CN207997313U - A kind of 6DOF control handle - Google Patents
A kind of 6DOF control handle Download PDFInfo
- Publication number
- CN207997313U CN207997313U CN201820378956.9U CN201820378956U CN207997313U CN 207997313 U CN207997313 U CN 207997313U CN 201820378956 U CN201820378956 U CN 201820378956U CN 207997313 U CN207997313 U CN 207997313U
- Authority
- CN
- China
- Prior art keywords
- joint
- sensor
- axis
- preloading spring
- shoulder joint
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of 6DOFs to control handle, including pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow joint, wrist joint, paw and sensor;The pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow joint, wrist joint are interconnected by rotary shaft between any two successively, and they do pendulum motion by rotary shaft between any two;The sensor is embedded in above-mentioned rotary shaft, the angle signal for acquiring these pendulum motions;By rotating axis connection between the wrist joint and paw, 360 ° of continuous rotations can be done, are provided with sensor in rotary shaft, the angle signal for obtaining relative rotation between the two.The handle has multi-joint, multiple degrees of freedom, multi-functional, and manoeuvrable, and reliability is high, beautiful and generous, and simple operations can be obtained complicated control signal, is particularly suitable for the master & slave control operation of industrial machinery arm and submarine mechanical arm.
Description
Technical field
The utility model belongs to automatic control technology field, is related to robot technology, and in particular to a kind of 6 degree of freedom
Control handle.
Background technology
Industrial machinery arm generally all has 6 and the above degree of freedom to realize positioning spatially and determine appearance, for
There are multiple redundancies more than the mechanical arm of 6 degree of freedom, it is excessively complicated in control, unless in the just meeting of extremely special occasion
Using, thus most of industrial machinery arm is 6 degree of freedom.Industrial machinery arm is for unstructured moving grids, especially
When being submarine mechanical arm operation, the mode of master & slave control is more commonly used, just needs this when to send using external equipment
Control instruction is a kind of more commonly used mode using control handle to mechanical arm.
The control handle of traditional 6DOF mechanical arm has the control mode using simple switch button, this switch
The control handle of button control mode is usually not used for the mechanical arm that accurate control requires, thus use occasion is by very big
Limitation;Also it is exactly even to need two hand operations that can just control 6DOF machinery using increasingly complex control handle
The handle of arm, these handles are excessively complicated, seriously affected the operation of mechanical arm, and the operation for also increasing operating personnel is negative
Load.
Utility model content
For the above-mentioned problems in the prior art, the utility model provides a kind of 6DOF control handle, the hand
Handle has multi-joint, multiple degrees of freedom, multi-functional, and manoeuvrable, and reliability is high, beautiful and generous.
For this purpose, the utility model uses following technical scheme:
A kind of 6DOF control handle, including pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow joint, wrist are closed
Section, paw and sensor;The pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow joint, wrist joint are successively between any two
It is interconnected by rotary shaft, and they do pendulum motion by rotary shaft between any two;The sensor is embedded in above-mentioned rotation
In shaft, the angle signal for acquiring these pendulum motions;It, can by rotating axis connection between the wrist joint and paw
To do 360 ° of continuous rotations, it is provided with sensor in rotary shaft, the angle signal for obtaining relative rotation between the two.
Further, the pedestal is stretched with axis, which stretches and the hole cooperation on shoulder joint neck bush, mutually rotation;Shoulder
It is intra-articular to be cased with shoulder joint neck bush, and holding screw is reinstated fixed in shoulder joint with shoulder joint sensor end cap one;Pedestal
Axial inner is equipped with sensor, and the projection portion that inner groovy and the shoulder joint sensor side of the sensor projecting shaft cover is mutual
Cooperation;It is also equipped with first bearing gasket, first bearing, first respectively in an axial direction between shoulder joint neck bush and pedestal axis in advance
Tight spring, the first preloading spring pre-load nut, the first locking nut, first bearing gasket are close to shoulder joint neck bush on one side,
One side contacts of other side and first bearing;The other side of first bearing and one side contacts of the first preloading spring, first pre-tightens
The other side of spring and the first preloading spring pre-load nut contact, the screw thread on the first preloading spring pre-load nut and pedestal axis
On screw-thread fit, be close to the first locking nut, the screw thread of the first locking nut on the upside of the first preloading spring pre-load nut
Also with the screw-thread fit on pedestal axis, for realizing spring pre-tightening.
Further, the large-arm joint includes the first large-arm joint and second large-arm joint two parts, and the first large arm is closed
The side of section is equipped with the axis of protrusion, which is matched with the second large-arm joint, fixed using holding screw in radial direction.
