CN107553467B - Multifunctional master hand device with low gravity center - Google Patents

Abstract

The invention relates to a low gravity center multifunctional master hand device, which comprises: the device comprises a base, a support rod, a connecting rod, a plurality of joint connecting rods, a plurality of transmission components and a handle, wherein the base is in transmission connection with one end of the support rod; the joint connecting rods are connected in a head-to-tail transmission mode to form a connecting arm, and the connecting arm extends to one side deviating from the inclination direction of the connecting rod; two ends of the connecting arm are respectively connected with the other end of the connecting rod and the handle in a transmission way; the transmission assembly comprises a first driver and a wire wheel assembly, the first driver is arranged on the connecting rod and is close to the supporting rod, the wire wheel assembly is arranged on the joint connecting rod to be driven, and the first driver drives the wire wheel assembly to drive the corresponding joint connecting rod to move. According to the invention, the first driver is biased at the position of the connecting rod close to the supporting rod, so that part of gravity moment of the connecting arm can be compensated, the gravity center of the whole main hand device is close to the base, and the stability of the whole main hand device is facilitated.

Description

A low center of gravity multifunctional main hand device

Technical field

The invention relates to the field of robot technology, and in particular to a low center of gravity multifunctional main hand device.

Background technique

Master-slave operation is an ancient operation method, and robots evolved from this method. The earliest master-slave operating robots were two sets of mechanisms with the same structure, which were placed in different places. The master robot was placed in a safe or convenient place, and the slave robot was placed in a place that people should not approach, such as strong radiation, High temperature, underwater and other environments. The operator operates the master robot based on sensor information, such as vision, contact force sense, proximity sense, etc. There is a mechanical coupling between the master robot and the slave robot, and the movement of the master robot is transmitted to the slave robot, and the slave robot follows the movement of the master robot. sports.

The master-slave operation method greatly extends the application space of robots. In many dangerous or extreme environments, using robots to replace humans is the only feasible solution. Therefore, humans cannot do without master-slave robots in the development of outer space, deep-water ocean operations, and the inspection and maintenance of nuclear power plants. Master-slave robots have become indispensable equipment in the above fields. In addition, in some dangerous, toxic and harmful industrial production environments, master-slave remote control robots are also used.

The master-slave remote control robot system consists of three parts: the master robot, the slave robot and the related parts between the two. Specifically speaking, it is the master hand, the slave hand and the communication between the two.

The slave hand is the robotic arm, which can be articulated or Cartesian, depending on the needs of different tasks. It is generally an articulated robotic arm with 6 degrees of freedom.

The master hand is generally an active robotic arm that is isomorphic to the slave hand, and is dragged by the human hand to perform movements. Its main function is to provide the slave hand with position information of each joint, so that the slave hand follows the movement of the master hand.

From a safety perspective in a master-slave operating robot system, the master hand is often required to have a position maintaining function, that is, when the human hand is separated from the master hand, the master hand can maintain the current position; from a usage perspective, there are many applications that require the master hand to maintain its position. There are two ways to maintain a certain position for a long time. One is to use the master hand with the position maintaining function, so that the human hand can be liberated from the master hand when it is separated from the master hand; the other is to set the slave hand position maintaining switch, which requires the slave hand to maintain the position. When this switch is pressed, the slave hand maintains its position and cancels the master-slave hand following control mode. The master-slave hand follows asynchronously. When the human hand breaks away from the master hand, regardless of whether the master hand can maintain its position, the slave hand will Maintain a fixed position. When using the second method, when the master-slave following control mode needs to be restored, the master hand needs to find the current position of the slave hand, which is a cumbersome operation. Therefore, the main hand with position maintaining function is a better solution for this type of application.

The main hand is divided into force feedback type and force feedback type. The force feedback type main hand generally has a set of drive motors and reducer devices for each joint, and the motor is generally of the brake type, and each joint is treated as a separate module, and then Multiple modules are connected in series. For example, the patent application number 201410090804.5, a joint force feedback teleoperation main hand, uses this method. The disadvantage of this design method is that the center of gravity is higher, because the modules are designed in series, and the motors in each module Reducers are often relatively heavy. Therefore, it is necessary to maintain the balance of the gravity moment of each joint. For low joints, such as the second and third joints, the motor output torque and the reduction ratio of the reducer are required to be higher. Moreover, if the motor torque is large, the quality of the motor itself will be affected. has also increased, which increases the difficulty of design.

