polygon ring.
The beneficial effect of technical solution of the present invention is:
1, the present invention limits the motion range of moving platform by constrained branched chain, and anti-stopping block moves out target area, knot
Position limiting structure in zygonema transmission mechanism, moreover it is possible to prevent because motion amplitude it is excessive caused by whole equipment damage；
2, the present invention has used carbon fiber bar in the drive link of driving branch, realizes that driving connects by rotation hinge body
The rotation of bar, and avoided carbon fiber bar and be not easy the problem of connecting, it can effectively mitigate the quality of whole equipment, mitigate
Inertia in motion process improves the response speed of whole equipment, increases the size of power output, also will not influence whole equipment
Rigidity and precision thereby reduce the required precision in production process to components, reduce production cost.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
The main hand entirety installation diagram of Fig. 1 Three Degree Of Freedom rope drive remote operating of the present invention；
The main hand-drive branch of Fig. 2 Three Degree Of Freedom rope drive remote operating of the present invention chains front composition；
The main hand-drive branch of Fig. 3 Three Degree Of Freedom rope drive remote operating of the present invention chains back-patterned；
The main hand constrained branched chain structure chart of Fig. 4 Three Degree Of Freedom rope drive remote operating of the present invention；
The main hand base construction figure of Fig. 5 Three Degree Of Freedom rope drive remote operating of the present invention.
Appended drawing reference:
1- drive branch, 101- motor, 102- first angle sensor, 103- motor cabinet, 104- second angle sensor,
105- sensor holder, 106- sheave shaft, the first rope sheave of 107-, 108- limit pin shaft, 109- rotation axis, 110- ball bearing, 111-
Drive link, the second rope sheave of 112-, 113- wirerope, 114- retention mechanism, 2- constrained branched chain, 201- fixing seat, 202- second
The outer block of axis, 203-, 204- first axle, block, 206- constrain connecting rod, 207- moving platform, 208- axle sleeve, 3- pedestal, 301- in 205-
First chassis, the second chassis 302-.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
In order to make full use of parallel-connection structure high dynamic response, high rigidity, high-precision advantage, while limiting distant
Operate the fantasy sport range of main hand, in the embodiment of the present invention, a kind of main hand of rope drive Three Degree Of Freedom remote operating, comprising: constraint
Branch 2, driving branch 1 and pedestal 3.Constrained branched chain 2 includes constraint connecting rod 206 and universal piece, and constrains connecting rod 206 across universal
Block, and can be slided in universal piece；Universal piece forms gimbal structure with pedestal 3；The embodiment of the present invention passes through constrained branched chain 2
Even limit the motion range of the main hand of remote operating.Drive branch 1 equipped at least 3 groups, preferably 3 groups, although excessive driving branch 1
It can equally realize the function of the embodiment of the present invention, but increase the difficulty of control, and increase whole quality.Driving
Branch 1 is uniformly distributed along the circumference array around constrained branched chain 2, and driving branch 1 includes drive link 111,111 one end of drive link
Hinged by rope transmission mechanism with pedestal 3, the moving platform 207 of the other end and constraint 206 end of connecting rod is hinged, forms closed loop knot
Structure, when driving branch 1 to be equipped with 3 groups, 3 groups of driving branches 1 are uniformly distributed around the center circumferential of pedestal 3, while using rope transmission mechanism
To drive the rotation of drive link 111, and then the movement of realization moving platform 207.
In order to move freely moving platform 207 in moveable space, constraint connecting rod 206 is required to servo-actuated flat
Platform 207 is mobile, and in the embodiment of the present invention, the end of constraint connecting rod 206 is fixedly connected with moving platform 207.In the mistake actually controlled
Cartesian coordinate system being generallyd use in journey, therefore in the embodiment of the present invention, constraint connecting rod 206 is square bar, and universal piece is square, and
Universal piece of center is equipped with size square through hole identical with constraint 206 sectional dimension of connecting rod.Connecting rod 206 is constrained across universal
Block forms slide block structure, can prevent the universal piece of movement for influencing constraint connecting rod 206, avoids universal piece of limitation moving platform 207
Movement.
In order to simplify total, in the embodiment of the present invention, universal piece includes interior piece 205 and outer piece 203；Interior piece
205 and outer piece 203 be square box；Connected by the first axle 204 vertical with interior piece of 205 sides and outer piece 203 rotation for interior piece 205
It connects, outer piece 203 hinged with pedestal 3 by second axis 202 vertical with outer piece of 203 sides, and the second axis 202 passes through fixing seat 201
It is connect with pedestal 3；First axle 204 and the second axis 202 are orthogonal.By orthogonal first axle 204 and the second axis 202, formed
Orthogonal universal structure, then make to constrain connecting rod 206 across interior piece 205, the posture for constraining connecting rod 206 can be enable smoothly to adjust
It is whole.
