CN204195750U - Modular hand-held dual operation end main robot - Google Patents
Modular hand-held dual operation end main robot Download PDFInfo
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- CN204195750U CN204195750U CN201420420410.7U CN201420420410U CN204195750U CN 204195750 U CN204195750 U CN 204195750U CN 201420420410 U CN201420420410 U CN 201420420410U CN 204195750 U CN204195750 U CN 204195750U
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Abstract
The utility model is a kind of modular hand-held dual operation end main robot.Comprise two handle module, three rotating and swinging joint modules, two revolute joint modules, each module connects with snap ring in a series arrangement in the following order: first handle module, first revolute joint module, first rotating and swinging joint module, second rotating and swinging joint module, 3rd rotating and swinging joint module, second revolute joint module, second handle module, a joint sleeve is added between the second rotating and swinging joint module and the 3rd rotating and swinging joint module, make robot head and the tail two-end structure symmetrical about the joint rotating shaft of the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules is parallel to each other, and it is naturally vertical with the joint shaft of the revolute joint module at two ends, two handle module are arranged on the two ends of robot respectively, composition both hands claw imitates arm main robot.The utility model builds easily, configuration is variable, structure is simple, favorable expandability, highly versatile, easy to operate, easily realize and map from the isomorphism of robot.
Description
Technical field
The utility model is a kind of modular hand-held dual operation end main robot, belongs to the renovation technique of modular hand-held dual operation end main robot.
Background technology
The mankind more and more need the robot that can work in danger or circumstances not known.But, by the restriction of the aspects such as artificial intelligence technology, mechanism, control and sensing technology, develop and in circumstances not known, also can need a very long time by the intelligent robot of utonomous working.Therefore rely on the intelligence of people at present, the master & slave control robot be operated under man-machine interaction is a kind of selection of practicable.The intelligence of people and the execution of robot combine by this master & slave control, achieve the perception of people and the extension of capacity.Operator operates main robot, processor is converted into the control of operator intention from the understandable order of robot according to the posture information of main robot, and control from robot motion with this to realize corresponding task, feel by its status information feedback to operator by vision or power, operator revises oneself controlling behavior accordingly simultaneously.As window and the instrument of man-machine interaction, the intelligence of people can be acted on robot, the main robot realizing the perception of people and the extension of capacity just arises at the historic moment.
Chinese scholars have developed a lot of main robot, and has a lot of business-like system, such as, with the Phantom of force feedback, the data glove of exoskeleton-type.But the configuration of current main robot is all fixing, correspondingly configuration can not be changed according to mission requirements or from the change of robot; And the free degree also immobilizes, can not increase and decrease as required.Which results in main robot is difficult to adapt to various different from robot.Such as, when actual needs lower-mobility is from causing main robot DOF (degree of freedom) redundance during robot, make the mapping complex between principal and subordinate, amount of calculation is large, affects real-time and the stability of master & slave control.Therefore, the subject matter that main robot faces is studied in the versatility of main robot and flexibility at present.Modular method for designing can solve poor universality and the problem such as structure and control complexity of main robot.Modular host device people can obtain multiple different configuration by changing the order of connection of self only several module or mode, and different from robot modeling or mission requirements to meet, the isomorphism easily realized between principal and subordinate robot maps.Compare legacy hosts device people, modular host device people has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction is simple, is easy to processing, mutually can replaces, realize rapid-assembling between each module.
Have developed a lot of main robot both at home and abroad, and had a lot of business-like system, such as, with the Phantom of force feedback, the data glove of exoskeleton-type.But there is some problem and deficiency in them, is mainly manifested in: (1) versatility and flexibility deficiency.On the one hand, the configuration of current main robot is all fixing, correspondingly can not change configuration according to mission requirements or from the change of robot; And the free degree also immobilizes, can not increase and decrease as required, which results in the change that current main robot can not adapt to from robot (such as modularization robot) configuration and the free degree.On the other hand, current main robot can only single-ended operation, therefore can only control to have an actuator from robot, and helpless for the robot (such as tow-armed robot or both hands pawl climbing robot) with both-end actuator.(2) cost is high, and owing to lacking versatility, different often needs corresponding main robot from robot, and the development and application cost of such main robot is high; (3) control complicated, existing main robot system and be isomery mostly between robot, the mapping between principal and subordinate robot is more complicated, and amount of calculation is large, affects the stability of master & slave control; (4) operating characteristics is poor, existing main robot system be all wearable type or large-scale fall formula, the former generally has indifferent equilibrium problem, and operator easily produces tired the latter and requires operator upright, also can be tired after long-time operation.