The application number is 201710153563.8, which provides a five-degree-of-freedom master hand with a position-maintaining function. The locking method takes the first joint as an example. The first joint position-maintaining mechanism includes a first motor, a first screw and a first inner joint. Threaded slider; the first driver controls the start and stop of the first motor. The output end of the first motor is connected to the first screw. The first screw is threadedly connected with a first internally threaded slider. The first internally threaded slider is The movement can maintain the position of the shaft head. With this arrangement, when the position of the first joint needs to be maintained, the first driver controls the action of the first motor, and the first motor drives the first screw to run, and then drives the first internally threaded slider to abut the position to maintain the shaft head, relying on friction. , locking the rotation of the joint to maintain the position of the first joint. This technical solution is a torque-free feedback type main hand, which adopts a modular design, but each module contains a locking motor and a locking mechanism. The modules are connected in series. The same center of gravity is positioned upward, and the locking torque of the low joints is The requirements are relatively demanding, and the center of gravity is high. Operators tend to be tired when operating for a long time.

The patent application number 201210454658.0 provides a rope-driven multi-joint robot. The rope-driven multi-joint robot is divided into a hand, a wrist, a forearm, an upper arm, a shoulder, a waist and a base. The waist is set on the base. The waist is connected to the shoulder through the crankshaft assembly, the shoulder is connected to the upper arm through the rotating joint shaft, the upper arm is connected to the forearm through the driven wheel assembly II on the rotating joint shaft, and the forearm is connected to the wrist through the driven wheel assembly I on the rotating joint shaft The wrist is connected to the hand through a rotating joint axis, and multiple joints are formed between the interconnected parts. The multi-joint rope transmission unit is connected to the waist, shoulder, upper arm, forearm, wrist, and hand through flexible ropes. One or more than two parts are connected to form a rope-driven multi-joint robot. This type of machine is driven by a rope, and the robotic arm is relatively light. However, all joints of the robotic arm are driven by a rope. The transmission line of the rope is complex, the overall rigidity of the arm is poor, and there is no position feedback device at each joint, making it difficult to control the hand. .

Contents of the invention

The technical problem to be solved by the present invention is to provide a multi-functional main hand device with a low center of gravity in view of the shortcomings of the existing technology.

The technical solution of the present invention to solve the above technical problems is as follows: a low center of gravity multifunctional main hand device, including: a base, a support rod, a connecting rod, a number of joint connecting rods, a number of transmission components and a handle. The base and the support rod One end is drivingly connected, and the other end of the support rod is drivingly connected to one end of the connecting rod;

A plurality of joint connecting rods are connected end to end to form a connecting arm, and the connecting arm extends to a side away from the inclination direction of the connecting rod; the two ends of the connecting arm are respectively connected to the other end of the connecting rod and the handle transmission Connection, each joint connecting rod is driven by a transmission component respectively;

The transmission assembly includes a first driver and a wire wheel assembly. The first driver is provided on the connecting rod and is arranged close to the support rod. The wire wheel assembly is provided on the joint connecting rod to be driven. The first driver drives the wire wheel assembly to drive the corresponding joint link to move.

The beneficial effects of the present invention are: the main hand device of the present invention transmits motion to the corresponding joint connecting rod through the wire wheel assembly and the first driver, and the first driver is biased at the position of the connecting rod close to the support rod, It can compensate part of the gravity moment of the connecting arm, so that the center of gravity of the entire main hand device is close to the base, which is beneficial to the stability of the entire main hand device.

On the basis of the above technical solution, the present invention can also make the following improvements.

Further, the wire wheel assembly includes a driving wheel, a transmission wheel and a steel wire. The driving wheel and the transmission wheel are driven by the steel wire; the driving wheel is coaxial and fixedly connected to the output shaft of the first driver. , the transmission wheel is fixedly connected to one end of the joint connecting rod to be driven close to the connecting rod.