Further, described shoulder joint one end is stretched with vertical axis, which stretches coordinates with the hole on the first large-arm joint,
Mutually rotation;Sensor is installed on the endoporus that the axis of shoulder joint is stretched, inner groovy and the sensor fastening of the sensor projecting shaft
Projection portion on end cap cooperates, and sensor end cap is fixed to by holding screw on the first large-arm joint, sensor
It is also equipped with sensor end cap on the hole of rear end;Also pacify respectively in an axial direction between the axis and the hole of the first large-arm joint of shoulder joint
Equipped with second bearing gasket, second bearing, the second preloading spring, the second preloading spring pre-load nut, the second locking nut, second
Bearing shim is close to the inside of the first large-arm joint, one side contacts of other side and second bearing on one side;Second bearing it is another
Outer side and one side contacts of the second preloading spring, the other side of the second preloading spring and the second preloading spring pre-load nut connect
It touches, the screw-thread fit that the axis of screw thread and shoulder joint on the second preloading spring pre-load nut is stretched, the second preloading spring pre-tightens spiral shell
The second locking nut is close in female upside, and the screw-thread fit that the screw thread of the second locking nut is also stretched with the axis of shoulder joint is used
In realization spring pre-tightening.
Further, second large-arm joint one end is stretched with vertical axis, which stretches matches with the hole on small shoulder joint
It closes, mutually rotates;Sensor is installed on the endoporus that the axis of second large-arm joint is stretched, the inner groovy and biography of the sensor projecting shaft
Projection portion on sensor fastening end cap cooperates, and sensor fastening end cap is fixed to small shoulder joint by holding screw
On, it is also equipped with sensor end cap on the hole of sensor rear end;The edge between the axis and the hole of small shoulder joint of the second large-arm joint
It is axial to be also equipped with 3rd bearing gasket, 3rd bearing, third preloading spring, third preloading spring pre-load nut, third respectively
Locking nut, 3rd bearing gasket are close to the inside of small shoulder joint, one side contacts of other side and 3rd bearing on one side;Third
The other side of bearing and one side contacts of third preloading spring, the other side and third preloading spring of third preloading spring pre-tighten
Nut contacts, and the screw-thread fit that the screw thread and the second large-arm joint axis on third preloading spring pre-load nut are stretched, third pre-tightens
It is close to third locking nut on the upside of spring pre-tightening nut, the screw thread of third locking nut is also stretched with the second large-arm joint axis
Screw-thread fit, for realizing spring pre-tightening.
Further, be mounted with sensor respectively in an axial direction on the endoporus of the small shoulder joint side, stretched with axis it is small
Shoulder joint link block, elbow joint link block, fourth bearing gasket, fourth bearing, the 4th preloading spring, the 4th preloading spring pre-tighten
Nut, the 4th locking nut, elbow joint sensor end cap and elbow joint;The side of small shoulder joint link block is fixed with holding screw
In the endoporus of small shoulder joint, the axis of small shoulder joint link block is stretched and the inner hole on elbow joint link block, mutually rotation;The
Four bearing shims are close to the inside of elbow joint link block, one side contacts of other side and fourth bearing on one side;Fourth bearing
Other side and one side contacts of the 4th preloading spring, the other side of the 4th preloading spring and the 4th preloading spring pre-load nut connect
It touches, the screw-thread fit that the axis of screw thread on the 4th preloading spring pre-load nut and small shoulder joint link block is stretched, the 4th pre-tightens bullet
It is close to the 4th locking nut on the upside of spring pre-load nut, the axis of the screw thread of the 4th locking nut also with small shoulder joint link block is stretched
On screw-thread fit, for realizing spring pre-tightening.
Further, the other side inner hole of the elbow joint sensor end cap and elbow joint link block is installed together
On the endoporus of elbow joint, circumferential holding screw is used in combination to fix;Sensor is mounted on small shoulder joint link block endoporus, the biography
The inner groovy of sensor projecting shaft cooperates with the projection portion on elbow joint joint sensors end cap;The elbow joint other one
End is stretched with vertical axis, which stretches and the hole cooperation on wrist joint, mutually rotation;It is installed on the endoporus that the axis of elbow joint is stretched
There is sensor, inner groovy and the projection portion on sensor fastening end cap of the sensor projecting shaft cooperate, and sensor
Fastening end cap is fixed to by holding screw on wrist joint, and sensor end cap is also equipped on the hole of sensor rear end;In elbow
It is also equipped with 5th bearing gasket, 5th bearing, the 5th preload bullet between the axis in joint and the hole of small shoulder joint respectively in an axial direction
Spring, the 5th preloading spring pre-load nut, the 5th locking nut, 5th bearing gasket are close to the inside of small shoulder joint on one side, separately
One side contacts of outer side and 5th bearing;The other side of 5th bearing and one side contacts of the 5th preloading spring, the 5th pre-tightens bullet
The other side of spring and the 5th preloading spring pre-load nut contact, the screw thread and elbow joint on the 5th preloading spring pre-load nut
The screw-thread fit that axis is stretched is close to the 5th locking nut on the upside of the 5th preloading spring pre-load nut, the 5th locking nut
The screw-thread fit that screw thread is also stretched with elbow joint axis, for realizing spring pre-tightening.