General Requirements main robot can have higher versatility, can control multiple different from robot system, so just can reduce the development and application cost of main robot; Require that main robot is simple and reasonable in addition, simple principal and subordinate's mapping can be carried out with multiple from robot, thus simplify master & slave control, improve the stability of master-slave robotic system.Therefore, develop a kind of can control multiple from robot and the needs of the trend that structure is simple, strong operability, main robot with low cost meet robot development and social production life.
Modular method for designing can solve poor universality and the problem such as structure and control complexity of main robot.Modular host device people can obtain multiple different configuration by the order of connection of self only several module of change or mode, also number of degrees of freedom can be changed by the increase and decrease of module number, different from robot modeling or mission requirements to meet, the isomorphism easily realized between principal and subordinate robot maps.Compare legacy hosts device people, modular host device people has good adaptability, flexibility and fault-tolerance and low cost and other advantages.Modular construction is simple, is easy to processing, mutually can replaces, realize rapid-assembling between each module.
Especially as previously mentioned, also lack at present a kind of main robot can control to have single-ended actuator from robot (motion arm), can control again to have both-end actuator from robot (such as tow-armed robot or both hands pawl climbing robot).Current both hands pawl climbing robot can't realize autonomous or intelligence climbing, needs manual remote control, but lacks effective remote control mode and means at present, and teach box and control stick are not directly perceived, cause teaching or remote control very difficult.Therefore need to develop that a kind of structure is simple, strong adaptability, easy to use, remote control is directly perceived, convenient hand-held main robot.
Summary of the invention
The purpose of this utility model be to consider the problems referred to above and provide that a kind of structure is simple, strong adaptability, easy to use, remote control is directly perceived, convenient hand-held modular hand-held dual operation end main robot.The utility model is reasonable in design, convenient and practical, can carry out remote control to both hands pawl climbing robot.
The technical solution of the utility model is: modular hand-held dual operation end main robot of the present utility model, include two handle module, three rotating and swinging joint modules, two revolute joint modules have seven modules, each module connects with snap ring successively in a series arrangement, the order of connection is: first handle module, first revolute joint module, first rotating and swinging joint module, second rotating and swinging joint module, 3rd rotating and swinging joint module, second revolute joint module, second handle module, a joint sleeve is added between the second rotating and swinging joint module and the 3rd rotating and swinging joint module, make robot head and the tail two-end structure symmetrical about the joint rotating shaft of the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules is parallel to each other, and it is naturally vertical with the joint shaft of the revolute joint module at two ends, two handle module are arranged on the two ends of robot respectively, form a both hands claw and imitate arm main robot.
Above-mentioned revolute joint module refers to only have a rotational freedom and the module that overlaps with the center line of module own of joint rotating shaft; Described rotating and swinging joint module refers to only have a rotational freedom and the joint module of joint rotating shaft and the central axis of module own; Described handle module be a kind of be provided with multiple control button facilitate staff to grip and the functional module operated.
The each joint module of the utility model has a rotational freedom, and driven by external force or moment of face, its encoder detects joint rotation angle, and damper applies certain damping to articulation.Moved by two handle main control system device people of operator's two-handed hand-held end during work, guide and follow from robot, and by the action of the button control on handle from end effector of robot.The utility model compared with prior art, has following features and advantage:
1) modularization: be made up of the joint module of two kinds of single-degree-of-freedoms and two handle module, realizes connecting by snap ring between module and fastening, the structure of robot and dismounting simple, convenient and quick.Configuration is variable, and the free degree is variable.
2) highly versatile, flexibility are good: modular design feature makes the configuration of main robot and the free degree variable according to the concrete condition from robot, thus main robot strong adaptability, has good versatility and flexibility; Especially both may be used for single operation end (such as motion arm) from Robot remote, also can control the remote control from robot (such as tow-armed robot and both hands pawl climbing robot) of dual operation end.
3) easy to operate: due to light structure, can two-handed hand-held, relatively operation.
4) structure is simple, with low cost: main robot only has three kinds of modules composition, and each this body structure of module is very simple, and its structure is very simple like this, and development, operation and maintenance are with low cost.