The beneficial effect of adopting the above further solution is that by using the driving wheel, the transmission wheel and the steel wire, the movement of the first driver is transmitted to the corresponding joint connecting rod through the transmission wheel and the steel wire, and the entire transmission process is highly operable.

Further, the number of the joint connecting rods is n; along the direction from the connecting rod to the handle, the n joint connecting rods are respectively the first joint connecting rod,..., the nth joint connecting rod, n is a positive integer;

The wire wheel assembly also includes m transition wheels, where m is an integer not less than 0;

When n is 1, m is 0; when n is greater than 1, m is greater than 0; the first joint link and the n-1 joint link and any joint link between them are movably connected with The transition wheel is coaxially arranged with the transmission wheel of the joint connecting rod; the steel wire between the driving wheel and the transmission wheel transmits torque through the transition wheel.

The beneficial effect of adopting the above further solution is that by setting up the transition wheel, the torque transmission can be made more accurate and faster.

Furthermore, a guide wheel for wire guidance is fixed on the joint connecting rod.

The beneficial effect of adopting the above further solution is that by fixing the guide wheel on the joint link, it is convenient to transmit the motion to the corresponding joint link.

Furthermore, the transmission assembly further includes a first potentiometer that records the transmission position of the joint link, and the first potentiometer is provided between the connecting rod and the joint link and between each joint link. .

The beneficial effect of adopting the above further solution is that by setting the first potentiometer, it is convenient to record the position information of each joint connecting rod.

Further, the first potentiometer is coaxially arranged with the transmission wheel on the connected joint connecting rod; the housing and the output shaft of the first potentiometer are respectively connected to the joint connecting rod and the connecting rod that are transmission connected, or Connected to two adjacent joint connecting rods respectively.

Further, a second driver and a second potentiometer are arranged coaxially between the base and the support rod, and the housing of the second driver and the housing of the second potentiometer are both fixed on the On the base, the drive shaft of the second driver and the output shaft of the second potentiometer are both fixedly connected to the support rod.

The beneficial effect of adopting the above further solution is that by arranging the second driver and the second potentiometer, it is convenient to drive the support rod and record the position of the support rod.

Further, a third driver and a third potentiometer are arranged coaxially between the support rod and the connecting rod, and the casing of the third driver and the casing of the third potentiometer are both fixed on the On the support rod, the driving shaft of the third driver and the output shaft of the third potentiometer are both fixedly connected to the connecting rod.

The beneficial effect of adopting the above further solution is that by arranging the third driver and the third potentiometer, it is convenient to drive the connecting rod and record the position of the connecting rod.

Further, the first driver is a servo motor, a brake or a DC reduction motor with a brake; the second driver is a servo motor, a brake or a DC reduction motor with a brake; the third driver is a servo motor, a brake or a DC reduction motor with a brake. Brake DC geared motor.

The beneficial effect of adopting the above further solution is that by using servo motors, brakes and DC reduction motors with brakes, the main hand control can be maintained at any position as needed.

Further, a fourth potentiometer is provided between the connecting arm and the handle. The housing of the fourth potentiometer is fixed on the joint connecting rod at the front end of the connecting arm. The output shaft of the fourth potentiometer is It is fixedly connected to the handle; a stop spring screw is screwed on the joint connecting rod at the front end of the connecting arm, and a steel ball is elastically connected to the stop spring screw. A part of the steel ball comes from the stop spring screw. The front end is exposed and contacts the output shaft of the fourth potentiometer.

The beneficial effect of adopting the above further solution is that by arranging the fourth potentiometer and the stop spring screw, the main hand can be kept at any position in space by adjusting the position of the stop spring screw.

Description of the drawings

Figure 1 is a schematic diagram of the three-dimensional structure of the main hand device of the present invention;

Figure 2 is a schematic diagram 2 of the three-dimensional structure of the main hand device of the present invention;

Figure 3 is a partially enlarged structural schematic diagram of Figure 2;

FIG. 4 is a partially enlarged structural schematic diagram of FIG. 3 .

