Four-degree-of-freedom hand rotation device for hand controller of heterogeneous robot
A rotating device and robot technology, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problems of inability to directly control the grasping movement of the end, feedback and perception of the magnitude of the grasping force of the end, and achieve light structure, convenient operation, and convenience The effect of solving
Active Publication Date: 2016-02-24
SOUTHEAST UNIV
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Problems solved by technology
The three-degree-of-freedom parallel mechanism is mainly composed of a base plate, a motor cover, a rotating shaft, a main manipulator, a sub-manipulator, and a gripper center. movement of the two, so there will be coupling
This mechanism cannot directly control the gripping movement of the end, it must be realized through an additional switch button, and it cannot sense the magnitude of the gripping force of the end through force feedback
Method used
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Embodiment Construction
[0022] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0023] like Figure 1 to Figure 3 As shown, a four-degree-of-freedom hand rotation device for a heterogeneous robot hand controller according to an embodiment of the present invention includes a first rotating member 1, a second rotating member 2, a third rotating member 3, a fourth rotating assembly 4, The first bracket 5 , the second bracket 6 , the third bracket 7 , the first pulley 81 and the second pulley 82 . The rotating shaft of the first rotating member 1 passes through the first bracket 5 and is fixedly connected with the first pulley 81 . The second support 6 is connected with the second pulley 82 through a rotating shaft, and the rotating shaft passes through the first support 5, the first pulley 81 and the second pulley 82 are located on the same side of the first support 5, and the first pulley 81 It is connected with the second pulley ...
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The invention discloses a four-degree-of-freedom hand rotation device for a hand controller of a heterogeneous robot. The hand rotation device comprises a first rotation piece, a second rotation piece, a third rotation piece, a fourth rotation assembly, a first support, a second support, a third support, a first belt wheel and a second belt wheel. A rotary shaft of the first rotation piece penetrates through the first support and is fixedly connected with the first belt wheel. The second support is connected with the second belt wheel through a rotary shaft, and the rotary shaft penetrates through the first support. The first belt wheel and the second belt wheel are located on the same side of the first support and connected through a belt. The two ends of the second rotation piece penetrate through the two opposite sides of the second support. The second rotation piece is connected to the second support and sleeved with a shaft sleeve. The shaft sleeve is fixedly connected to the second rotation piece. The third rotation piece is connected to a shaft sleeve. The third support is fixedly connected with the third rotation piece. The fourth rotation assembly is connected to the third support. By the adoption of the device, the measurement precision of the hand controller can be improved.
Description
technical field [0001] The invention relates to a hand rotating device, in particular to a four-degree-of-freedom hand rotating device for a heterogeneous robot hand controller. Background technique [0002] At present, the commonly used universal heterogeneous robot hand controller is the spherical hand rotation mechanism on the heterogeneous robot hand controller based on the Delta mechanism. The three-degree-of-freedom parallel mechanism is mainly composed of a base plate, a motor cover, a rotating shaft, a main manipulator, a sub-manipulator, and a gripper center. The movement of the two, so there will be coupling. On the one hand, the structure of this mechanism is relatively complex, which is not conducive to the calculation of motion and force; on the other hand, when the user operates this spherical rotating mechanism, he needs to overcome the influence of gravity. This brings inconvenience to the user, especially when the force feedback function needs to be provid...
Claims
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IPC IPC(8): B25J15/08B25J9/12
Inventor 崔建伟宋爱国宗玉杰蔡岩松陈盼胡静李程程桑鹏程
Owner SOUTHEAST UNIV