In order to mitigate the quality of constrained branched chain 2, first connecting rod and second connecting rod are all made of aluminum alloy materials and are made simultaneously, if
There is weight loss groove, can also increase the mechanical stiffness of the main hand of remote operating of the present invention by the design of reasonable structure.
In the embodiment of the present invention, rope transmission mechanism includes: motor 101, motor cabinet 103, the first rope sheave 107, the second rope sheave
112；Motor 101 is fixedly mounted on motor cabinet 103, and illustratively, motor 101 can be using DC brush or brush DC electricity
Machine 101；Motor cabinet 103 is fixedly connected with pedestal 3；First rope sheave 107 is rotatablely connected by sheave shaft 106 and motor cabinet 103, and
Sheave shaft 106 is parallel with 101 output shaft of motor；The outer rim and drive link 111 of first rope sheave 107 are hinged；Second rope sheave 112 with
The output shaft of motor 101 is fixedly connected, and illustratively, can be connected in the form of bonding or screw fastening；First rope sheave 107
Outer rim and the second rope sheave 112 outer rim be equipped with wirerope 113, and the second rope sheave 112 by wirerope 113 drive the first rope sheave
107 rotations.Drive link 111 and the first rope sheave 107 form link mechanism, and rope transmission mechanism is enabled effectively to control drive
The rotational angle of dynamic connecting rod 111, in actual use, motor 101 drive the rotation of the second rope sheave 112, and the second rope sheave 112 passes through steel wire
Rope 113 drives the rotation of the first rope sheave 107, and then drive link 111 is driven to rotate.Furthermore the form driven using wirerope 113
So that the structure of driving is simple, the machining accuracy without excessively high requirement components.
Wirerope 113 is excessively abraded in order to prevent, and in the embodiment of the present invention, the first rope sheave 107 is semicircle wheel, sheave shaft
106 are fixed on the center point of the first rope sheave 107；The circumference side of first rope sheave 107 is equipped with the rope groove of indent, and diametric side is equipped with
2 retention mechanisms 114；Second rope sheave 112 is circle wheel, and motor 101 and the center point of the second rope sheave 112 are fixed；Second rope sheave 112
Circumference side be equipped with indent rope groove；Wirerope 113 winds the second rope sheave 112, and across the circumference of the first rope sheave 107
Face, and 113 both ends of wirerope are fixedly connected with retention mechanism 114 respectively.Rope groove can not only prevent wirerope 113 from excessively grinding
Damage, moreover it is possible to prevent wirerope 113 from skidding, guarantee control precision.Retention mechanism 114 is other than being capable of fixing wirerope 113, also
It is adjustable the tensioning degree of wirerope 113, prevents wirerope 113 from skidding or snapping, can illustratively use bolt structure, it will
Wirerope 113 is fixed with screw, and the tensioning degree of wirerope 113 is adjusted by way of rotary screw.In addition, in order to
The total quality of the embodiment of the present invention is reduced, the circumference of the first rope sheave 107 is equipped with several loss of weight through-holes.
Since the embodiment of the present invention needs accurate control, it is therefore desirable to which the moment understands the rotational angle of each section, the present invention
In embodiment, motor 101 is equipped with first angle sensor 102, for measuring the corner of motor 101；Sheave shaft 106 is equipped with
Second angle sensor 104, for measuring the angle of the rotation of sheave shaft 106；Second angle sensor 104 passes through sensor holder
105 are fixedly connected with motor cabinet 103.Driving can be calculated by the angle that the corner and sheave shaft 106 of motor 101 rotate to connect
The posture of bar 111 and position, in order to determine posture and the position of moving platform 207.Illustratively, first angle sensor 102
Photoelectric absolute encoder or photoelectricity incremental encoder or potentiometer etc., which can be used, has the sensor of measurement angular displacement, second angle
Potentiometer, magnetic coder or absolute photoelectric encoder etc., which can be used, in sensor 104 can measure the displacement sensing of absolute angle
Device.