In the drawings, the parts represented by each number are listed as follows:

100. Base; 200. Support rod; 300. Connecting rod; 400. Handle;

500. Transmission components;

501. First driver A; 502. Driving wheel A; 503. Transmission wheel A; 504. First potentiometer A; 505. Guide wheel; 506. Steel wire;

511. First driver B; 512. Driving wheel B; 513. Transmission wheel B; 514. First potentiometer B; 515. Transition wheel B;

521. First driver C; 522. Driving wheel C; 523. Transmission wheel C; 524. First potentiometer C; 525. Transition wheel C; 526. Transition wheel D;

600. Connecting arm; 601. First joint connecting rod; 602. Second joint connecting rod; 603. Third joint connecting rod;

700. Second driver; 701. Second potentiometer;

800. The third driver; 801. The third potentiometer;

900. Fourth potentiometer; 901. Stop spring screw;

1. The first joint axis; 2. The second joint axis; 3. The third joint axis; 4. The support rod axis; 5. The connecting rod axis; 6. The handle axis.

Detailed ways

The principles and features of the present invention are described below with reference to the accompanying drawings. The examples cited are only used to explain the present invention and are not intended to limit the scope of the present invention.

As shown in Figures 1 to 4, a multi-functional main hand device with a low center of gravity in this embodiment includes: a base 100, a support rod 200, a connecting rod 300, a number of joint connecting rods, a number of transmission components 500 and a handle 400. The base 100 is drivingly connected to one end of the support rod 200, and the other end of the support rod 200 is drivingly connected to one end of the connecting rod 300; a plurality of joint connecting rods are connected end to end to form a connecting arm 600, and the connecting arm 600 Extends toward the side away from the inclination direction of the connecting rod 300; the two ends of the connecting arm 600 are respectively connected with the other end of the connecting rod 300 and the handle 400, and each section of the joint connecting rod corresponds to is driven by a transmission assembly; the transmission assembly includes a first driver and a wire wheel assembly. The first driver is provided on the connecting rod 300 and is located close to the support rod 200. The wire wheel assembly is provided on On the joint link to be driven, the first driver drives the wire wheel assembly to drive the corresponding joint link to move.

The lengths and structures of several joint connecting rods in this embodiment may be the same or different, and the joint connecting rods may adopt any structure as required. For example, the joint connecting rod can adopt an L-shaped structure or a straight rod-shaped structure.

The connecting rod 300 of this embodiment actually plays the same role as the joint connecting rod, but is named differently for the convenience of subsequent description of the driving structure.

The main hand device of this embodiment transmits motion to the corresponding joint link through the wire wheel assembly and the first driver, and the first driver is biased at the position of the connecting rod close to the support rod, which can compensate for the part of the connecting arm. The gravity moment makes the center of gravity of the entire main hand device close to the base, which is beneficial to the stability of the entire main hand device.

As shown in Figures 1-3, the wire wheel assembly includes a driving wheel, a transmission wheel and a steel wire 506. The driving wheel and the transmission wheel are driven by the steel wire 506; the driving wheel and the first The output shaft of the driver is coaxial and fixedly connected, and the transmission wheel is fixedly connected to one end of the joint connecting rod to be driven close to the connecting rod 300 . By using a driving wheel, a transmission wheel and a steel wire, the movement of the first driver is transmitted to the corresponding joint connecting rod through the transmission wheel and the steel wire, making the entire transmission process highly operable.

As shown in Figures 1 to 3, the number of the joint connecting rods in this embodiment is n; along the direction from the connecting rod 300 to the handle 400, the n joint connecting rods are respectively the first Joint connecting rods 601,..., nth joint connecting rod, n is a positive integer; the wire wheel assembly also includes m transition wheels, and m is an integer not less than 0;

When n is 1, m is 0; when n is greater than 1, m is greater than 0; on the first joint link, the n-1 joint link and any joint link between them Both are movably connected with transition wheels, which are coaxially arranged with the transmission wheel of the joint connecting rod; the steel wire between the driving wheel and the transmission wheel transmits torque through the transition wheel, and the transition wheel is arranged, Make the torque transmission more accurate and faster.

