CN115565803B - Rope drives operating handle - Google Patents
Rope drives operating handle Download PDFInfo
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- CN115565803B CN115565803B CN202211308740.2A CN202211308740A CN115565803B CN 115565803 B CN115565803 B CN 115565803B CN 202211308740 A CN202211308740 A CN 202211308740A CN 115565803 B CN115565803 B CN 115565803B
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- operating handle
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- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000000452 restraining effect Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H25/00—Switches with compound movement of handle or other operating part
- H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/32—Driving mechanisms, i.e. for transmitting driving force to the contacts
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/32—Driving mechanisms, i.e. for transmitting driving force to the contacts
- H01H3/36—Driving mechanisms, i.e. for transmitting driving force to the contacts using belt, chain, or cord
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- Mechanical Control Devices (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The application discloses a novel rope drive operating handle which is used for controlling a rope body; the rocker structure comprises a chassis, a base, a shaft rod assembly, a balance disc and a constraint assembly, wherein the chassis is arranged on the shell; the base is connected with the shell; the shaft rod component is in universal transmission connection with the base; the balance disc is nested on the shaft rod assembly, a first connecting part and a second connecting part for connecting the rope body are arranged on the balance disc, the connecting line direction between the first connecting part and the shaft rod assembly is a first direction, the connecting line direction between the second connecting part and the shaft rod assembly is a second direction, and the first direction is perpendicular to the second direction; the vertical plane in which the first direction is located is a first plane; the vertical plane in which the second direction is located is a second plane; one end of the restraint assembly is connected with the chassis, and the other end is connected with the balance disc, so that the restraint shaft assembly can rotate only in the first plane or only in the second plane. The scheme of the application does not need electronic equipment driving and is beneficial to adapting to the demands of teaching equipment.
Description
Technical Field
The application relates to the technical field of robots, in particular to a novel rope drive operating handle.
Background
The rope is used as a reliable flexible transmission medium, has the unique advantages of stable transmission, small vibration and capability of achieving rigid transmission precision, so that the rope drive has the characteristics of high precision, low noise, stable transmission, no need of lubrication, easy installation and maintenance and the like; rope drive driving modes are used in the fields of robots, precise transmission devices and the like.
However, with the development of the robot field, the robot has large mass, large volume and high rotation inertia of joints, and higher requirements are put forward on the flexibility, environmental adaptability, man-machine interaction safety and other performances of the rope-driven mechanical arm, so that the installation and control driving of the existing rope-driven robot are complex, and in order to control the movement of the rope bodies in multiple dimensions, the control controller of the robot often adopts gears, motors and the like to indirectly control the rope drive, and at present, the design scheme of the control handle controlled by all ropes is rarely adopted.
The existing handles are generally electronic handles, if the electronic handles are needed to control the transmission mechanism in industry, operators generally control the operation of the motor by operating the electronic handles, the electronic handles send electric signals to the motor, the motor transmits force to the transmission mechanism, and therefore the transmission mechanism is indirectly controlled, and the control of the mechanical arm is achieved by indirectly controlling the drawing of the rope.
In the teaching robot device, a complete product or finished product control module is often adopted, for example, a circuit unit or module including a motor, a sensor and the like is difficult for a learner to fundamentally understand the transmission control principle of the mechanical arm.
In addition, the control mode is difficult to control the drawing speed of the rope, jamming or clamping is easy to occur at the limit position of the joint, the electronic control generally does not set signal feedback, the stress change of the rope cannot be accurately perceived, and a driving signal capable of continuously running is still sent out, so that the damage of electronic equipment, such as a burning motor and other faults, are caused.
Therefore, the prior art has drawbacks in that the wire drawing is indirectly controlled by the electronic handle through the motor, and needs to be improved and developed.
Disclosure of Invention
In view of the defects in the prior art, the application aims to provide a novel rope drive operating handle, and aims to solve the problem that the existing rope drive operating handle is required to be driven by electronic equipment and cannot adapt to the requirements of teaching equipment.