In order to further under the premise of not reducing the structural strength of the embodiment of the present invention, reduce the matter of the embodiment of the present invention
It measures, in the embodiment of the present invention, drive link 111 is hollow carbon fiber bar, and both ends are fixedly installed with rotation hinge body；Rotation
Hinge body includes rotation axis 109, fixing sleeve and ball bearing 110；Fixing sleeve one end is equipped with blind hole, and the end of drive link 111 is inserted
Enter in blind hole, and is fixed by bonding or by pin in conjunction with interference fit；The fixing sleeve other end is equipped with through-hole, passes through
Ball bearing 110 is connect with rotation axis 109；The outer rim of first rope sheave 107 and the outer rim of moving platform 207 are equipped with can be with rotation axis
109 axle sleeves 208 being fixedly connected.The standard component of Carbon fibe bar, and the rotating hinge at both ends can be directly used in drive link 111
Mechanism is identical, can be convenient installation, while ball bearing 110 and rotation axis 109 can also use standard component, therefore only need
Producing specific fixing sleeve can be realized the assembly of drive link 111, and the both ends of the drive link 111 after assembling are not yet
With being distinguish, the arrangement assembly of the embodiment of the present invention is facilitated.
In view of that can be damaged to overall structure, it is therefore desirable to drive when the mobile range of motion platform 207 is excessive
The rotational angle of dynamic connecting rod 111 is limited.In the embodiment of the present invention, the semi circular surface of the close motor cabinet 103 of the first rope sheave 107
It is equipped with integrated limit pin shaft 108；The position of the corresponding limit pin shaft 108 of motor cabinet 103 is equipped with arc-shaped through slot, limit
Pin shaft 108 is inserted into through slot, forms position limiting structure.It can be according to different usage scenario demands, to adjust circle when actual design
The central angle angle of arc-shaped slot, and then limit the rotational angle of drive link 111.
In order to save the materials of moving platform 207, in the embodiment of the present invention, moving platform 207 is positive polygonized structure, and number of edges
It is identical as the driving group number of branch 1；The apex of moving platform 207 is arranged in the axle sleeve 208 of moving platform 207.It can make each drive
The effect of dynamic connecting rod 111 is identical, facilitates the homogenization of driving algorithm, and then cut down the complexity of driving algorithm.
The embodiment of the present invention in actual use, not necessarily be will be installed or be fixed in horizontal or vertical plane, therefore be sent out
In bright embodiment, pedestal 3 includes the second chassis 302 of 301 sum of the first chassis；First chassis 301 is circular ring shape, drives branch 1
It is connect with the first chassis 301；Constrained branched chain 2 and the inner ring on the first chassis 301 are hinged；Second chassis 302 and the first chassis 301 are hung down
Directly it is fixedly connected；Second chassis 302 is annulus or elliptical ring or polygon ring.In actual use, adjustable the first chassis of reality
301 and the second chassis 302 between angle, to adapt to the installation environment of the embodiment of the present invention.
In conclusion the embodiment of the invention provides a kind of main hand of rope drive Three Degree Of Freedom remote operating, the present invention passes through about
Bundle branch chain 2 limits the motion range of moving platform 207, target area at the anti-movement of stopping block 207, in conjunction in line transmission mechanism
Position limiting structure, moreover it is possible to all prevent because motion amplitude it is excessive caused by whole equipment damage；Driving of the present invention in driving branch 1
Connecting rod 111 has used carbon fiber bar, realizes the rotation of drive link 111 by rotation hinge body, and avoided carbon fiber
Bar is not easy the problem of connecting, and can effectively mitigate the quality of whole equipment, mitigates inertia during the motion, improves entire
The response speed of equipment increases the size of power output, also will not influence the rigidity and precision of whole equipment, thereby reduces production
In the process to the required precision of components, production cost is reduced.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of main hand of rope drive Three Degree Of Freedom remote operating, which is characterized in that the main handbag of rope drive Three Degree Of Freedom remote operating
Include constrained branched chain (2), driving branch (1) and pedestal (3)；The constrained branched chain (2) includes constraining connecting rod (206) and universal piece,
And the constraint connecting rod (206) passes through universal piece, and can slide in described universal piece；Described universal piece and pedestal (3) shape
At gimbal structure；The driving branch (1) be equipped at least 3 groups, be uniformly distributed along the circumference array the constrained branched chain (2) week
It encloses；The driving branch (1) includes drive link (111), and described drive link (111) one end and pedestal (3) pass through rope drive
Mechanism is hinged, and the moving platform (207) of the other end and described constraint connecting rod (206) end is hinged.
2. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 1, which is characterized in that the constraint connecting rod
(206) end is fixedly connected with moving platform (207)；The constraint connecting rod (206) is square bar, and described universal piece is square, and
Universal piece of the center is equipped with size square through hole identical with constraint connecting rod (206) sectional dimension.
3. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 2, which is characterized in that described universal piece includes interior
Block (205) and outer piece (203)；Interior piece (205) and outer piece (203) are square box；Interior piece (205) by with it is described
The vertical first axle (204) in interior piece of (205) side and described outer piece (203) are rotatablely connected, outer piece (203) by with it is described
Outer piece of (203) side vertical the second axis (202) and the pedestal (3) are hinged；The first axle (204) and the second axis (202)
It is orthogonal；The constraint connecting rod (206) passes through interior piece (205).
4. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 3, which is characterized in that the rope transmission mechanism packet
It includes: motor (101), motor cabinet (103), the first rope sheave (107) and the second rope sheave (112)；
The motor (101) is fixedly mounted on the motor cabinet (103)；The motor cabinet (103) and the pedestal (3) are fixed
Connection；First rope sheave (107) is rotatablely connected by sheave shaft (106) and the motor cabinet (103), and the sheave shaft
(106) parallel with motor (101) output shaft；The outer rim of first rope sheave (107) and the drive link (111) are hinged；
Second rope sheave (112) is fixedly connected with the output shaft of motor (101)；The outer rim of first rope sheave (107) and
The outer rim of two rope sheaves (112) is equipped with wirerope (113), and second rope sheave (112) drives institute by the wirerope (113)
State the first rope sheave (107) rotation.
5. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 4, which is characterized in that first rope sheave
It (107) is semicircle wheel, the sheave shaft (106) is fixed on the center point of first rope sheave (107)；First rope sheave
(107) circumference side is equipped with the rope groove of indent, and diametric side is equipped with 2 retention mechanisms (114)；
Second rope sheave (112) is circle wheel, and the center point of the motor (101) and second rope sheave (112) is fixed；It is described
The circumference side of second rope sheave (112) is equipped with the rope groove of indent；
The wirerope (113) winds second rope sheave (112), and across the circumference side of first rope sheave (107), and
Wirerope (113) both ends are fixedly connected with the retention mechanism (114) respectively.
6. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 5, which is characterized in that on the motor (101)
Equipped with first angle sensor (102), for measuring the corner of motor (101)；
The sheave shaft (106) is equipped with second angle sensor (104), for measuring the angle of sheave shaft (106) rotation；
The second angle sensor (104) is fixedly connected by sensor holder (105) with the motor cabinet (103).
7. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 6, which is characterized in that the drive link
It (111) is carbon fiber bar, both ends are fixedly installed with rotation hinge body；
The rotation hinge body includes rotation axis (109), fixing sleeve and ball bearing (110)；Described fixing sleeve one end is equipped with blind hole,
The end of the drive link (111) is inserted into the blind hole；
The fixing sleeve other end is equipped with through-hole, is connect by the ball bearing (110) with the rotation axis (109)；
The outer rim of first rope sheave (107) and the outer rim of moving platform (207) are equipped with can be fixed with the rotation axis (109)
The axle sleeve (208) of connection.
8. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 7, which is characterized in that first rope sheave
(107) semi circular surface close to the motor cabinet (103) is equipped with integrated limit pin shaft (108)；
The position of the corresponding limit pin shaft (108) of the motor cabinet (103) is equipped with arc-shaped through slot, the limit pin shaft
(108) it is inserted into the through slot, forms position limiting structure.
9. the main hand of rope drive Three Degree Of Freedom remote operating according to claim 8, which is characterized in that the moving platform (207)
Be positive polygonized structure, and number of edges is identical as the driving group number of branch (1)；
Apex of axle sleeve (208) setting of the moving platform (207) in the moving platform (207).