As shown in Figures 1 to 3, the transmission assembly of this embodiment also includes a first potentiometer that records the transmission position of the joint link, between the connecting rod 300 and the joint link and between each joint link. The first potentiometer is arranged between the rods. By setting the first potentiometer, it is convenient to record the position information of each joint link. As shown in Figures 1 to 3, the first potentiometer of this embodiment is coaxially arranged with the transmission wheel on the connected joint connecting rod; the casing and output shaft of the first potentiometer are respectively connected to the transmission The joint connecting rod is connected to the connecting rod, or is connected to two adjacent joint connecting rods respectively.

The low center of gravity multifunctional main hand device of the present invention can adopt a structure with multiple degrees of freedom. This embodiment takes six degrees of freedom as an example, that is, there is one degree of freedom between the support rod 200 and the base 100, and the support rod 200 and the connecting rod 300 There is one degree of freedom between the connecting rod 300 and the connecting arm. There are two degrees of freedom between the three-joint joint connecting rod. There is one degree of freedom between the connecting arm and the handle 400.

In one implementation of this embodiment, as shown in Figures 1-3, the number of joint links is 3, which are a first joint link 601, a second joint link 602 and a third joint link respectively. 603. The rear end of the first joint connecting rod 601 is drivingly connected to the front end of the connecting rod 300, and the front end of the first joint connecting rod 601 is drivingly connected to the rear end of the second joint connecting rod 602, so The front end of the second joint connecting rod 602 is drivingly connected to the rear end of the third joint connecting rod 603 , and the front end of the third joint connecting rod 603 is drivingly connected to the handle 400 .

Specifically, as shown in Figures 1-3, the first joint link 601 rotates around the first joint axis 1, the second joint link 602 rotates around the second joint axis 2, and the third joint link 603 rotates around the second joint axis 2. The three-joint axis 3 rotates; the transmission component that drives the first joint link 601 is the first transmission component, the transmission component that drives the second joint link 602 is the second transmission component, and the transmission component that drives the third joint link 602 The transmission component of 603 is the third transmission component.

As shown in Figures 1-3, the first transmission assembly includes a first driver A501, a driving wheel A502, a transmission wheel A503 and a first potentiometer A504. The casing of the first driver A501 is fixed on the connecting rod. 300, the driving shaft of the first driver A501 is coaxially arranged and fixedly connected to the driving wheel A502, and the casings of the transmission wheel A503 and the first potentiometer A504 are fixed on the first joint connecting rod 601 The rear ends are all coaxially arranged with the first joint axis 1, and the output shaft of the first potentiometer A504 is fixedly connected with the connecting rod 300;

As shown in Figures 1-3, the second transmission assembly includes a first driver B511, a driving wheel B512, a transmission wheel B513, a first potentiometer B514 and a transition wheel B515. The casing of the first driver B511 is fixed on On the connecting rod 300, the driving shaft of the first driver B511 is coaxially arranged and fixedly connected to the driving wheel B512; the casing of the first potentiometer B514 is fixed on the first joint connecting rod 601. At the front end, the output shaft of the first potentiometer B514 and the transmission wheel B513 are coaxially fixed at the rear end of the second joint link 602. The output shaft of the first potentiometer B514 and the transmission wheel B513 Both are coaxially arranged with the second joint axis 2; the transition wheel B515 is coaxially and movable with the transmission wheel A503, that is, the transition wheel B515 is only axially limited between the transmission wheel A503 and the first potentiometer A514. time, there is no limit in the circumferential direction.