The utility model builds easily, configuration is variable, structure is simple, favorable expandability, highly versatile, easy to operate, easy realization with map from the isomorphism of robot, can be widely used in the fields such as industry, agricultural, forestry, building industry, nuclear industry and chemical industry have single-ended actuator or both-end actuator from Robot remote.
Accompanying drawing explanation
Fig. 1 is dual operation end main robot outside drawing of the present utility model;
Fig. 2 is dual operation end main robot structural scheme of mechanism of the present utility model;
Fig. 3 is revolute joint module outside drawing of the present utility model;
Fig. 4 is revolute joint module profile of the present utility model;
Fig. 5 is rotating and swinging joint module outside drawing of the present utility model;
Fig. 6 is rotating and swinging joint module profile of the present utility model;
Fig. 7 is handle module outside drawing of the present utility model;
Fig. 8 is handle module profile of the present utility model.
Detailed description of the invention
Embodiment:
The outside drawing of the utility model modular hand-held dual operation end main robot and structural scheme of mechanism are as depicted in figs. 1 and 2, include two handle module 001, three rotating and swinging joint modules 003, two revolute joint modules 002 have seven modules, each module connects with snap ring successively in a series arrangement, the order of connection is: first handle module, first revolute joint module, first rotating and swinging joint module, second rotating and swinging joint module, 3rd rotating and swinging joint module, second revolute joint module, second handle module, a joint sleeve 005 is added between the second rotating and swinging joint module and the 3rd rotating and swinging joint module, make robot head and the tail two-end structure symmetrical about the joint rotating shaft of the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules 003 is parallel to each other, and it is naturally vertical with the joint shaft of the revolute joint module 002 at two ends, two handle module 001 are arranged on the two ends of robot respectively, form a both hands claw and imitate arm main robot.
Above-mentioned revolute joint module refers to only have a rotational freedom and the module that overlaps with the center line of module own of joint rotating shaft; Described rotating and swinging joint module refers to only have a rotational freedom and the joint module of joint rotating shaft and the central axis of module own; Described handle module be a kind of be provided with multiple control button facilitate staff to grip and the functional module operated.
Electrical connection between above-mentioned seven modules is realized by USB interface.Electrical connection between seven modules is realized by the micro USB interface of module side.
Be respectively outside drawing and the profile of revolute joint module 002 shown in Fig. 3 and Fig. 4, above-mentioned revolute joint module 002 includes data wire 102, revolute joint module processor 103, encoder 104, studs 105, diagonal angle screw 106, encoder installing plate 107, damper 108, turning cylinder 109, ball bearing 110, thrust bearing 111, second rotating base 112, attachment screw 113, the holding screw 114 of the first rotation base 101, band USB joint; The connected mode of each parts is: pitch ear and realize being connected by attachment screw 113 for one of turning cylinder 109 and the second rotating base 112; Turning cylinder 109 and realize relatively rotating while realizing axis and radial location by ball bearing 110 and thrust bearing 111 between the second rotating base 112 and the first rotating base 101; Two identical one-way dampers 108 are placed on turning cylinder 109 back-to-back, and two ends are compressed by the first rotating base 101 and encoder installing plate 107, the boss of one end and the rectangular channel tight fit of encoder installing plate 107; Encoder installing plate 107 is affixed on the boss of the first rotating base 101 inner chamber by diagonal angle screw 106; Encoder 104 is affixed on encoder installing plate 107 by holding screw 114; Turning cylinder 109 runs through damper 108 and encoder installing plate 107, and end stretches in the centre bore of encoder 104 and is connected with the code-disc of encoder 104; Revolute joint module processor 103 is fixed on encoder installing plate 107 by studs 105, there is gap with the end face of encoder 104, two on revolute joint module processor 103 symmetrical USB electric interfaces aim at two holes on the first rotating base 101; Data wire 102 with USB joint is connected with revolute joint module processor 103 through the hole on the first rotating base 101, realizes supply and the CAN Signal transmissions of power supply signal.
Above-mentioned data wire 102 is with micro USB joint; Two on revolute joint module processor 103 symmetrical USB electric interfaces are micro USB electric interfaces; Encoder installing plate 107 is affixed on the boss of the first rotating base 101 inner chamber by four diagonal angle screws 106; Encoder 104 is affixed on encoder installing plate 107 by four holding screws 114; Revolute joint module processor 103 is fixed on encoder installing plate 107 by two studs 105; Pitch ear and realize being connected by three attachment screws 113 for one of turning cylinder 109 and the second rotating base 112.
Be respectively outside drawing and the profile of rotating and swinging joint module 003 shown in Fig. 5 and Fig. 6, above-mentioned rotating and swinging joint module 003 includes data wire 203, studs 204, pin 205, diagonal angle screw 206, encoder 207, turning cylinder 208, first flange bearing (209), end face bearing (210), damper 211, second swinging base 212, holding screw 213, second flange bearing 214 of the first swinging base 201, rotating and swinging joint module processor 202, band USB joint; End cap and second swinging base 212 of turning cylinder 208 realize axial location by four holding screws 213, and the plane of end cap side contacts with the second swinging base 212 tight fit, realize tangentially locating, thus turning cylinder 208 and the second swinging base 212 are connected; Two journal stirrups of the first swinging base 201 are connected with turning cylinder 208 by bearing; First flange bearing 209, end face bearing 210 and the second flange bearing 214 3 sliding bearings are enclosed within turning cylinder 208, and two parts mutually rotated are separated; Two identical one-way dampers 211 are enclosed within turning cylinder 208 back-to-back, and its radial lobes is connected by two little journal stirrups on pin 205 and the first swinging base 201 end face, limit it and rotate; Encoder 207 is affixed to the lateral surface of the S type journal stirrup of the first swinging base 201 by diagonal angle screw 206, the end of turning cylinder 208 stretches in its centre bore and is connected with encoder 207; Rotating and swinging joint module processor 202 is fixed on the first swinging base 201 by studs 204, and two on rotating and swinging joint module processor 202 symmetrical USB electric interfaces aim at two holes on the first swinging base 201; Data wire 203 with USB joint is connected with rotating and swinging joint module processor (202) through the hole on the first swinging base 201, realizes supply and the CAN Signal transmissions of power supply signal.
Above-mentioned data wire 203 is data wires of band micro USB joint; The USB electric interfaces that rotating and swinging joint module processor 202 two of being provided with are symmetrical is micro USB electric interfaces; End cap and second swinging base 212 of turning cylinder 208 realize axial location by four holding screws 213; Encoder 207 is affixed to the lateral surface of the S type journal stirrup of the first swinging base 201 by diagonal angle screw 206, rotating and swinging joint module processor 202 is fixed on the first swinging base 201 by studs 204.
Be respectively outside drawing and the profile of handle module as shown in Figure 7 and Figure 8, above-mentioned handle module includes handle 301, press button 305, first button mounting bar 307, second button mounting bar 308 and handle module processor 302 and forms; First button mounting bar 307 and the second button mounting bar 308 are fixed in the cavity bottom handle 301 by screw 304 respectively, and the centre of gyration of thorny handle 301 cavity of both the first button mounting bar 307 and the second button mounting bar 308 distributes; First button mounting bar 307 is provided with on a press button 305, second button mounting bar 308 and is provided with two press buttones 305, operator like this can control this three press buttones 305 by thumb and forefinger easily; Two press buttones 305 that the press button 305 that first button mounting bar 307 is installed and the second button mounting bar 308 are installed can produce the mode of operation of 8 kinds of different easy switchings by permutation and combination; Handle module processor 302 is fixed in the apex cavity of handle 301 by studs 303.
In the present embodiment, the centre of gyration distribution in 90 ° of thorny handle 301 cavity of both above-mentioned first button mounting bar 307 and the second button mounting bar 308; On first button mounting bar 307 install a press button 305 and the second button mounting bar 308 on install two press buttones 305 are all self-lock switch.
In the present embodiment, above-mentioned first button mounting bar 307 and the second button mounting bar 308 are fixed in the cavity bottom handle 301 by two screws 304 respectively, and handle module processor 302 is fixed in the apex cavity of handle 301 by two studs 303; Handle module processor 302 is designed with for the electric interfaces with other model calling, realizes supply and the CAN Signal transmissions of power supply signal; The top of handle 301 is also provided with the SMIF with other module.
