CN203210361U - Modularized master manipulator for controlling master and slave mechanical operating arms - Google Patents
Modularized master manipulator for controlling master and slave mechanical operating arms Download PDFInfo
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- CN203210361U CN203210361U CN 201320202969 CN201320202969U CN203210361U CN 203210361 U CN203210361 U CN 203210361U CN 201320202969 CN201320202969 CN 201320202969 CN 201320202969 U CN201320202969 U CN 201320202969U CN 203210361 U CN203210361 U CN 203210361U
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Abstract
The utility model discloses a modularized master manipulator for controlling master and slave mechanical operating arms. The modularized master manipulator comprises an operating handle, a control box, a small-arm connecting rod, a large-arm connecting rod and joint sensors, wherein linear potentiometers are built in the joint sensors, a buttons is arranged on the operating handle, the joint sensors and the button are connected with the control box through cables, and the control box is communicated with a slave mechanical arm; the operating handle is connected with an input shaft VI of a six-shaft joint sensor, a casing of the six-shaft joint sensor is connected with an input shaft V of a five-shaft joint sensor, a casing of the five-shaft joint sensor is connected with one end of the small-arm connecting rod, the other end of the small-arm connecting rod is connected with a four-shaft joint sensor, a casing of the four-shaft joint sensor is connected with an input shaft III of a three-shaft joint sensor, a casing of the three-shaft joint sensor is connected with one end of the large-arm connecting rod, and the other end of the large-arm connecting rod is connected with an input shaft II of a two-shaft joint sensor; and the whole master manipulator is mounted on a one-shaft joint sensor. The master manipulator adopts a modularize design, the master-slave control requirements are met, and design and manufacture difficulty and cost are reduced.
Description
Technical field
The utility model patent relates to the modularization principal and subordinate arm of operating machine and controls main hand, relates in particular to a kind ofly to control main hand for the principal and subordinate's modularization principal and subordinate of the collection of arm control instruction and output arm of operating machine of operating machine.
Background technology
Principal and subordinate's operation is ancient mode of operation, and robot is that mode develops differentiation and comes thus.The principal and subordinate manipulation robot of earliest period, be two identical cover mechanisms of structure, be placed on different places respectively, wherein main robot is placed on a safety or local easily, be placed on the place that the people should not approach from robot, if any intense radiation, high temperature, wait environment under water.The operator is according to sensor information, feel, approach feel as vision, contact force and wait operating host device people, main robot and exist mechanical couplings between the robot, and the main robot motion is passed to from robot, the motion of main robot just followed from robot.
Principal and subordinate's mode of operation has greatly been extended the application space of robot, many danger or extreme environment under, adopting robot to replace the people is unique feasible solution.Therefore, human at outer space exploitation, ocean deepwater operation and nuclear power station detection and safeguard aspect, all be unable to do without the master-slave mode robot.The master-slave mode robot has become the indispensable equipment in above-mentioned field.In addition, in industrial production environment some danger, poisonous and hazardous, also be principal and subordinate's remote-controlled robot ample scope for abilities.
Principal and subordinate's remote-controlled machine robot system is made up of three parts: main robot, from robot and connection part between the two.Specifically be exactly main hand, from hand and communication between the two.
Be exactly mechanical arm from hand, it can be articulated or Cartesian coordinate type, depends on the needs of different work task.The function of main hand provides man-machine interface, and operating personnel apply control command by main hand.Main hand has advantages such as operation is directly perceived, control system is simple.Its shortcoming is not have versatility, and namely one type main hand can only be controlled a kind of from hand.Need to design, make dissimilar main hands at different from hand.
Summary of the invention
The utility model is in order to solve the prior art above shortcomings, provides a kind of modularization principal and subordinate arm of operating machine to control main hand; This patent master hand getting modularized design, this main hand can be according to adjusting from hand (mechanical arm) structure, satisfy variety classes and control requirement, difficulty and the cost of significantly reduced main hand design, making from the principal and subordinate of hand.
For achieving the above object, the utility model patent adopts following technical scheme: a kind of modularization principal and subordinate arm of operating machine is controlled main hand, comprise operating grip, control system; forearm connecting rod; big arm connecting rod; a plurality of joint sensors; described joint sensors built-in linear potentiometer; operating grip is provided with button; described joint sensors; button is connected with control system by cable; described control system with from the mechanical arm communication; described operating grip is connected with the power shaft of six joint sensors; the housing of described six joint sensors is connected with the power shaft of five joint sensors; described five joint sensors housings are connected with forearm connecting rod one end; the forearm connecting rod other end is connected with four axle sensors; the housing of described four axle sensors is connected with the power shaft of three joint sensors; the housing of described three joint sensors is connected with arm connecting rod one end greatly; the other end of arm connecting rod is connected with two joint sensors power shafts greatly; two joint sensors housings are connected with two frames, and whole main hand is connected with the uniaxial joints sensor.Cable passes to control box with electric potential signal and the handle push-botton operation signal of each joint sensors, after treatment by parallel port or serial ports and from the mechanical arm communication.Described control system adopts embedded control system.
The housing of four axle sensors is connected with little counterweight, is reached the purpose of the deadweight of balance forearm by little counterweight.
The other end of big arm connecting rod is connected with big counter weight, reaches the deadweight of balance master hand and the purpose of partial equilibrium power by big counter weight.
The quantity of joint sensors and installation site are with consistent from the mechanical arm free degree.
Joint sensors is connected with output shaft by the sliding bearing of adjustable gaps.Joint sensors can be born axially, radial load.Joint sensors has two kinds of mounting means: shell is fixed, output shaft rotates; Output shaft is fixed, shell rotates, to be fit to different main hand structural requirements.
Control system adopts the embedded control system of being located in the control box.Gather the voltage signal of each joint sensors by embedded control system, and according to communication protocol and from the mechanical arm communication.
Joint sensors is connected with the parallel port, with parallel port mode direct voltage output.
Operating grip adopts and is threaded, and threaded connector is connected with main swivel of hand by strip hole.Operating grip by strip hole be threaded, wherein strip hole can change the position of handle, screw thread can be adjusted handle along the angle of self axis.By adjusting this two parts, can the free adjustment handle position, adapt to the requirement of different operating custom.
Operation principle of the present utility model:
During use, operating personnel's operating grip, operating grip drive each connecting rod and joint sensors motion, and main hand connecting rod size is with proportional from the mechanical arm size.The quantity of joint sensors and installation site are with consistent from the mechanical arm free degree.Joint sensors built-in linear potentiometer changes into voltage signal with the location/velocity signal in each joint of main hand, and this voltage signal forms after treatment from each free degree control instruction of mechanical arm.Modularization principal and subordinate operates machine, and as long as arm is controlled main hand by change connecting rod link position, or adjusts quantity and the installation site of joint sensors, just can realize controlling from the mechanical arm principal and subordinate of different structure size.
The beneficial effects of the utility model:
1. main hand getting modularized design of the present utility model, this main hand can be according to adjusting from hand (mechanical arm) structure,
Satisfy variety classes and control requirement from the principal and subordinate of hand, difficulty and the cost of significantly reduced main hand design, making reduce R﹠D cycle and design cost that the mechanical arm principal and subordinate controls main hand significantly.Modularization principal and subordinate operates machine, and as long as arm is controlled main hand by change connecting rod link position, or adjusts quantity and the installation site of joint sensors, just can realize controlling from the mechanical arm principal and subordinate of different structure size.
2. main hand is provided with counterweight, can conduct oneself with dignity and operating physical force by balance master hand, guarantees that main hand operated is comfortable.
3. joint sensors adopts cheap general linear potentiometer, and the sliding bearing by adjustable gaps is connected with output shaft, can bear axial, radial load.Have two kinds of mounting means: shell is fixed, output shaft rotates; Output shaft is fixed, shell rotates, to be fit to different main hand structural requirements.
4. employing linear potentiometer, the anglec of rotation in output voltage and joint are strict linear relationship, in output voltage, can also judge direction of rotation by polarity, and definite origin position.
Description of drawings
Fig. 1 is the structure chart of the utility model embodiment;
Fig. 2 is handle attaching parts structural representations;
Wherein, among the figure: 1, serial ports, 2, the parallel port, 3, uniaxial joints sensor power shaft, 4, big counter weight, 5, two joint sensors housings, 6, two joint sensors power shafts, 7, three joint sensors housings, 8, three joint sensors power shafts, 9, four joint sensors housings, 10, four joint sensors power shafts, 11; forearm connecting rod, 12; five joint sensors housings; 13; five joint sensors power shafts; 14; six joint sensors housings, 15; six joint sensors power shafts, 16; be threaded; 17; cable; 18; operating grip, 19; little counterweight, 20; big arm connecting rod; 21; control box; 22. 2 frames, 23. main hand gripper shoes, 24. handle connectors; 25. strip hole connectors, 26. threaded connectors.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described further.