As shown in Figures 1-3, the third transmission assembly includes a driving wheel C522, a transmission wheel C523, a first potentiometer C524, a transition wheel C525 and a transition wheel D526. The casing of the first driver C501 is fixed on the On the connecting rod 300, the driving shaft of the first driver C501 and the driving wheel C522 are coaxially arranged and fixedly connected; the casing of the first potentiometer C524 is fixed on the front end of the second joint connecting rod 602 , the output shaft of the first potentiometer C524 and the transmission wheel C523 are coaxially fixed at the rear end of the third joint connecting rod 603, and the output shaft of the first potentiometer C524 and the transmission wheel C522 Both are coaxially arranged with the third joint axis 3; the transition wheel C525 is coaxially and movable with the transmission wheel A503, that is, the transition wheel C525 is only axially limited between the transmission wheel A503 and the first potentiometer A504. There is no limit in the circumferential direction, and the transition wheel C525 only guides and transitions the steel wire 506 between the driving wheel C522 and the transmission wheel C523; the transition wheel D526 is coaxial and movable with the transmission wheel B513, that is, the transition wheel D526 only limits the position axially between the transmission wheel B513 and the first potentiometer B514, and does not limit the position circumferentially. The transition wheel D526 only guides and transitions the steel wire 506 between the transmission wheel C523 and the transition wheel C525.

As shown in Figures 1 and 2, the joint connecting rod in this embodiment is also fixed with guide wheels 505 for guiding the steel wire 506. The number and inclination angle of the guide wheels 505 can be set according to the actual situation. For example, in this embodiment, two guide wheels 505 are provided on the second joint link 602, and the two guide wheels 505 are inclined and have different inclination directions. By fixing the guide wheel on the joint link, it is convenient to transmit the motion to the corresponding joint link and avoid the steel wire from affecting the normal operation of other joint links.

As shown in Figures 1 and 2, in this embodiment, a second driver 700 and a second potentiometer 701 are arranged coaxially between the base 100 and the support rod 200. The mechanism of the second driver 700 The housing and the second potentiometer 701 are both fixed on the base 100 , and the drive shaft of the second driver 700 and the output shaft of the second potentiometer 701 are both fixedly connected to the support rod 200 . By setting the second driver and the second potentiometer, it is convenient to drive the support rod and record the position of the support rod.

Specifically, the base 100 includes a lower bottom plate and an upper bottom plate, and the lower bottom plate and the upper bottom plate are fixedly connected through a plurality of upright columns. The casing of the second driver 700 is fixed on the lower side of the upper base plate and is located between the upper base plate and the lower base plate; the drive shaft of the second driver 700 passes through the upper base plate and is connected with the upper base plate. The support rod 200 is fixedly connected, the casing of the second potentiometer 701 is fixed on the upper surface of the upper base plate through a rod, and the output shaft of the second potentiometer 701 is arranged vertically downward and fixed on the on the support rod 200. The support rod 200 rotates around the support rod axis 4 , and the driving shaft of the second driver 700 and the output shaft of the second potentiometer 701 are coaxially arranged with the support rod axis 4 .

As shown in Figures 1 and 2, in this embodiment, a third driver 800 and a third potentiometer 801 are arranged coaxially between the support rod 200 and the connecting rod 300. The casing and the casing of the third potentiometer 801 are both fixed on the support rod 200 , and the drive shaft of the third driver 800 and the output shaft of the third potentiometer 801 are connected to the connecting rod 300 Fixed connection. By setting the third driver and the third potentiometer, it is convenient to drive the connecting rod and record the position of the connecting rod.

Specifically, the connecting rod 300 rotates around the connecting rod axis 5 , and the driving shaft of the third driver 800 and the output shaft of the third potentiometer 801 are coaxially arranged with the axis of the connecting rod 300 .

In this embodiment, the first driver is a servo motor, a brake, or a DC reduction motor with a brake; the second driver 700 is a servo motor, a brake, or a DC reduction motor with a brake; and the third driver 800 is a servo motor. , brake or DC reduction motor with holding brake. By using servo motors, brakes and DC geared motors with holding brakes, the main hand control can be maintained in any position as required.

Specifically, the first driver, the second driver 700 and the third driver 800 can be implemented in various ways, for example, a servo motor, a brake or a DC reduction motor with a brake can be used. Different reduction ratios of the servo motor have different damping torques. Select the appropriate reduction ratio of the servo motor. When the operator operates the handle, the damping torque of the servo motor can be used to make the main hand move when the servo motor is not powered on. Maintain at any position; when the drive current of each servo motor is adjusted in real time according to the posture of each joint link, a multi-degree-of-freedom joint force feedback type master hand can be realized. Brakes can also be used to realize a multi-degree-of-freedom joint position-locked master hand. When the operator operates the handle, each brake needs to be powered on to open the brake, so that the master hand can be dragged to operate at any position. When each brake is powered off, Each brake locks the corresponding joint link in a predetermined position. The force feedback type main hand with position locking function can also be realized by using a DC reduction motor with a brake. When the operator operates the handle, the brake of each DC reduction motor with a brake is opened and the current of each DC reduction motor with a brake is adjusted. , the master hand can sense the torque changes of the slave hand, and when the brakes of each DC reduction motor with brakes are closed, each joint connecting rod of the master hand can be locked.

As shown in Figure 4, in this embodiment, a fourth potentiometer 900 is provided between the connecting arm 600 and the handle 400, and the casing of the fourth potentiometer 900 is fixed on the joint at the end of the connecting arm 600. On the connecting rod, the output shaft of the fourth potentiometer 900 is fixedly connected to the handle 400; a stop spring screw 901 is screwed on the joint connecting rod located at the end of the connecting arm 600, and the stop spring screw 901 A steel ball is connected to the inside through a spring, and a part of the steel ball is exposed from the front end of the stop spring screw 901 and abuts on the output shaft of the fourth potentiometer 900 . By arranging the fourth potentiometer and the stop spring screw, the main hand can be kept at any position in space by adjusting the position of the stop spring screw.

Specifically, the stop spring screw 901 has a cavity along its axial direction, and a spring is provided in the cavity; the front end of the stop spring screw 901 has a through hole communicating with the cavity. The spring is arranged along the axial direction of the stop spring screw 901, one end of the spring is fixedly connected to the inner wall of the cavity of the stop spring screw 901, and the other end of the spring is fixedly connected to the steel ball, so The steel ball is in contact with the through hole and a part of the steel ball is exposed from the through hole. That is to say, the steel ball is stuck inside the through hole.

Since the casing of the fourth potentiometer 900 is fixed on the joint link located at the front end of the connecting arm 600, and the output shaft of the fourth potentiometer 900 is movable through the joint link, the joint link A threaded hole arranged perpendicularly to the output shaft of the fourth potentiometer 900 is also provided. The stop spring screw 901 is screwed in the threaded hole and the steel ball at its front end passes through the threaded hole and then touches the threaded hole. Connected to the output shaft of the fourth potentiometer 900; that is to say, by adjusting the position of the stop spring screw in the threaded hole, the pressure of the steel ball on the output shaft of the fourth potentiometer can be adjusted, thereby keeping the handle anywhere in space.

In the description of the present invention, the "front end" refers to the end of the connecting arm, joint link, support rod or connecting rod close to the handle, and the "rear end" refers to the end of the joint link, support rod or connecting rod close to the base.

Since the structure of the connecting rod and the joint link can be arbitrarily set according to the actual situation, the connecting rod, the joint link and the handle of the present invention can realize rotation in any direction, and no matter the connecting rod, the joint link and the handle rotate in any direction, Since the first driver is located on the connecting rod (that is, located downward), the center of gravity of the entire main hand device is moved downward, making the entire main hand device more stable. For example, when the connecting rod tilts and the joint link also tilts, the first driver on the connecting rod can also act as a counterweight, so that the gravity of the joint link is balanced by the first driver, which is beneficial to the stability of the entire device.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis", The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply the referred devices or components. Must have a specific orientation, be constructed and operate in a specific orientation and are therefore not to be construed as limitations of the invention.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated into one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise specified restrictions. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise expressly stated and limited, a first feature being "on" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. touch. Furthermore, the terms "above", "above" and "above" the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "beneath" the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "an example," "specific examples," or "some examples" or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of the invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present invention. The embodiments are subject to changes, modifications, substitutions and variations.

Claims (9)

1. A multi-functional main hand device with a low center of gravity, which is characterized in that it includes: a base, a support rod, a connecting rod, a number of joint connecting rods, a number of transmission components and a handle. The base is drivingly connected to one end of the support rod, so The other end of the support rod is drivingly connected to one end of the connecting rod; A plurality of joint connecting rods are connected end to end to form a connecting arm, and the connecting arm extends to a side away from the inclination direction of the connecting rod; the two ends of the connecting arm are respectively connected to the other end of the connecting rod and the handle transmission Connection, each joint connecting rod is driven by a transmission component respectively; The transmission assembly includes a first driver and a wire wheel assembly. The first driver is provided on the connecting rod and is arranged close to the support rod. The wire wheel assembly is provided on the joint connecting rod to be driven. The first driver drives the wire wheel assembly to drive the corresponding joint linkage movement; The wire wheel assembly includes a driving wheel, a transmission wheel and a steel wire. The driving wheel and the transmission wheel are driven by the steel wire; the driving wheel is coaxial and fixedly connected to the output shaft of the first driver, so The transmission wheel is fixedly connected to one end of the joint connecting rod to be driven close to the connecting rod; The number of the joint connecting rods is n; along the direction from the connecting rod to the handle, the n joint connecting rods are respectively the first joint connecting rod,..., and the nth joint connecting rod, n is a positive integer; The wire wheel assembly also includes m transition wheels, where m is an integer not less than 0; When n is 1, m is 0; when n is greater than 1, m is greater than 0; the first joint link and the n-1 joint link and any joint link between them are movably connected with A transition wheel, which is coaxially arranged with the transmission wheel of the joint connecting rod; the steel wire between the driving wheel and the transmission wheel transmits torque through the transition wheel; A second driver and a second potentiometer are arranged coaxially between the base and the support rod. The housing of the second driver and the housing of the second potentiometer are both fixed on the base. , the driving shaft of the second driver and the output shaft of the second potentiometer are both fixedly connected to the support rod. 2. A multifunctional main hand device with a low center of gravity according to claim 1, characterized in that a guide wheel for wire guidance is also fixed on the joint connecting rod. 3. A low center of gravity multifunctional main hand device according to any one of claims 1 or 2, characterized in that the transmission assembly further includes a first potentiometer that records the transmission position of the joint connecting rod, and the connection The first potentiometer is disposed between the rod and the joint connecting rod and between each joint connecting rod. 4. A multifunctional main hand device with a low center of gravity according to claim 3, characterized in that the first potentiometer is coaxially arranged with the transmission wheel on the connected joint connecting rod; The casing and the output shaft are respectively connected to the joint connecting rod and the connecting rod of the transmission connection, or are respectively connected to two adjacent joint connecting rods. 5. A multifunctional main hand device with a low center of gravity according to claim 1, wherein a third driver and a third potentiometer are coaxially arranged between the support rod and the connecting rod, and the The casing of the third driver and the casing of the third potentiometer are both fixed on the support rod, and the drive shaft of the third driver and the output shaft of the third potentiometer are fixed on the connecting rod. connect. 6. A multi-functional main hand device with a low center of gravity according to claim 1, characterized in that the first driver is a servo motor, a brake or a DC reduction motor with a brake. 7. A multi-functional main hand device with a low center of gravity according to claim 1, characterized in that the second driver is a servo motor, a brake or a DC reduction motor with a brake. 8. A multi-functional main hand device with a low center of gravity according to claim 5, characterized in that the third driver is a servo motor, a brake or a DC reduction motor with a brake. 9. A multifunctional main hand device with a low center of gravity according to any one of claims 1 to 2 and 4 to 8, characterized in that a fourth potentiometer is provided between the connecting arm and the handle. The casing of the fourth potentiometer is fixed on the joint connecting rod at the front end of the connecting arm, and the output shaft of the fourth potentiometer is fixedly connected to the handle; the joint connecting rod located at the front end of the connecting arm is screwed with The stop spring screw has a steel ball elastically connected inside the stop spring screw. A part of the steel ball is exposed from the front end of the stop spring screw and abuts on the output shaft of the fourth potentiometer.