Operation principle of the present utility model is as follows: main robot of the present utility model has two operating sides, and operator's both hands hold this two handle module, can the motion of main control system device people easily, and five joint modules detect corresponding joint rotation angle.When remote control only have an operating side from robot time, map by the kinematics of principal and subordinate robot the pose controlled from the end of robot according to the relative pose between two handle module, or control the pose from robot by the mapping one by one between principal and subordinate's joint of robot; When remote control have two operating sides from robot (such as tow-armed robot or both hands pawl climbing robot or tow-armed robot) time, the pose from robot two ends is controlled according to the relative pose between two handle module, or utilize the symmetry of main robot structure, control two ends from robot respectively according to the change of the pose of two handle module relative centre, or control the pose from robot by the mapping one by one between principal and subordinate's joint of robot.Button control on handle is from the action of end effector of robot.
Claims (10)
1. a modular hand-held dual operation end main robot, it is characterized in that including two handle module (001), three rotating and swinging joint modules (003), two revolute joint modules (002) have seven modules, each module connects with snap ring successively in a series arrangement, the order of connection is: first handle module, first revolute joint module, first rotating and swinging joint module, second rotating and swinging joint module, 3rd rotating and swinging joint module, second revolute joint module, second handle module, a joint sleeve (005) is added between the second rotating and swinging joint module and the 3rd rotating and swinging joint module, make robot head and the tail two-end structure symmetrical about the joint rotating shaft of the second rotating and swinging joint module, the joint rotating shaft of three rotating and swinging joint modules (003) is parallel to each other, and it is naturally vertical with the joint shaft of the revolute joint module (002) at two ends, two handle module (001) are arranged on the two ends of robot respectively, form a both hands claw and imitate arm main robot.
2. modular hand-held dual operation end main robot according to claim 1, is characterized in that above-mentioned revolute joint module refers to only have a rotational freedom and the module that overlaps with the center line of module own of joint rotating shaft; Described rotating and swinging joint module refers to only have a rotational freedom and the joint module of joint rotating shaft and the central axis of module own; Described handle module be a kind of be provided with multiple control button facilitate staff to grip and the functional module operated.
3. modular hand-held dual operation end main robot according to claim 2, is characterized in that the electrical connection between above-mentioned seven modules is realized by USB interface.
4. modular hand-held dual operation end main robot according to claim 2, it is characterized in that above-mentioned revolute joint module (002) includes the first rotating base (101), data wire (102) with USB joint, revolute joint module processor (103), encoder (104), studs (105), diagonal angle screw (106), encoder installing plate (107), damper (108), turning cylinder (109), ball bearing (110), thrust bearing (111), second rotating base (112), attachment screw (113), holding screw (114), the connected mode of each parts is: turning cylinder (109) and the second rotating base (112) one pitch ear and passes through attachment screw (113) and realize being connected, turning cylinder (109) and realize relatively rotating while realizing axis and radial location by ball bearing (110) and thrust bearing (111) between the second rotating base (112) and the first rotating base (101), two identical one-way dampers (108) are placed on turning cylinder (109) back-to-back, two ends are compressed by the first rotating base (101) and encoder installing plate (107), the boss of one end and the rectangular channel tight fit of encoder installing plate (107), encoder installing plate (107) is affixed on the boss of the first rotating base (101) inner chamber by diagonal angle screw (106), encoder (104) is affixed on encoder installing plate (107) by holding screw (114), turning cylinder (109) runs through damper (108) and encoder installing plate (107), and end stretches in the centre bore of encoder (104) and is connected with the code-disc of encoder (104), revolute joint module processor (103) is fixed on encoder installing plate (107) by studs (105), there is gap with the end face of encoder (104), two on revolute joint module processor (103) symmetrical USB electric interfaces aim at two holes on the first rotating base (101), data wire (102) with USB joint is connected with revolute joint module processor (103) through the hole on the first rotating base (101), realizes supply and the CAN Signal transmissions of power supply signal.
5. modular hand-held dual operation end main robot according to claim 4, is characterized in that above-mentioned data wire (102) band micro USB joint; Two on revolute joint module processor (103) symmetrical USB electric interfaces are micro USB electric interfaces; Encoder installing plate (107) is affixed on the boss of the first rotating base (101) inner chamber by four diagonal angle screws (106); Encoder (104) is affixed on encoder installing plate (107) by four holding screws (114); Revolute joint module processor (103) is fixed on encoder installing plate (107) by two studs (105); Turning cylinder (109) and the second rotating base (112) one pitch ear and passes through three attachment screws (113) and realize being connected.
6. modular hand-held dual operation end main robot according to claim 2, it is characterized in that above-mentioned rotating and swinging joint module (003) includes the first swinging base (201), rotating and swinging joint module processor (202), data wire (203) with USB joint, studs (204), pin (205), diagonal angle screw (206), encoder (207), turning cylinder (208), first flange bearing (209), end face bearing (210), damper (211), second swinging base (212), holding screw (213), second flange bearing (214), the end cap of turning cylinder (208) and the second swinging base (212) realize axial location by four holding screws (213), the plane of end cap side contacts with the second swinging base (212) tight fit, realize tangential location, thus turning cylinder (208) and the second swinging base (212) are connected, two journal stirrups of the first swinging base (201) are connected with turning cylinder (208) by bearing, first flange bearing (209), end face bearing (210) and the second flange bearing (214) three sliding bearings are enclosed within turning cylinder (208), and two parts mutually rotated are separated, two identical one-way dampers (211) are enclosed within turning cylinder (208) back-to-back, and its radial lobes is connected by pin (205) and two little journal stirrups on the first swinging base (201) end face, limit it and rotate, encoder (207) is affixed to the lateral surface of the S type journal stirrup of the first swinging base (201) by diagonal angle screw (206), the end of turning cylinder (208) stretches in its centre bore and is connected with encoder (207), rotating and swinging joint module processor (202) is fixed on the first swinging base (201) by studs (204), and two on rotating and swinging joint module processor (202) symmetrical USB electric interfaces aim at two holes on the first swinging base (201), data wire (203) with USB joint is connected with rotating and swinging joint module processor (202) through the hole on the first swinging base (201), realizes supply and the CAN Signal transmissions of power supply signal.
7. modular hand-held dual operation end main robot according to claim 6, is characterized in that above-mentioned data wire (203) is the data wire of band micro USB joint; The USB electric interfaces that rotating and swinging joint module processor (202) two of being provided with are symmetrical is micro USB electric interfaces; The end cap of turning cylinder (208) and the second swinging base (212) realize axial location by four holding screws (213); Encoder (207) is affixed to the lateral surface of the S type journal stirrup of the first swinging base (201) by diagonal angle screw (206), processor (202) is fixed on the first swinging base (201) by studs (204).
8. the modular hand-held dual operation end main robot according to any one of claim 2 to 7, is characterized in that above-mentioned handle module includes handle (301), press button (305), the first button mounting bar (307), the second button mounting bar (308) and handle module processor (302) and forms; First button mounting bar (307) and the second button mounting bar (308) are fixed on by screw (304) in the cavity of handle (301) bottom respectively, and the centre of gyration of both thorny handle (301) cavitys of the first button mounting bar (307) and the second button mounting bar (308) distributes; First button mounting bar (307) is provided with a press button (305), second button mounting bar (308) is provided with two press buttones (305), operator like this can control this three press buttones (305) by thumb and forefinger easily; The press button (305) that first button mounting bar (307) is upper to be installed and upper two press buttones (305) of installing of the second button mounting bar (308) can produce the mode of operation of 8 kinds of different easy switchings by permutation and combination; Handle module processor (302) is fixed in the apex cavity of handle (301) by studs (303).
9. modular hand-held dual operation end main robot according to claim 8, is characterized in that the centre of gyration distribution in 90 ° of both thorny handle (301) cavitys of above-mentioned first button mounting bar (307) and the second button mounting bar (308); A press button (305) and upper two press buttones (305) of installing of the second button mounting bar (308) of the upper installation of the first button mounting bar (307) are all self-lock switch.
10. modular hand-held dual operation end main robot according to claim 9, it is characterized in that above-mentioned first button mounting bar (307) and the second button mounting bar (308) are fixed on by two screws (304) in the cavity of handle (301) bottom respectively, handle module processor (302) is fixed in the apex cavity of handle (301) by two studs (303); Handle module processor (302) is designed with for the electric interfaces with other model calling, realizes supply and the CAN Signal transmissions of power supply signal; The top of handle (301) is also provided with the SMIF with other module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420420410.7U CN204195750U (en) | 2014-07-28 | 2014-07-28 | Modular hand-held dual operation end main robot |
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| CN201420420410.7U CN204195750U (en) | 2014-07-28 | 2014-07-28 | Modular hand-held dual operation end main robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149081A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular handheld double-operating-end master robot |
| CN104149081B (en) * | 2014-07-28 | 2017-01-18 | 广东工业大学 | Modular handheld double-operating-end master robot |
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