Further, the wrist joint is stretched with axis in an axial direction, is mounted with conducting slip ring, wrist rotation in axial direction respectively
Sensor fixed cover, sensor, paw, total locking press button, paw spreading-retracting button fixed ring, paw spreading-retracting button;The conduction
The endoporus bottom of wrist joint is close in the major diameter fit that the axis of slip ring and wrist joint is stretched, a side end face;Wrist joint axis is stretched
Endoporus and sensor projecting shaft cooperation, radially there are one fixing screws stretches out the projecting shaft of wrist joint and sensor
Axis is fixed;Sensor is fixed on the endoporus of wrist rotation sensor fixed cover, they are fixed with holding screw in one's hands in an axial direction
On pawl, total locking press button is mounted on the shaft end of the other side of paw;Paw spreading-retracting button fixed ring endoporus and paw outer circle are matched
Close, they radially on fixed with holding screw;Paw spreading-retracting button is uniformly distributed along the circumference in paw spreading-retracting button fixed ring, and
It is fixed in paw spreading-retracting button fixed ring with holding screw.
Further, it is built-in with conducting slip ring between the wrist joint and paw, wrist joint and paw phase can be made
360 ° of continuous rotation movements are done between mutually;The conducting slip ring is used to transmit the control of paw folding control button and total locking press button
Signal processed, while not limited by wrist joint and paw continuous rotation.
Preferably, the pedestal, shoulder joint, the first large-arm joint and the second large-arm joint, small shoulder joint, elbow joint, hand
The inside of wrist joint and paw is hollow structure, is internally provided with metallic channel, for laying internal conducting wire;The pedestal, shoulder
Joint, large-arm joint, small shoulder joint, elbow joint and wrist joint use light material.
Compared with prior art, the utility model has the beneficial effects that:
(1) complicated handle signal may be implemented to transmit, there is 6 degree of freedom and multiple switch button signal.
(2) compact-sized, easy to operate, flexible.
(3) effect that handle position keeps and locks may be implemented.
(4) shape is succinct, controls flexibility and reliability, and simple operations can be obtained complicated control signal, be particularly suitable for work
The master & slave control of industry mechanical arm and submarine mechanical arm operates.
Description of the drawings
Fig. 1 is a kind of composed structure schematic diagram of 6DOF control handle provided by the utility model.
Fig. 2 is a kind of general assembly structural schematic diagram of 6DOF control handle provided by the utility model.
Fig. 3 is a kind of A-A sectional views of 6DOF control handle provided by the utility model.
Fig. 4 is the vertical view and partial sectional view of a kind of 6DOF control handle provided by the utility model.
Reference sign:1, bundle conductor;2, pedestal;3, sensor;4-1, first bearing gasket;5-1, first bearing;
6-1, the first preloading spring;7-1, the first preloading spring pre-load nut;8-1, the first locking nut;4-2, second bearing gasket;
5-2, second bearing;6-2, the second preloading spring;7-2, the second preloading spring pre-load nut;8-2, the second locking nut;4-3,
3rd bearing gasket;5-3,3rd bearing;6-3, third preloading spring;7-3, third preloading spring pre-load nut;8-3, third
Locking nut;4-4, fourth bearing gasket;5-4, fourth bearing;6-4, the 4th preloading spring;7-4, the 4th preloading spring pre-tighten
Nut;8-4, the 4th locking nut;4-5,5th bearing gasket;5-5,5th bearing;6-5, the 5th preloading spring;7-5, the 5th
Preloading spring pre-load nut;8-5, the 5th locking nut;9, holding screw;10, shoulder joint sensor end cap;11, in shoulder joint
Bushing;12, shoulder joint;13, the first large-arm joint;14, bundle conductor;15, holding screw;16, the second large-arm joint;17, forearm
Joint;18, bundle conductor;19, small shoulder joint link block;20, elbow joint link block;21, holding screw;22, elbow joint sensor
End cap;23, elbow joint;24, bundle conductor;25, wrist joint;26, paw spreading-retracting button fixed ring;27, holding screw;28, hand
Pawl;29, total locking press button;30, holding screw;31, wrist rotation sensor fixed cover;32, conducting slip ring;33, bundle conductor;
34, sensor fastening end cap;35, sensor end cap;36, holding screw;37, paw spreading-retracting button;38, holding screw.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment is described in detail the utility model, specific embodiment therein and says
It is bright to be only used for explaining the utility model, but be not intended to limit the scope of the present invention.
As shown in Fig. 1~Fig. 2, the utility model discloses a kind of 6DOFs to control handle, including pedestal 2, shoulder joint
12, large-arm joint 13 and 16, small shoulder joint 17, elbow joint 23, wrist joint 25, paw 28 and sensor 3;The pedestal 2,
Shoulder joint 12, large-arm joint 13 and 16, small shoulder joint 17, elbow joint 23, wrist joint 25 pass through rotary shaft between any two successively
It interconnects, and they do pendulum motion by rotary shaft between any two;The sensor 3 is embedded in above-mentioned rotary shaft, is used
In the angle signal for acquiring these pendulum motions;By rotating axis connection between the wrist joint 25 and paw 28, can do
360 ° of continuous rotations are provided with sensor 3 in rotary shaft, the angle signal for obtaining relative rotation between the two.
Specifically, as shown in Fig. 2, the pedestal 2 is stretched with axis, which stretches coordinates with the hole on shoulder joint neck bush 11,
Mutually rotation;It is cased with shoulder joint neck bush 11 in shoulder joint 12, and reinstates holding screw 9 with shoulder joint sensor end cap 10 and consolidates
Determine onto shoulder joint 12;2 axial inner of pedestal is equipped with sensor 3, and inner groovy and the shoulder joint of the sensor projecting shaft sense
Projection portion on device end cap 11 cooperates;It is also equipped with respectively in an axial direction between shoulder joint neck bush 11 and pedestal axis
One bearing shim 4-1, first bearing 5-1, the first preloading spring 6-1, the first preloading spring pre-load nut 7-1, the first locking screw
Female 8-1, first bearing gasket 4-1 are close to shoulder joint neck bush 11, mono- side contacts of other side and first bearing 5-1 on one side;
The other side of first bearing 5-1 and mono- side contacts of the first preloading spring 6-1, the other side of the first preloading spring 6-1 and the
One preloading spring pre-load nut 7-1 is contacted, and the screw thread on the first preloading spring pre-load nut 7-1 is matched with the screw thread on pedestal axis
It closes, is close to the first locking nut 8-1, the screw thread of the first locking nut 8-1 on the upside of the first preloading spring pre-load nut 7-1
Also with the screw-thread fit on pedestal axis, for realizing spring pre-tightening.
Specifically, the large-arm joint includes 16 two parts of the first large-arm joint 13 and the second large-arm joint, the first large arm
The side in joint 13 is equipped with the axis of protrusion, which matches with the second large-arm joint 16, is radially using holding screw 15
It is fixed.
Specifically, as shown in Figure 2 and Figure 4,12 one end of the shoulder joint is stretched with vertical axis, which stretches and the first large arm
Hole cooperation on joint 13, mutually rotates;Sensor 3 is installed, the sensor projecting shaft on the endoporus that the axis of shoulder joint 12 is stretched
Inner groovy and sensor fastening end cap 34 on projection portion cooperate, and sensor end cap 35 is fixed by holding screw
Onto the first large-arm joint 13, sensor end cap 35 is also equipped on the hole of sensor rear end;In the axis of shoulder joint 12 and first
It is also equipped with second bearing gasket 4-2, second bearing 5-2, the second preloading spring between the hole of large-arm joint 13 respectively in an axial direction
6-2, the second preloading spring pre-load nut 7-2, the second locking nut 8-2, second bearing gasket 4-2 are close to the first large arm on one side
The inside in joint 13, mono- side contacts of other side and second bearing 5-2;The other side of second bearing 5-2 pre-tightens bullet with second
Mono- side contacts of spring 6-2, the other side of the second preloading spring 6-2 and the second preloading spring pre-load nut 7-2 contacts, second pre-tightens
The screw-thread fit that the axis of screw thread and shoulder joint 12 on spring pre-tightening nut 7-2 is stretched, the second preloading spring pre-load nut 7-2's
The second locking nut 8-2 is close in upside, and the screw thread that the screw thread of the second locking nut 8-2 is also stretched with the axis of shoulder joint 12 is matched
It closes, for realizing spring pre-tightening.
Specifically, as shown in Figures 2 and 3, described second large-arm joint, 16 one end is stretched with vertical axis, the axis stretch with it is small
Hole cooperation on shoulder joint 17, mutually rotates;Sensor 3 is installed on the endoporus that the axis of second large-arm joint 16 is stretched, the sensing
The inner groovy of device projecting shaft cooperates with the projection portion on sensor fastening end cap 34, and sensor fastening end cap 34 passes through
Holding screw 38 is fixed on small shoulder joint 17, and sensor end cap 35 is also equipped on the hole of sensor rear end;In the second large arm
Be also equipped with respectively in an axial direction between the axis in joint 16 and the hole of small shoulder joint 17 3rd bearing gasket 4-3,3rd bearing 5-3,
Third preloading spring 6-3, third preloading spring pre-load nut 7-3, third locking nut 8-3,3rd bearing gasket 4-3 one sides
It is close to the inside of small shoulder joint 17, mono- side contacts of other side and 3rd bearing 5-3;The other side of 3rd bearing 5-3 with
Mono- side contacts of third preloading spring 6-3, the other side and third preloading spring pre-load nut 7-3 of third preloading spring 6-3 connect
It touches, the screw-thread fit that screw thread and 16 axis of the second large-arm joint on third preloading spring pre-load nut 7-3 are stretched, third pre-tightens
Be close to third locking nut 8-3 on the upside of spring pre-tightening nut 7-3, the screw thread of third locking nut 8-3 also with the second large arm
The screw-thread fit that 16 axis of joint is stretched, for realizing spring pre-tightening.
Specifically, be mounted with sensor 3 respectively in an axial direction on the endoporus of 17 side of small shoulder joint, stretched with axis it is small
Shoulder joint link block 19, elbow joint link block 20, fourth bearing gasket 4-4, fourth bearing 5-4, the 4th preloading spring 6-4,
Four preloading spring pre-load nut 7-4, the 4th locking nut 8-4, elbow joint sensor end cap 22 and elbow joint 23;Small shoulder joint connects
The side for connecing block 19 is fixed on holding screw in the endoporus of small shoulder joint 17, and the axis of small shoulder joint link block 19 is stretched and elbow joint
Inner hole on link block 20 mutually rotates;Fourth bearing gasket 4-4 is close to the inside of elbow joint link block 20 on one side,
Mono- side contacts of other side and fourth bearing 5-4;The other side of fourth bearing 5-4 and mono- side contacts of the 4th preloading spring 6-4,
The other side of 4th preloading spring 6-4 and the 4th preloading spring pre-load nut 7-4 contacts, the 4th preloading spring pre-load nut 7-
The screw-thread fit that the axis of screw thread and small shoulder joint link block 19 on 4 is stretched, the upside of the 4th preloading spring pre-load nut 7-4 are tight
Close to the 4th locking nut 8-4, the screw thread that the screw thread of the 4th locking nut 8-4 is also stretched with the axis of small shoulder joint link block 19 is matched
It closes, for realizing spring pre-tightening.
Specifically, the other side inner hole of the elbow joint sensor end cap 22 and elbow joint link block 20 is pacified together
On the endoporus of elbow joint 23, circumferential holding screw 21 is used in combination to fix;Sensor 3 is mounted in small shoulder joint link block 19
Kong Shang, inner groovy and the projection portion in elbow joint sensor end cap 22 of the sensor projecting shaft cooperate;The elbow closes
It saves 23 other ends to stretch with vertical axis, which stretches and the hole cooperation on wrist joint 25, mutually rotation;The axis of elbow joint 23
Sensor 3 is installed, inner groovy and the projection portion on sensor fastening end cap 34 of the sensor projecting shaft on the endoporus stretched
It cooperates, and sensor fastening end cap 34 is fixed to by holding screw on wrist joint 25, on the hole of sensor rear end also
Sensor end cap 35 is installed;It is also equipped with the 5th axis respectively in an axial direction between the axis and the hole of small shoulder joint 17 of elbow joint 23
Support pad piece 4-5,5th bearing 5-5, the 5th preloading spring 6-5, the 5th preloading spring pre-load nut 7-5, the 5th locking nut 8-
5,5th bearing gasket 4-5 are close to the inside of small shoulder joint 17, mono- side contacts of other side and 5th bearing 5-5 on one side;The
The other side of five bearing 5-5 and mono- side contacts of the 5th preloading spring 6-5, the other side and the 5th of the 5th preloading spring 6-5
Preloading spring pre-load nut 7-5 contact, the spiral shell that the axis of screw thread and elbow joint 23 on the 5th preloading spring pre-load nut 7-5 is stretched
Line coordinates, and is close to the 5th locking nut 8-5, the spiral shell of the 5th locking nut 8-5 on the upside of the 5th preloading spring pre-load nut 7-5
The screw-thread fit that line is also stretched with 23 axis of elbow joint, for realizing spring pre-tightening.
Specifically, the wrist joint 25 is stretched with axis in an axial direction, is mounted with conducting slip ring 32, wrist rotation in axial direction respectively
Turn sensor fixed cover 31, sensor 3, paw 28, total locking press button 29, paw spreading-retracting button fixed ring 26, paw folding by
Button 37;The interior of wrist joint 25 is close in the major diameter fit that the axis of the conducting slip ring 32 and wrist joint 25 is stretched, a side end face
Hole bottom;The projecting shaft of the endoporus and sensor 3 that 25 axis of wrist joint is stretched coordinates, and radially there are one fixing screws by wrist
The projecting shaft and sensor projecting shaft in joint 25 are fixed;Sensor 3 is fixed on the endoporus of wrist rotation sensor fixed cover 31,
They use holding screw 30 to be fixed on paw 28 in an axial direction, and total locking press button is mounted on the shaft end of the other side of paw 28
29;26 endoporus of paw spreading-retracting button fixed ring and the cooperation of 28 outer circle of paw, their radially upper fixations of holding screw 27;Hand
Pawl spreading-retracting button 37 be uniformly distributed along the circumference in paw spreading-retracting button fixed ring 26, be used in combination holding screw 36 be fixed on paw folding
In button fixed ring 26.
Specifically, it is built-in with conducting slip ring 32 between the wrist joint 25 and paw 28,25 He of wrist joint can be made
Paw 28 does 360 ° of continuous rotation movements between each other;The conducting slip ring 32 is for transmitting paw folding control button 37 and total
The control signal of locking press button 29, while not limited by wrist joint 25 and 28 continuous rotation of paw.
Preferably, the pedestal 2, shoulder joint 12, the first large-arm joint 13 and the second large-arm joint 16, small shoulder joint 17,
The inside of elbow joint 23, wrist joint 25 and paw 28 is hollow structure, is internally provided with metallic channel, for laying internal lead
Line 1,14,24 and 33;The pedestal 2, shoulder joint 12, large-arm joint 13 and 16, small shoulder joint 7, elbow joint 23 and wrist joint
25 use light material.It is in this way affected by gravity handle and reaches minimum, typical material includes the engineering plastics such as polyformaldehyde.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Any modification, equivalent replacement and improvement etc., should be included in this reality made by within the spirit and spirit of utility model
Within novel protection domain.
Claims (10)
1. a kind of 6DOF controls handle, including pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow joint, wrist joint,
Paw and sensor, it is characterised in that:The pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow joint, wrist joint are successively
It is interconnected between any two by rotary shaft, and they do pendulum motion by rotary shaft between any two;The sensor is embedded
In above-mentioned rotary shaft, the angle signal for acquiring these pendulum motions;Pass through rotation between the wrist joint and paw
Axis connection can do 360 ° of continuous rotations, be provided with sensor in rotary shaft, the angle for obtaining relative rotation between the two
Signal.
2. a kind of 6DOF according to claim 1 controls handle, it is characterised in that:The pedestal is stretched with axis, the axis
It stretches and the hole cooperation on shoulder joint neck bush, mutually rotation;Be cased with shoulder joint neck bush in shoulder joint, and with shoulder joint sensor
End cap one reinstates holding screw fixed in shoulder joint;Pedestal axial inner is equipped with sensor, the sensor projecting shaft it is interior
Groove cooperates with the projection portion that shoulder joint sensor side covers;Divide in an axial direction between shoulder joint neck bush and pedestal axis
It is not also equipped with first bearing gasket, first bearing, the first preloading spring, the first preloading spring pre-load nut, the first locking screw
Mother, first bearing gasket are close to shoulder joint neck bush, one side contacts of other side and first bearing on one side;First bearing it is another
Outer side and one side contacts of the first preloading spring, the other side of the first preloading spring and the first preloading spring pre-load nut connect
Touch, screw thread on the first preloading spring pre-load nut and the screw-thread fit on pedestal axis, the first preloading spring pre-load nut it is upper
The first locking nut is close in side, and the screw thread of the first locking nut is pre- for realizing spring also with the screw-thread fit on pedestal axis
Tightly.
3. a kind of 6DOF according to claim 2 controls handle, it is characterised in that:The large-arm joint includes first
Large-arm joint and second large-arm joint two parts, the side of the first large-arm joint are equipped with the axis of protrusion, the snag axis with it is second largest
Shoulder joint matches, and is fixed using holding screw in radial direction.
4. a kind of 6DOF according to claim 3 controls handle, it is characterised in that:Described shoulder joint one end is with vertical
To axis stretch, the axis stretch and on the first large-arm joint hole cooperation, mutually rotate;Biography is installed on the endoporus that the axis of shoulder joint is stretched
Sensor, inner groovy and the projection portion on sensor fastening end cap of the sensor projecting shaft cooperate, and sensor end cap
It is fixed on the first large-arm joint by holding screw, sensor end cap is also equipped on the hole of sensor rear end;In shoulder joint
Axis and the hole of the first large-arm joint between be also equipped with respectively in an axial direction second bearing gasket, second bearing, second pre-tighten bullet
Spring, the second preloading spring pre-load nut, the second locking nut, second bearing gasket are close to the interior of the first large-arm joint on one side
Side, one side contacts of other side and second bearing;The other side of second bearing and one side contacts of the second preloading spring, second is pre-
The other side of tight spring and the second preloading spring pre-load nut contact, screw thread and shoulder joint on the second preloading spring pre-load nut
The screw-thread fit that the axis of section is stretched is close to the second locking nut, the second locking screw on the upside of the second preloading spring pre-load nut
The screw-thread fit that female screw thread is also stretched with the axis of shoulder joint, for realizing spring pre-tightening.
