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Multiple joint operating bar

An operating lever and multi-joint technology, applied in the directions of claw arms, manipulators, joints, etc., can solve the problems of inappropriate button layout, complex structure, large volume, etc., and achieve the effect of good operating feel, reasonable and compact structure, and extended use range.

Inactive Publication Date: 2008-02-13
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Among the button-type joysticks, one is a cheap game joystick, and the other is a joystick for construction machinery and aircraft. The button-type joystick should not be arranged with more buttons, and the latter is often expensive; The arm is bundled into one body, which is not only expensive, but also has a complex structure; the main hand, which is isomorphic with the slave hand, is also complex in structure, high in cost, and large in size

Method used

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Embodiment Construction

[0018] As shown in Figure 3, the working principle of the hollow film potentiometer is: the resistance film of the hollow film potentiometer is attached to the inner surface of the film potentiometer sleeve 6-2, and the bottom of the brush piece 6-1 of the hollow film potentiometer is embedded in the On the hollow shaft, the contacts of the hollow film potentiometer brush piece 6-1 elastically contact and slide on the resistance film in the film potentiometer sleeve 6-2, and the hollow film potentiometer brush piece 6-1 follows the hollow shaft of the structural part When rotating, its position signal is output by the lead-out wire harness on one side of the film potentiometer sleeve.

[0019] As shown in Figures 1 and 2: in this embodiment, the upper part of the base 14 is provided with a hole that matches the hollow shaft, and a hollow shaft is connected to it as a whole with a set screw. Simultaneously its top is provided with the hole that matches with tail swing lever 13 ...

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Abstract

The present invention relates to master hand of master-slave manipulator, and is especially one kind of polyarticular operating arm. The polyarticular operating arm consists of pedestal, tail oscillating rod, turning oscillating rod, equidirectional oscillating rod, head oscillating rod and rotating rod connected successively to form turning joints, including rotating joint F, oscillating joint E, oscillating joint D, oscillating joint C, rotating joint B and button switch joint A. It has hollow film potentiometers mounted in the central positions of the oscillating joints and the rotating joints and film switch inside the button switch joint A. The whole polyarticular operating arm is installed on the control desk via the connecting holes in the pedestal. The present invention has reasonable and compact structure, high flexibility, good position holding performance and other advantages, and may be used in the remote operation of master-slave manipulator and similar equipment.

Description

1. Technical field [0001] The invention relates to the field of master-slave manipulators operating master hands, in particular to a multi-joint operating rod. 2. Background technology [0002] The master-slave manipulator operation usually uses a button-type joystick or a gas-hydraulic assisted manipulator tied to the human arm or a master hand with the same structure as the slave hand to remotely control the robot for operation. Among the button-type joysticks, one is a cheap game joystick, and the other is a joystick for construction machinery and aircraft. The button-type joystick should not be arranged with more buttons, and the latter is often expensive; The arm is bundled into one body, which is not only expensive, but also has a complex structure; the main hand, which is isomorphic with the slave hand, is also complex in structure, high in cost, and large in size. [0003] When the master-slave manipulator is engaged in complex operations, it not only needs to contr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00B25J17/02
Inventor 朱苏宁戴炬
Owner SHANDONG UNIV OF SCI & TECH
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