The technical scheme of the application is as follows:
a novel rope driving operation handle which is used for controlling a driving rope body of rope driving equipment; the rocker structure comprises a chassis, a base, a shaft rod assembly, a balance disc and a restraint assembly, wherein the chassis is arranged on the shell, and a central hole is formed in the central position of the chassis; the base is connected with the shell and is positioned in the central hole; the shaft rod component is in universal transmission connection with the base; the balance disc is nested on the shaft rod assembly, a first connecting part and a second connecting part which are used for connecting different transmission rope bodies are vertically arranged around the shaft rod assembly relatively, and the vertical plane where the first connecting part is positioned is a first plane; the vertical plane where the second connecting part is positioned is a second plane; the two ends of the constraint component are respectively hinged between the chassis and the balance disc, and the structural arrangement of the constraint component has the following characteristics: pulling restraining the shaft assembly may draw the drive rope in the first plane only or in the second plane only.
The novel rope drive operating handle comprises three support rods, wherein each support rod is provided with three inclined bending structures; and in an initial position where the chassis is opposite to the balance disc, the projection of the upper end connecting point of any one supporting rod on the balance disc on the chassis is positioned between the connecting points of the other two supporting rods on the chassis.
The novel rope drives operating handle, wherein, each the upper end of bracing piece with the balance disc, and the lower extreme with the articulated of chassis all adopts two articulated shaft settings of mutually perpendicular, just two articulated shafts are on a parallel with in initial position the balance disc reaches the chassis sets up.
The novel rope drive operating handle is characterized in that a first wire passing hole and a second wire passing hole are formed in the chassis, the position of the first wire passing hole is overlapped with the projected position of the first connecting portion on the chassis at the initial position, and the position of the second wire passing hole is overlapped with the projected position of the second connecting portion on the chassis and used for respectively passing through different transmission rope bodies.
The novel rope drive operating handle is characterized in that the first connecting part and the second connecting part are respectively provided with two rope connecting nodes, and the two rope connecting nodes are symmetrically arranged on two sides of the balance disc.
The novel rope drive operating handle comprises a shaft rod assembly, a first connecting rod, a second connecting rod, a control rod and a second bearing, wherein the shaft rod assembly comprises a first bearing, a first universal joint, a connecting rod, a second universal joint, a control rod and a second bearing, and the first bearing is arranged on the base; the first universal joint is connected and arranged between the first bearing and the connecting rod; the second universal joint is connected and arranged between the connecting rod and the operating rod; the second bearing is sleeved at the lower end of the operating rod and is used for assembling the operating rod on the balance disc; and a third connecting part is arranged on the shaft rod component and is used for being connected with a rope body of a third transmission rope.
The novel rope drive operating handle is characterized in that a holding part is arranged at the top end of the operating rod, and the shape of the holding part is spherical.
The novel rope drive operating handle is characterized in that a fixed base is arranged at the bottom of the shell, and a fixed hole is formed in the position, opposite to the fixed base, on the chassis; the rocker structure further comprises a fixing bolt, wherein the fixing bolt is arranged in the fixing hole and is in threaded connection with the fixing base station and used for fixing the chassis.
The novel rope drive operating handle is characterized in that a plurality of perforations are formed in the side wall of the shell, and the perforations are used for penetrating through the rope body.
The novel rope drive operating handle is characterized in that at least two rocker structures are arranged; at least two rocker structures are arranged in the shell in parallel.
Compared with the prior art, the embodiment of the application has the following advantages:
the novel rope driving operation handle is used for controlling rope driving equipment, and the rope body stretches into the shell and is connected with the rocker structure, in particular to the first connecting part and the second connecting part on the balance disc; in the use process, the chassis and the base are fixed on the shell, an operator controls the shaft rod assembly to rotate or push, and the shaft rod assembly is restrained by the restraint assembly in the pushing process, so that the displacement of the shaft rod assembly can be decoupled in a first plane and a second plane, and the balance disc is driven to move only in the first plane or the second plane or according to components in the first plane and the second plane respectively.
The first connecting part and the second connecting part on the balance disc are respectively arranged in the first plane and the second plane, so that when the balance disc only rotates in the first plane, only the rope body connected on the first connecting part is pulled; when the balance disc only rotates in the second plane, only the rope body connected to the second connecting part is pulled; that is, the transmission of multiple degrees of freedom can be controlled through the rocker structure, so that the control convenience and flexibility are improved, the respective degrees of freedom can be controlled relatively independently in the operation process, the independence of pure mechanical control of the rope body is realized, and the control principle understanding and visual experience of the operating handle are facilitated.
In addition, the novel rope driving operation handle disclosed by the application is completely connected with the mechanical component through the rope body to realize transmission, and in the use process, the rope body is kept in a tight state, the force change on the mechanical component connected with the rope body is directly fed back to the rocker structure, a sensor is not needed, and an operator can intuitively feel the load change on the mechanical component through the touch of the hand, so that the adjustment is timely carried out, and the sensitivity of the novel rope driving operation handle is improved; in addition, the electronic equipment or the driving structure is not doped to assist in control, so that the product cost is low, and the teaching use is convenient.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic diagram of a novel rope drive operating handle in the present application;
FIG. 2 is a schematic view of a rocker structure according to the present application;
FIG. 3 is an exploded view of the rocker structure of the present application;
FIG. 4 is a schematic view of a balance disc according to the present application;
FIG. 5 is a schematic view of the structure of the restraint assembly of the present application;
FIG. 6 is a graph of the rope length test results of the novel rope drive operating handle of the present application;
FIG. 7 is a graph of another rope length test result of the novel rope drive operating handle of the present application;
FIG. 8 is a graph of another rope length test result of the novel rope drive operating handle of the present application;
FIG. 9 is a graph of another rope length test result of the novel rope drive operating handle of the present application;
FIG. 10 is a graph of another rope length test of the novel rope drive operating handle of the present application.
Wherein, 100, the shell; 110. fixing the base station; 120. perforating; 200. a rocker structure; 210. a chassis; 211. a central bore; 212. a first hinge part; 213. a second hinge part; 214. a third hinge; 215. a first via hole; 216. a second via hole; 217. a fixing hole; 220. a base; 230. a shaft assembly; 231. a first bearing; 232. a first universal joint; 233. a connecting rod; 234. a second universal joint; 235. a joystick; 2351. a grip portion; 236. a second bearing; 240. a balancing disk; 241. a first connection portion; 242. a second connecting portion; 243. a fourth hinge part; 244. a fifth hinge part; 245. a sixth hinge part; 250. a restraint assembly; 251. a first support bar; 2511. a first hinge block; 2511a, a first shaft; 2511b, a second shaft; 2512. a first rod body; 2513. a second hinge block; 2513a, a third shaft; 2513b, a fourth shaft; 252. a second support bar; 2521. a third hinge block; 2521a, a fifth shaft; 2521b, a sixth rotation shaft; 2522. a second rod body; 2523. a fourth hinge block; 2523a, a seventh rotation shaft; 2523b, eighth shaft; 253. a third support bar; 2531. a fifth hinge block; 2531a, a ninth rotating shaft; 2531b, tenth rotation shaft; 2532. a third rod body; 2533. a sixth hinge block; 2533a, eleventh spindle; 2533b, twelfth rotation shaft; 300. and (5) fixing bolts.
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will make clear and complete descriptions of the technical solutions of the embodiments of the present application with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 2 and fig. 3, in an embodiment of the present application, a novel rope driving operation handle is disclosed, which is used for controlling a plurality of rope bodies of a rope driving device, and in particular, but not limited to, a teaching device of a medical operation robot, a rope control mode is adopted for operation of a mechanical arm and a mechanical arm, and a plurality of driving ropes need to be used for drawing, driving and operating.
The device comprises a shell 100 and a rocker structure 200 arranged in the shell 100, wherein the rocker structure 200 can be provided with a plurality of groups of rockers, such as an embodiment of two rocker assemblies shown in fig. 1, and each rocker assembly can be provided with a driving rope for controlling three degrees of freedom. The rocker structure 200 includes a chassis 210, a base 220, a shaft assembly 230, a balance plate 240, and a restraint assembly 250, as shown in FIG. 2.
The chassis 210 is fixedly and assembled on the housing 100, and a central hole 211 is formed at the central position of the chassis 210, as shown in fig. 3; the base 220 is connected to the housing 100 and is located in the central hole 211; the shaft assembly 230 is coupled to the base 220 using a universal drive connection; the shaft assembly 230 is nested and assembled at the center of the balance disc 240, and a first connecting portion 241 and a second connecting portion 242 for connecting different rope bodies are staggered around the shaft assembly 230 on the balance disc 240, and each connecting portion is provided with two opposite nodes for connecting rope heads of a driving rope.
The connection line direction between the two nodes of the first connection portion 241 and the shaft assembly 230 is a first direction, the connection line direction between the two nodes of the second connection portion 242 and the shaft assembly 230 is a second direction, and the first direction is perpendicular to the second direction; the vertical plane in which the first direction is located is a first plane; the vertical plane in which the second direction is located is a second plane; the restraint assembly 250 adopts a three-section oblique bending structure, two ends of the restraint assembly 250 are connected with the chassis 210 and the balance disc 240, each connecting end of the restraint assembly 250 is connected with the chassis 210 or the balance disc 240 by adopting a mutually vertical hinge shaft, the hinge shafts are parallel to the chassis 210 or the balance disc 240, the restraint assembly 250 is provided with three support rods, each support rod is obliquely downwards and clockwise or anticlockwise offset from a connecting point of the upper end and the balance disc 240 and is connected to a connecting point of the chassis 210 at the lower end, the connecting end of each support rod at an initial position of an end connecting point (namely when the balance disc 240 is vertically opposite to the chassis 210) is perpendicular to the balance disc 240 or the chassis 210, and the projection position of the upper end connecting point on the chassis is positioned in the middle of a connecting point of the lower end of the other two support rods.
Of course, when the shaft assembly 230 is pushed at will, the inclined position of the balance disc 240 is driven to generate corresponding component displacement in the first plane and the second plane, but due to the fact that the structure of the present application has the decoupling characteristic of the preset degree of freedom, in practical teaching operation, operators such as teachers or students can obtain clear component deviation experience, especially when the operator only operates in the first plane or only operates in the second plane, a manipulation experiment can be performed on a certain driving rope alone.
The novel rope driving operation handle disclosed in this embodiment is used for controlling rope driving equipment, and can extend into the housing 100 corresponding to the driving rope body to be controlled and pulled, and is connected with the rocker structure 200, specifically, two ends of the driving rope are fixedly connected with two nodes of the first connecting portion 241 or the second connecting portion 242 on the balance disc 240. In use, the chassis 210 and the base 220 are fixed to the housing 100, the operator controls the displacement and angle of the shaft assembly 230, and since the lower end of the restraining member is hinged to the chassis 210 (two small hinge shafts perpendicular to each other and parallel to the chassis 210 are adopted) and the chassis 210 is fixed to the base 220, the restraining member is driven by the shaft assembly 230 and restrains the pulling of the driving rope, so that the pulling displacement of the driving rope connected by the node in the first plane or the second plane is decoupled, and the driving rope is driven by the balance disc 240 to be capable of relatively independently pulling in the first plane or the second plane.
The first connection portion 241 and the second connection portion 242 of the balance disc 240 are disposed in the first plane and the second plane, respectively, so that when the balance disc 240 is pulled only in the first plane or the second plane, only the string body connected to the first connection portion 241 or the second connection portion 242 can be pulled. That is, the rocker structure 200 can control the relative independent transmission of the multi-degree-of-freedom transmission rope, so that the control convenience and flexibility are improved, the mutual noninterference among the degrees of freedom can be realized in the operation process, the control independence of the rope body is improved, and the control precision of the novel rope-driven operation handle is improved.
Specifically, the novel rope driving operation handle disclosed in the embodiment is completely connected with a mechanical component through the rope body to realize transmission, and in the use process, the rope body is kept in a tight state, the force change on the mechanical component connected with the rope body is directly fed back to the rocker structure 200, a sensor is not needed, and an operator can intuitively feel the load change on the mechanical component through the touch of the hand, so that adjustment is timely made, and the teaching convenience of the novel rope driving operation handle is improved; in addition, electronic equipment or a driving structure is not needed for assisting in control, the dead weight of the product is reduced, the control and the use are convenient, and the cost is saved.
As shown in fig. 1, as one implementation of the present embodiment, it is disclosed that the rocker structure 200 is provided with at least two; at least two rocker structures 200 are disposed in parallel within the housing 100. In actual manufacturing, two or more rocker structures 200 can be arranged on the novel rope drive operating handle, and each rocker structure 200 can at least control rope body transmission with three degrees of freedom; in the use process, an operator holds the novel rope drive operating handle by two hands and pushes the plurality of shaft rod assemblies 230 by fingers to control the rope drive transmission with a plurality of degrees of freedom; it can be seen that setting up a plurality of rocker structures 200 according to the user demand can increase the ability of controlling of novel rope drive operating handle to be convenient for carry out accurate control to complicated robot, improved novel rope drive operating handle's availability factor.
As shown in fig. 1, as another implementation manner of this embodiment, a fixed base 110 is provided at the bottom of the housing 100, and a fixing hole 217 is provided on the chassis 210 opposite to the fixed base 110, as shown in fig. 3; the rocker structure 200 further includes a fixing bolt 300, where the fixing bolt 300 is disposed in the fixing hole 217, and is used for screwing the chassis 210 to the fixing base 110. The chassis 210 is fixed by the fixing bolts 300 to flexibly disassemble and assemble the chassis 210, and the firmness of connection can be increased by arranging a plurality of fixing bolts 300 around the edge of the chassis 210 to improve the stability of the rocker structure 200 on the housing 100.
As another implementation manner of this embodiment, as shown in fig. 1, a plurality of through holes 120 are provided on a side wall of the housing 100, and the through holes 120 are used for passing through a rope body of the driving rope. The rope body penetrates out of the side wall of the shell 100 and is connected to the corresponding mechanical arm, and the rope body can be used for driving the mechanical arm to bend, rotate or move, controlling the action of the mechanical arm and the like. The novel rope drives operating handle in the use, the restriction to the rope body direction of movement can be made things convenient for in the setting of lateral wall perforation 120 to reduce the friction that the rope body produced in the transmission process, be favorable to prolonging the life of rope body.
As shown in fig. 3, as another implementation manner of this embodiment, a first via hole 215 and a second via hole 216 are disclosed on the chassis 210, where a position of the first via hole 215 overlaps with an initial position of a projection of the first connection portion 241 node on the chassis 210; the second wire hole 216 is overlapped with the initial position of the projection of the second connection part 242 on the chassis 210, and is used for passing through the corresponding driving rope head. After the rope body is fixed by the first connecting part 241 disclosed in the embodiment, the rope body is pulled to the chassis 210, passes through the first wire passing hole 215, is then transversely pulled out from the side surface of the shell 100, and is connected to the mechanical arm of the rope driving device for transmission; similarly, after the second connection portion 242 secures the rope, the rope is pulled onto the chassis 210, through the second wire hole 216, and then pulled out laterally. The ropes are all pulled to the lower part of the chassis 210 and then pulled out, so that the ropes above the chassis 210 are kept in mutually independent states, and the ropes at different positions are not mutually close to or mutually intersected even if the balance disc 240 rotates in the pulling process, so that the mutual interference among the ropes with different degrees of freedom is reduced, the control independence of the rope control is further improved, and the control precision of the novel rope driving operation handle is improved.
As yet another implementation of the present embodiment, as shown in fig. 3, the disclosed shaft assembly 230 includes a first bearing 231, a first universal joint 232, a connecting rod 233, a second universal joint 234, a joystick 235, and a second bearing 236; the first bearing 231 is disposed on the base 220; the first universal joint 232 is fixedly connected to the inner ring of the first bearing 231 and one end of the connecting rod 233; the second universal joint 234 is fixedly connected between the other end of the connection rod 233 and the operation rod 235; the second bearing 236 is sleeved on the operating rod 235 and is used for connecting and assembling the balance disc 240 and the operating rod 235.
On the shaft assembly 230, in particular, may be disposed below the shaft assembly 230, such as on the first universal joint 232, a third connection portion is provided for connection with a third degree of freedom driving rope. In this embodiment, the first bearing 231 and the second bearing 236 are provided, so that the first universal joint 232, the connecting rod 233, the second universal joint 234, the operating lever 235 and other components can rotate independently and are not affected by the housing 100 and the balance disc 240, therefore, the number of driving ropes connected by the third connecting portion is increased on the first universal joint 232, so that the number of ropes with controllable rocker structure 200 can be increased, the ropes with more degrees of freedom can be controlled, the control capability of the novel rope driving operating handle can be increased, and the convenience in use can be improved.
Specifically, when pushing the operating lever 235 to drive the balance disc 240 to incline, the operator can also rotate the operating lever 235 to drive the third connecting part to rotate, so that the operating lever 235 can realize the drawing control of the rope bodies with multiple degrees of freedom, such as three driving ropes. The control of the control rod 235 on the third connecting part is not affected by the inclination state of the control rod 235, and the rope driving flexibility of the position of the third connecting part is increased, so that the control flexibility of the novel rope driving operation handle is improved. Specifically, the third connecting portion may be configured as an annular or spiral rope groove, and the corresponding driving rope is tightened on the third connecting portion, and the operating lever 235 is rotated to drive the corresponding driving rope to draw.
As another implementation manner of this embodiment, as shown in fig. 3, a grip portion 2351 is provided on an end of the lever 235, and the shape of the grip portion 2351 may be spherical. In this embodiment, the operator controls the plurality of degrees of freedom by operating the lever 235, so that the spherical grip portion 2351 is provided to facilitate stable operation of the lever 235.
As shown in fig. 3 and 4, as another implementation manner of this embodiment, the chassis 210 is disclosed to be provided with three hinge portions, namely, a first hinge portion 212, a second hinge portion 213 and a third hinge portion 214, for hinging the lower end of the corresponding restraint assembly 250, where the first hinge portion 212, the second hinge portion 213 and the third hinge portion 214 are uniformly arranged around the base 220. The balance plate 240 is provided with three further hinge portions 243, 244 and 245, which are uniformly arranged around the shaft assembly 230 to correspondingly hinge the upper end of the restraint assembly 250.
In the initial position, the projection of the hinge portion connecting the upper end of the restraint assembly 250 onto the chassis 210 is located at a position intermediate the two hinge portions on the chassis. As shown in fig. 5, the restraint assembly 250 includes three support rods that support the rods: the first, second and third support bars 251, 252 and 253 are connected to hinge parts of the corresponding upper and lower ends, respectively.
The first support rod 251, the second support rod 252 and the third support rod 253 disclosed in the present embodiment sequentially encircle the shaft assembly 230, and form a support structure through the dislocation connection with the chassis 210 and the balancing disk 240, the structure is convenient to realize the displacement decoupling of the two driving ropes of the balancing disk 240 in the first plane and the second plane, and the effect that the rocker structure 200 can independently control the rope bodies in different degrees of freedom is achieved.
Specifically, as shown in fig. 6, in the simulation test of the embodiment, when the balance plate 240 is in the horizontal state, the restraint assembly 250 is in the initial position, and the distance between the balance plate 240 and the chassis 210 is 124.08 mm; as shown in fig. 7 and 8, when the balance disc 240 is pulled to a certain angle in the first plane, the ropes connected to the two first hinge parts 212 are measured as 154.74 mm and 93.42 mm, respectively, i.e., shortened and lengthened by 30.66 mm, respectively; as shown in fig. 9 and 10, the length of the rope connected to the two second hinge parts 213 remains constant for 124.08 mm.
Therefore, during the pulling manipulation of the shaft assembly 230 in the first plane or in the second plane, only the string having a component in the direction of movement is pulled and driven without a change in the length of the string in a direction perpendicular to the direction of movement thereof. The support rod structure of the restraint assembly 250 of the present application ensures the decoupling effect in the vertical direction, so that no matter in which direction the balance disc 240 is driven by the shaft assembly 230 to rotate, the edge point in the vertical direction is not affected by the displacement in the moving direction, and therefore, the driving rope bodies respectively connected to the first connecting portion 241 and the second connecting portion 242 of the rocker structure 200 can be controlled independently of each other under accurate control, which is beneficial to improving the accuracy of the control of the rocker structure 200 and improving the control performance of the novel rope driving operation handle.
As shown in fig. 5, as another implementation manner of this embodiment, three support rod structures are disclosed, where the first support rod 251 includes a first hinge block 2511, a first rod body 2512 and a second hinge block 2513, two ends of the first hinge block 2511 are respectively provided with a first rotating shaft 2511a hinged to the first hinge portion 212 and a second rotating shaft 2511b hinged to the first rod body 2512, and the first rotating shaft 2511a is perpendicular to the second rotating shaft 2511 b.
The two ends of the second hinge block 2513 are respectively provided with a third rotating shaft 2513a hinged to the first rod body 2512 and a fourth rotating shaft 2513b hinged to the fifth hinge portion 244, and the third rotating shaft 2513a is perpendicular to the fourth rotating shaft 2513 b.
In this embodiment, the first hinge portion 212 is movably connected with the first rod body 2512 through the first hinge block 2511 and the second hinge shaft 2511b that are perpendicular to each other, and the first rod body 2512 is movably connected with the fifth hinge portion 244 through the third hinge shaft 2513a and the fourth hinge shaft 2513b, so that the first hinge portion 212 can be offset along with the inclination of the balance disc 240 in the supporting process of the first support rod 251.
As further shown in fig. 5, the second support rod 252 and the third support rod 253 have similar structures, wherein the second support rod 252 includes a third hinge block 2521, a second rod body 2522, and a fourth hinge block 2523, fifth and sixth rotating shafts 2521a and 2521b, and seventh and eighth rotating shafts 2523a and 2523b. The third support rod 253 includes a fifth hinge block 2531, a third rod body 2532, and a sixth hinge block 2533, a ninth rotation shaft 2531a and a tenth rotation shaft 2531b, and an eleventh rotation shaft 2533a and a twelfth rotation shaft 2533b.
In this embodiment, three support bar structures are all three-section bent structures, and are supported and hinged between the balance disc 240 and the chassis 210 in an inclined manner from the upper end to the lower end, and the unique structural arrangement manner ensures that displacement decoupling in a first plane and a second plane perpendicular to the first plane is ensured; in addition, the first support rod 251, the second support rod 252, and the third support rod 253 are uniformly distributed about the shaft assembly 230, together forming the restraint assembly 250, such that the balance disc 240 is uniformly and stably supported at various locations.
In summary, the application discloses a novel rope driving operation handle for controlling a plurality of rope bodies of rope driving equipment, in particular to teaching setting operation of a medical operation robot; the rocker structure 200 comprises a chassis 210, a base 220, a shaft rod assembly 230, a balance disc 240 and a restraint assembly 250, wherein the chassis 210 is arranged on the shell 100, and a central hole 211 is formed in the central position of the chassis 210; the base 220 is connected to the housing 100 and is located in the central hole 211; the shaft assembly 230 is in universal driving connection with the base 220; the center of the balance disc 240 is nested on the shaft assembly 230, a first connecting portion 241 and a second connecting portion 242 for connecting the rope body are symmetrically arranged around the shaft assembly 230 on the balance disc 240, the connecting line direction between the first connecting portion 241 and the shaft assembly 230 is a first direction, the connecting line direction between the second connecting portion 242 and the shaft assembly 230 is a second direction, and the first direction and the second direction are perpendicular to each other; the vertical plane in which the first direction is located is a first plane; the vertical plane in which the second direction is located is a second plane; the restraint assembly 250 is disposed between the chassis 210 and the balance disk 240 and is structured to restrain the shaft assembly 230 to drive the drive line in either the first plane only or the second plane only.
The novel rope driving operation handle disclosed in the embodiment is used for controlling rope driving equipment, and the rope body stretches into the shell 100 and is connected with the rocker structure 200, in particular to be fixedly connected with the first connecting part 241 and the second connecting part 242 on the balance disc 240; in the use process, the chassis 210 and the base 220 are fixed on the shell 100, an operator controls the shaft rod assembly 230 to pull or rotate, and the shaft rod assembly 230 is constrained by the constraint assembly 250 in the pulling process, so that the shaft rod assembly 230 can only move obliquely in the first plane or the second plane, and the balance disc 240 is driven to move in the first plane or the second plane, thereby realizing that a transmission rope connected on a certain connecting part can be pulled; a third connection part which winds the shaft component can be arranged on the shaft component 230, and the shaft component 230 is rotated to realize the drawing and driving of a third transmission rope body; that is, the novel rope drive operating handle disclosed in this embodiment is purely mechanical transmission, and does not need to assemble electronic equipment, and multiple degrees of freedom transmission can be controlled through the rocker structure 200, so that the convenience and flexibility of control are improved, interference between the degrees of freedom in the operation process is avoided, the independence of rope control is improved, and the control precision of the novel rope drive operating handle is improved.
Meanwhile, in the rope drive operation handle device, bidirectional remote control operation can be realized, so that the main control on the handle and the manipulator can be realized, and the slave control on the movement of the manipulator can be realized. In the case of using more sets of rocker structures 200, the number of driving ropes can be greatly increased, thereby improving the controllable degree of freedom of the rope drive. In practical teaching, the handle device can display the controlled working principle of the robot arm, thereby realizing a more practical engineering teaching mode and providing an excellent teaching tool for the same.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
The application is described by taking the novel rope drive operating handle as an example, but the application of the application is not limited by the novel rope drive operating handle, and the application can be applied to the production and the use of other similar workpieces.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (10)
1. A rope drive operating handle which is used for controlling a transmission rope body of rope drive equipment; the device is characterized by comprising a shell and a rocker structure arranged in the shell, wherein the rocker structure comprises:
the chassis is arranged on the shell, and a central hole is formed in the central position of the chassis;
the base is connected with the shell and is positioned in the central hole;
the shaft rod assembly is in universal transmission connection with the base;
the balance disc is nested on the shaft rod assembly, a first connecting part and a second connecting part which are used for connecting different transmission rope bodies are vertically arranged around the shaft rod assembly relatively, and the vertical plane where the first connecting part is positioned is a first plane; the vertical plane where the second connecting part is positioned is a second plane;
the restraint subassembly, both ends are articulated respectively to be connected the chassis with between the balance plate, restraint subassembly's structure setting has following characteristics: pulling restraining the shaft assembly may draw the drive rope in the first plane only or in the second plane only.
2. The rope drive operating handle according to claim 1, wherein the restraint assembly arrangement comprises three support bars, each support bar having three sections of angled bending structures; and in an initial position where the chassis is opposite to the balance disc, the projection of the upper end connecting point of any one supporting rod on the balance disc on the chassis is positioned between the connecting points of the other two supporting rods on the chassis.
3. The rope-driven operating handle according to claim 2, wherein the upper end of each supporting rod is hinged with the balance disc and the lower end of each supporting rod is hinged with the chassis by two mutually perpendicular hinge shafts, and the two hinge shafts are arranged in parallel with the balance disc and the chassis at the initial position.
4. A rope drive operating handle according to claim 3, wherein the chassis is provided with a first wire passing hole and a second wire passing hole, the position of the first wire passing hole overlaps with the projection position of the first connecting part on the chassis in the initial position, and the position of the second wire passing hole overlaps with the projection position of the second connecting part on the chassis, so as to respectively pass through different transmission rope bodies.
5. The rope drive operating handle according to claim 4, wherein the first connecting portion and the second connecting portion are respectively provided with two rope connecting points symmetrically arranged on two sides of the balance disc.
6. The cord operated handle of claim 5, wherein the shaft assembly comprises:
a first bearing disposed on the base;
the first universal joint is connected and arranged between the first bearing and a connecting rod;
the second universal joint is connected and arranged between the connecting rod and an operating rod;
the second bearing is sleeved at the lower end of the operating rod and used for assembling the operating rod on the balance disc;
and the shaft rod assembly is provided with a third connecting part which is used for being connected with a rope body of a third transmission rope.
7. The rope drive operating handle according to claim 6, wherein a grip portion is provided at a tip end of the lever, and the grip portion is spherical in shape.
8. The rope drive operating handle according to claim 7, wherein a fixed base is arranged at the bottom of the shell, and a fixed hole is arranged on the chassis and opposite to the fixed base;
the rocker structure further comprises a fixing bolt, wherein the fixing bolt is arranged in the fixing hole and is in threaded connection with the fixing base station and used for fixing the chassis.
9. The cord operated handle according to claim 8, wherein a plurality of perforations are provided in a side wall of said housing for passing through said cord body.
10. The rope drive operating handle according to any one of claims 1 to 9, wherein the rocker structure is provided with at least two; at least two rocker structures are arranged in the shell in parallel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211308740.2A CN115565803B (en) | 2022-10-25 | 2022-10-25 | Rope drives operating handle |
| PCT/CN2023/118320 WO2024087920A1 (en) | 2022-10-25 | 2023-09-12 | Rope-driven operation handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211308740.2A CN115565803B (en) | 2022-10-25 | 2022-10-25 | Rope drives operating handle |
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| Publication Number | Publication Date |
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| CN115565803A CN115565803A (en) | 2023-01-03 |
| CN115565803B true CN115565803B (en) | 2023-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211308740.2A Active CN115565803B (en) | 2022-10-25 | 2022-10-25 | Rope drives operating handle |
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| Country | Link |
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| CN (1) | CN115565803B (en) |
| WO (1) | WO2024087920A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115565803B (en) * | 2022-10-25 | 2023-08-29 | 深圳技术大学 | Rope drives operating handle |
| CN117400296B (en) * | 2023-12-13 | 2024-03-12 | 沈阳恒为机器人科技有限公司 | Miniature flexible mechanical arm joint and mechanical arm |
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| CN112894780B (en) * | 2021-04-02 | 2024-06-18 | 广东工业大学 | Rope-driven wrist module based on three-degree-of-freedom serial-parallel mechanism and application method thereof |
| CN115565803B (en) * | 2022-10-25 | 2023-08-29 | 深圳技术大学 | Rope drives operating handle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115565803A (en) | 2023-01-03 |
| WO2024087920A1 (en) | 2024-05-02 |
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