A kind of modularization principal and subordinate arm of operating machine is controlled main hand, comprises operating grip 18, adopts with AVR Chip Microcomputer A tmega128
The embedded control system with analog-to-digital conversion and communication function, forearm connecting rod 11, big arm connecting rod 20, joint sensors for MCU, control system is located in the control box 21, joint sensors built-in linear potentiometer, operating grip 18 is provided with button, joint sensors, button are connected with control box 21 inner control systems by cable 17, control system with from the mechanical arm communication, operating grip 18 is connected with six joint sensors power shafts 15, and operating grip 18 can drive six joint sensors power shafts 15 and rotate.Six joint sensors housings 14 are connected with five joint sensors power shafts 13, and operating grip 18 can drive 13 swings of five joint sensors power shafts.Five joint sensors housings 12 are connected with forearm connecting rod 11 1 ends, and forearm connecting rod 11 other ends are connected with four axle sensor power shafts 10, and forearm connecting rod 11 can make four axle sensor power shafts 10 rotate.Four axle sensor housings 9 are connected with three joint sensors power shafts 8, can drive three joint sensors power shafts 8 and rotate, and four axle sensor housings 9 are connected with little counterweight 19 simultaneously, the deadweight that little counterweight 19 can the balance forearm.Three joint sensors housings 7 are connected with big arm connecting rod 20 1 ends, and the other end of big arm connecting rod 20 is connected with two joint sensors power shafts 6, can drive two joint sensors power shafts 6 and rotate, and two joint sensors housings 5 are connected with two frames 22.Simultaneously the other end of big arm connecting rod 20 is connected with big counter weight 4, greatly deadweight and the partial equilibrium power that counter weight 4 can balance master hand.Whole main hand is installed on the uniaxial joints sensor power shaft 3, and the rotation of operating grip 13 can drive joint sensors power shaft 3 and rotate.Main hand and control box 21 are installed on the main hand gripper shoe 23.Control box 21 is provided with serial ports 1, parallel port 2, and cable 17 passes to control system in the control box 21 with the electric potential signal of each joint sensors and handle push-botton operation signal, after treatment by parallel port 2 or serial ports 1 with from the mechanical arm communication.Owing to adopt linear potentiometer, the anglec of rotation in output voltage and joint is the linear relationship of strictness in output voltage, can also judge direction of rotation by polarity, and definite origin position.
The handle attaching parts that handle 18 is formed by handle connector 24, strip hole connector 25, threaded connector 26 are connected with six joint sensors power shafts 15.Wherein the strip hole connector can change the position of handle, and the threaded connector rotation can be adjusted the angle of handle.By adjusting this two parts, can the free adjustment handle position, adapt to the requirement of different operating custom.
Modularization principal and subordinate operates machine, and as long as arm is controlled main hand by change connecting rod link position, or adjusts quantity and the installation site of joint sensors, just can realize controlling from the mechanical arm principal and subordinate of different structure size.
Though above-mentionedly by reference to the accompanying drawings the specific embodiment of utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (8)
1. the modularization principal and subordinate arm of operating machine is controlled main hand, it is characterized in that: comprise operating grip, control system; forearm connecting rod; big arm connecting rod; a plurality of joint sensors; described joint sensors built-in linear potentiometer; operating grip is provided with button; described joint sensors; button is connected with control system by cable; described control system with from the mechanical arm communication; described operating grip is connected with the power shaft of six joint sensors; the housing of described six joint sensors is connected with the power shaft of five joint sensors; described five joint sensors housings are connected with forearm connecting rod one end; the forearm connecting rod other end is connected with four axle sensors; the housing of described four axle sensors is connected with the power shaft of three joint sensors; the housing of described three joint sensors is connected with arm connecting rod one end greatly; the other end of arm connecting rod is connected with two joint sensors power shafts greatly; two joint sensors housings are connected with two frames, and whole main hand is connected with the uniaxial joints sensor.
2. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that the housing of described four axle sensors is connected with little counterweight.
3. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that, the other end of described big arm connecting rod is connected with big counter weight.
4. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that, the quantity of described joint sensors and installation site are with consistent from the mechanical arm free degree.
5. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that, described joint sensors is connected with output shaft by the sliding bearing of adjustable gaps.
6. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that, described control system adopts the embedded control system of being located in the control box.
7. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that described joint sensors is connected with the parallel port, with parallel port mode direct voltage output.
8. the modularization principal and subordinate as claimed in claim 1 arm of operating machine is controlled main hand, it is characterized in that, described operating grip adopts and is threaded, and threaded connector is connected with main swivel of hand by strip hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320202969 CN203210361U (en) | 2013-04-19 | 2013-04-19 | Modularized master manipulator for controlling master and slave mechanical operating arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320202969 CN203210361U (en) | 2013-04-19 | 2013-04-19 | Modularized master manipulator for controlling master and slave mechanical operating arms |
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| CN203210361U true CN203210361U (en) | 2013-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320202969 Expired - Lifetime CN203210361U (en) | 2013-04-19 | 2013-04-19 | Modularized master manipulator for controlling master and slave mechanical operating arms |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170961A (en) * | 2013-04-19 | 2013-06-26 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| CN104677388A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Multi-turn absolute position detection device for rotary joint of space manipulator with hollow structure |
| CN111604874A (en) * | 2020-05-22 | 2020-09-01 | 中国核工业电机运行技术开发有限公司 | Force feedback master hand of master-slave manipulator |
-
2013
- 2013-04-19 CN CN 201320202969 patent/CN203210361U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170961A (en) * | 2013-04-19 | 2013-06-26 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| CN103170961B (en) * | 2013-04-19 | 2016-02-03 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| CN104677388A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Multi-turn absolute position detection device for rotary joint of space manipulator with hollow structure |
| CN111604874A (en) * | 2020-05-22 | 2020-09-01 | 中国核工业电机运行技术开发有限公司 | Force feedback master hand of master-slave manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee after: STATE GRID CORPORATION OF CHINA Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. Patentee before: State Grid Corporation of China |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Master control arm of modular master-slave mechanical arm Granted publication date: 20130925 License type: Exclusive License Record date: 20191014 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201109 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130925 |