10. according to claim 1 to the main hand of rope drive Three Degree Of Freedom remote operating described in 9, which is characterized in that the pedestal (3)
Including the first chassis (301) and the second chassis (302)；
First chassis (301) is circle, and the driving branch (1) connect with first chassis (301)；First bottom
Disk (301) center is equipped with square hole, and the constrained branched chain (2) connect with the square hole；
Second chassis (302) is vertical with first chassis (301) to be fixedly connected；Second chassis (302) is annulus
Or elliptical ring or polygon ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811248465.3A CN109176497B (en) | 2018-10-25 | 2018-10-25 | Rope-driven three-degree-of-freedom teleoperation master hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811248465.3A CN109176497B (en) | 2018-10-25 | 2018-10-25 | Rope-driven three-degree-of-freedom teleoperation master hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109176497A true CN109176497A (en) | 2019-01-11 |
| CN109176497B CN109176497B (en) | 2021-03-09 |
Family
ID=64943314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811248465.3A Active CN109176497B (en) | 2018-10-25 | 2018-10-25 | Rope-driven three-degree-of-freedom teleoperation master hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109176497B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795691A (en) * | 2019-01-22 | 2019-05-24 | 浙江理工大学 | A kind of unmanned plane during flying grasping system |
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN110185973A (en) * | 2019-06-19 | 2019-08-30 | 温州商学院 | It is a kind of to determine corner LED shot-light |
| CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1110575A (en) * | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | Parallel link mechanism |
| CN102581848A (en) * | 2012-03-21 | 2012-07-18 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| CN102717383A (en) * | 2012-06-29 | 2012-10-10 | 北京航空航天大学 | Novel six-freedom-degree force feedback device |
| CN103111998A (en) * | 2013-02-04 | 2013-05-22 | 哈尔滨工业大学 | Series-parallel-connection force-feedback remote-control manipulator |
| CN104546144A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | Switchable seven-degree-of-freedom force feedback remote operating manipulator |
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN105058376A (en) * | 2015-08-17 | 2015-11-18 | 天津大学 | Overconstrained high-rigidity robot with tri-symmetric kinematics performance |
-
2018
- 2018-10-25 CN CN201811248465.3A patent/CN109176497B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1110575A (en) * | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | Parallel link mechanism |
| CN102581848A (en) * | 2012-03-21 | 2012-07-18 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| CN102717383A (en) * | 2012-06-29 | 2012-10-10 | 北京航空航天大学 | Novel six-freedom-degree force feedback device |
| CN103111998A (en) * | 2013-02-04 | 2013-05-22 | 哈尔滨工业大学 | Series-parallel-connection force-feedback remote-control manipulator |
| CN104546144A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | Switchable seven-degree-of-freedom force feedback remote operating manipulator |
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN105058376A (en) * | 2015-08-17 | 2015-11-18 | 天津大学 | Overconstrained high-rigidity robot with tri-symmetric kinematics performance |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795691A (en) * | 2019-01-22 | 2019-05-24 | 浙江理工大学 | A kind of unmanned plane during flying grasping system |
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN109909978B (en) * | 2019-04-15 | 2024-02-23 | 中国计量大学 | Teleoperation device of rope-driven three-freedom translation parallel robot |
| CN110185973A (en) * | 2019-06-19 | 2019-08-30 | 温州商学院 | It is a kind of to determine corner LED shot-light |
| CN110185973B (en) * | 2019-06-19 | 2021-03-26 | 温州商学院 | Fixed-angle LED spotlight |
| CN115953940A (en) * | 2022-10-25 | 2023-04-11 | 深圳技术大学 | Portable surgical robot teaching equipment |
| CN115953940B (en) * | 2022-10-25 | 2023-10-13 | 深圳技术大学 | Portable surgical robot teaching equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109176497B (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109176497A (en) | A kind of main hand of rope drive Three Degree Of Freedom remote operating | |
| WO2018000870A1 (en) | Surgical robot and mechanical arm thereof | |
| TWI418452B (en) | A wrist unit for an industrial robot | |
| CN105232153B (en) | Mechanical arm | |
| CN109955286A (en) | Rope drives flexible robot's experiment porch | |
| CN108247622B (en) | Seven-degree-of-freedom modular rope-driven mechanical arm | |
| CN106403859B (en) | The coordinate measuring machine of SCARA structure with belt driver guidance probe | |
| JP2011112414A (en) | Force sensor testing device | |
| CN106037934A (en) | Surgical robot and mechanical arm thereof | |
| CN109366451A (en) | A kind of rope drive Three Degree Of Freedom force feedback equipment | |
| CN106182080B (en) | It is a kind of can all-direction rotation rotary extension type mechanical arm | |
| CN110142736A (en) | A kind of principal and subordinate's isomorphism mechanical arm system | |
| CN211278393U (en) | Six-freedom-degree movement device based on Stewart parallel mechanism and telescopic mechanism thereof | |
| US20080077258A1 (en) | Twisting Wire Actuator | |
| TWI458611B (en) | Parallel robot | |
| CN104071569A (en) | Gripping device | |
| JP2013249865A (en) | Actuator | |
| CN107962556A (en) | Two axis parallel robots and cargo movement system | |
| CN203938178U (en) | A kind of grabbing device | |
| CN105798898A (en) | Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof | |
| KR101483080B1 (en) | Rectangular coordinate robot combined with 3 degrees of freedom wrist structure | |
| CN208880728U (en) | Mechanical arm and law enforcement robot | |
| CN112296987B (en) | Rope winding mechanism and multi-degree-of-freedom rope-driven parallel robot using same | |
| US20210069896A1 (en) | 6-Dof Parallel Robot With A Double-Gyroscopic Component | |
| CN103264398A (en) | Combination drive robot wrist transmission system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |