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Multiple joint operating bar

An operating rod and multi-joint technology, applied in the direction of claw arms, manipulators, joints, etc., can solve the problems of inappropriate layout of buttons, complex structure, and high price, and achieve good application operation, extended use range, and good position retention. Effect

Inactive Publication Date: 2006-09-27
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

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

[0019] Such as image 3 As shown, the working principle of the hollow thin-film potentiometer is: the resistance film of the hollow thin-film potentiometer is attached to the inner surface of the thin-film potentiometer sleeve 6-2, and the bottom of the hollow thin-film potentiometer brush sheet 6-1 is inlaid on the hollow shaft , The contact of the hollow thin-film potentiometer brush piece 6-1 elastically contacts and slides on the resistance film in the thin-film potentiometer sleeve 6-2. When the hollow thin-film potentiometer brush piece 6-1 rotates with the hollow shaft of the structural part, The position signal is output by the lead wire harness on one side of the film potentiometer sleeve.

[0020] Such as figure 1 , figure 2 Shown: In this embodiment, the upper part of the base 14 is provided with a hole for matching with the hollow shaft 4, and a set screw is used to connect a hollow shaft 4 to it as a whole. At the same time, the upper part is provided with a hole mat...

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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 manipulator operation master hands, in particular to a multi-joint operation rod. 2. Background technology [0002] Master-slave manipulator operations usually use a button-type operating lever or a pneumatic or liquid assisted manipulator tied to a human arm or an operating master hand that is the same 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 equipped with more buttons, and the latter is often expensive; The arms are bundled into one body, which is not only expensive, but also complex in structure; it has the same structure as the master hand, and is also complex in structure, high in cost, and large in size. [0003] When the master-slave manipulator is engaged in complex operations, it is not only necessary to r...

Claims

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Application Information

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