5. a kind of 6DOF according to claim 3 controls handle, it is characterised in that:Second large-arm joint one end
It is stretched with vertical axis, which stretches and the hole cooperation on small shoulder joint, mutually rotation;On the endoporus that the axis of second large-arm joint is stretched
Sensor is installed, inner groovy and the projection portion on sensor fastening end cap of the sensor projecting shaft cooperate, and pass
Sensor fastening end cap is fixed to by holding screw on small shoulder joint, and sensor end cap is also equipped on the hole of sensor rear end;
Be also equipped with respectively in an axial direction between the axis and the hole of small shoulder joint of the second large-arm joint 3rd bearing gasket, 3rd bearing,
Third preloading spring, third preloading spring pre-load nut, third locking nut, 3rd bearing gasket are close to small shoulder joint on one side
Inside, one side contacts of other side and 3rd bearing;The other side of 3rd bearing and one side contacts of third preloading spring, the
The other side and third preloading spring pre-load nut of three preloading springs contact, the screw thread on third preloading spring pre-load nut with
The screw-thread fit that second large-arm joint axis is stretched is close to third locking nut on the upside of third preloading spring pre-load nut, and
The screw-thread fit that the screw thread of three locking nuts is also stretched with the second large-arm joint axis, for realizing spring pre-tightening.
6. a kind of 6DOF according to claim 5 controls handle, it is characterised in that:The small shoulder joint side it is interior
Small shoulder joint link block, elbow joint link block, the fourth bearing pad for being mounted with sensor on hole respectively in an axial direction, being stretched with axis
Piece, fourth bearing, the 4th preloading spring, the 4th preloading spring pre-load nut, the 4th locking nut, elbow joint sensor end cap and
Elbow joint;The side of small shoulder joint link block is fixed on holding screw in the endoporus of small shoulder joint, small shoulder joint link block
Axis is stretched and the inner hole on elbow joint link block, mutually rotation;Fourth bearing gasket is close to elbow joint link block on one side
Inside, one side contacts of other side and fourth bearing;The other side of fourth bearing and one side contacts of the 4th preloading spring, the 4th
The other side of preloading spring and the contact of the 4th preloading spring pre-load nut, screw thread on the 4th preloading spring pre-load nut with it is small
The screw-thread fit that the axis of shoulder joint link block is stretched is close to the 4th locking nut on the upside of the 4th preloading spring pre-load nut,
The screw-thread fit that the screw thread of 4th locking nut is also stretched with the axis of small shoulder joint link block, for realizing spring pre-tightening.
7. a kind of 6DOF according to claim 6 controls handle, it is characterised in that:The elbow joint sensor end cap
It is installed along on the endoporus of elbow joint with the other side inner hole of elbow joint link block, is used in combination circumferential holding screw solid
It is fixed;Sensor is mounted on small shoulder joint link block endoporus, inner groovy and the elbow joint joint sensors of the sensor projecting shaft
Projection portion on end cap cooperates;The elbow joint other end is stretched with vertical axis, the axis stretch on wrist joint
Hole cooperation, mutually rotate;Sensor is installed on the endoporus that the axis of elbow joint is stretched, the inner groovy and biography of the sensor projecting shaft
Projection portion on sensor fastening end cap cooperates, and sensor fastening end cap is fixed to wrist joint by holding screw
On, it is also equipped with sensor end cap on the hole of sensor rear end;Divide in an axial direction between the axis and the hole of small shoulder joint of elbow joint
It is not also equipped with 5th bearing gasket, 5th bearing, the 5th preloading spring, the 5th preloading spring pre-load nut, the 5th locking screw
Mother, 5th bearing gasket are close to the inside of small shoulder joint, one side contacts of other side and 5th bearing on one side;5th bearing
Other side and one side contacts of the 5th preloading spring, the other side of the 5th preloading spring and the 5th preloading spring pre-load nut connect
It touches, the screw-thread fit that the axis of screw thread and elbow joint on the 5th preloading spring pre-load nut is stretched, the 5th preloading spring pre-tightens spiral shell
The 5th locking nut is close in female upside, and the screw-thread fit that the screw thread of the 5th locking nut is also stretched with elbow joint axis is used for
Realize spring pre-tightening.
8. a kind of 6DOF according to claim 7 controls handle, it is characterised in that:Wrist joint band in an axial direction
There is axis to stretch, be mounted with respectively in axial direction conducting slip ring, wrist rotation sensor fixed cover, sensor, paw, total locking press button,
Paw spreading-retracting button fixed ring, paw spreading-retracting button;The major diameter fit that the axis of the conducting slip ring and wrist joint is stretched, a side
It is close to the endoporus bottom of wrist joint in face;The projecting shaft for the endoporus and sensor that wrist joint axis is stretched coordinates, and radially has one
A fixing screws fix the projecting shaft of wrist joint and sensor projecting shaft;Sensor is fixed fixed to wrist rotation sensor
On the endoporus of lid, they are fixed to holding screw on paw in an axial direction, are mounted with always to lock on the shaft end of the other side of paw
Button;Paw spreading-retracting button fixed ring endoporus and paw outer circle cooperation, they radially on fixed with holding screw;Paw opens and closes
Button is uniformly distributed along the circumference in paw spreading-retracting button fixed ring, and holding screw is used in combination to be fixed in paw spreading-retracting button fixed ring.
9. a kind of 6DOF according to claim 8 controls handle, it is characterised in that:The wrist joint and paw it
Between be built-in with conducting slip ring, wrist joint and paw can be made to do the movement of 360 ° of continuous rotations between each other;The conducting slip ring
Control signal for transmitting paw folding control button and total locking press button, while not by wrist joint and paw continuous rotation
Limitation.
10. controlling handle according to a kind of 6DOF of claim 1 to 9 any one of them, it is characterised in that:The pedestal, shoulder
Joint, the first large-arm joint and the second large-arm joint, small shoulder joint, elbow joint, wrist joint and paw inside be hollow
Structure is internally provided with metallic channel, for laying internal conducting wire;The pedestal, shoulder joint, large-arm joint, small shoulder joint, elbow close
Section and wrist joint use light material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820378956.9U CN207997313U (en) | 2018-03-20 | 2018-03-20 | A kind of 6DOF control handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820378956.9U CN207997313U (en) | 2018-03-20 | 2018-03-20 | A kind of 6DOF control handle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207997313U true CN207997313U (en) | 2018-10-23 |
Family
ID=63839872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820378956.9U Active CN207997313U (en) | 2018-03-20 | 2018-03-20 | A kind of 6DOF control handle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207997313U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274480A (en) * | 2018-03-20 | 2018-07-13 | 上海海洋大学 | A kind of 6DOF control handle |
| CN111267128A (en) * | 2020-04-03 | 2020-06-12 | 何大安 | Remote fire-fighting robot controller |
| CN113180836A (en) * | 2021-04-27 | 2021-07-30 | 深圳市精锋医疗科技有限公司 | Input device, main operation device, and surgical robot |
-
2018
- 2018-03-20 CN CN201820378956.9U patent/CN207997313U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274480A (en) * | 2018-03-20 | 2018-07-13 | 上海海洋大学 | A kind of 6DOF control handle |
| CN108274480B (en) * | 2018-03-20 | 2024-05-17 | 上海海洋大学 | 6-Degree-of-freedom control handle |
| CN111267128A (en) * | 2020-04-03 | 2020-06-12 | 何大安 | Remote fire-fighting robot controller |
| CN113180836A (en) * | 2021-04-27 | 2021-07-30 | 深圳市精锋医疗科技有限公司 | Input device, main operation device, and surgical robot |
| WO2022228149A1 (en) * | 2021-04-27 | 2022-11-03 | 深圳市精锋医疗科技股份有限公司 | Input device, main operating device, and surgical robot |
| CN113180836B (en) * | 2021-04-27 | 2023-11-03 | 深圳市精锋医疗科技股份有限公司 | Input device, main operation device, and surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207997313U (en) | A kind of 6DOF control handle | |
| US8562049B2 (en) | Robotic finger assembly | |
| CN203697030U (en) | Robot wrist mechanism | |
| CN105651446A (en) | Six-dimensional force sensor | |
| US20140060236A1 (en) | Multiple joints robot having cover on end effector attachment | |
| CN109531619A (en) | A kind of robot flexible wrist joint and robot | |
| CN108274480A (en) | A kind of 6DOF control handle | |
| CN107379005A (en) | It is a kind of to damp joint and the main hand of damping with position retaining function | |
| CN204591894U (en) | Tightening buckle device and comprise the pipe group structure of this tightening buckle device | |
| CN109129401A (en) | A kind of explosion-proof type body construction | |
| CN202426689U (en) | Steering engine driven shoulder disarticulation artificial upper limb | |
| CN103878786A (en) | Wrist with three freedom degrees for robot | |
| CN205466206U (en) | Flexible rotary -type electric jar tongs | |
| CN205226794U (en) | A universal hinge festival that is used for multi freedom position appearance adjustment platform | |
| CN207373177U (en) | Hydraulic intelligent controls articulated robot | |
| CN102152303A (en) | Reconfigurable Hooke joint | |
| CN202922589U (en) | Four-finger multifunctional manipulator | |
| CN206478580U (en) | A kind of portable lamp | |
| CN205580630U (en) | Force transducer ring flange | |
| CN209394661U (en) | A kind of nuclear emergency disposition more end effector mechanism quick change manipulators of robot | |
| CN104441691A (en) | Self-balancing cellosilk placement manipulator arm | |
| CN209273478U (en) | The joint rotary position-limit mechanism of anthropomorphic robot | |
| CN203210361U (en) | Modularized master manipulator for controlling master and slave mechanical operating arms | |
| CN216543387U (en) | Light humanoid mechanical arm | |
| CN207172110U (en) | It is a kind of to damp joint and the main hand of damping with position retaining function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |