CN115565803A - A new type of rope-driven operating handle - Google Patents

Abstract

The invention discloses a novel rope drive operating handle which is used for operating a rope body; the device comprises a shell and a rocker structure, wherein the rocker structure comprises a chassis, a base, a shaft rod assembly, a balance disc and a restraint assembly, and the chassis is arranged on the shell; the base is connected with the shell; the shaft lever component is in universal transmission connection with the base; the balance disc is nested on the shaft lever assembly, a first connecting part and a second connecting part for connecting the rope body are arranged on the balance disc, the connecting line direction between the first connecting part and the shaft lever assembly is a first direction, the connecting line direction between the second connecting part and the shaft lever assembly is a second direction, and the first direction is vertical to the second direction; the vertical plane in which the first direction is located is a first plane; the vertical plane in which the second direction is located is a second plane; one end of the restraining component is connected with the chassis, and the other end of the restraining component is connected with the balance disc and used for restraining the shaft rod component to rotate only in the first plane or only in the second plane. The scheme of the invention does not need to be driven by electronic equipment, and is favorable for meeting the requirements of teaching equipment.

Description

A new type of rope-driven operating handle

technical field

The invention relates to the technical field of robots, in particular to a novel rope-driven operating handle.

Background technique

As a reliable flexible transmission medium, the rope has the unique advantages of stable transmission, low vibration and rigid transmission precision, which makes the rope drive have the characteristics of high precision, low noise, stable transmission, no lubrication, easy installation and maintenance; The driving method has been used in the fields of robots and precision transmissions.

However, with the development of the field of robotics, the robot has a large mass, large volume, and high moment of inertia of the joints, which puts forward higher requirements for the compliance, environmental adaptability, and safety of human-computer interaction of the rope-driven manipulator. Therefore, The installation and control of the existing rope-driven robots are relatively complicated. In order to control the movement of the rope body in multiple dimensions, the robot’s manipulation controller often uses gears, motors, etc. for indirect control of the rope drive. Currently, few use all Rope-controlled control handle design.

The existing handles are generally electronic handles. If an electronic handle is required to control the transmission mechanism in industry, the operator generally controls the operation of the motor by operating the electronic handle. The electronic handle sends an electrical signal to the motor, and the motor then transmits the force. To the transmission mechanism, so as to indirectly control the transmission mechanism, and realize the control of the robot arm by indirectly controlling the pulling of the rope.

In teaching robot equipment, this kind of implementation often uses a complete product or finished control module, such as a circuit unit or module including motors and sensors, etc., which is difficult for learners to fundamentally Understand the principle of the transmission control of the robotic arm.

In addition, this kind of control method is difficult to control the pulling speed of the rope, and it is easy to get stuck or stuck at the limit position of the joint. However, electronic control generally does not set signal feedback, and cannot accurately sense the force change of the rope. The driving signal of continuous operation may still be issued, which will cause damage to electronic equipment, such as burning motors and other failures.

Therefore, there are defects in the prior art of indirectly controlling the pulling of the rope through the electric handle through the motor, and need to be improved and developed.

Contents of the invention

In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a new type of rope-driven operating handle, which aims to solve the problem that the existing rope-driven operating handle needs to be driven by electronic equipment and cannot meet the needs of teaching equipment.

Technical scheme of the present invention is as follows:

A new type of rope-driven operating handle, used to control the transmission rope body of the rope-driven equipment; wherein, it includes a casing and a rocker structure arranged in the casing, and the rocker structure includes a chassis, a base, and a shaft Assemblies, a balance plate and a constraint assembly, the chassis is arranged on the casing, and a central hole is formed at the center of the chassis; the base is connected with the casing and is located in the central hole; the The shaft assembly is universally connected with the base; the balance plate is nested on the shaft assembly, and the balance plate is relatively vertically arranged around the shaft assembly for connecting different transmission ropes. The first connecting part and the second connecting part, the vertical plane where the first connecting part is located is the first plane; the vertical plane where the second connecting part is located is the second plane; the two ends of the constraint assembly are respectively hinged Connected between the chassis and the balance plate, the structural arrangement of the constraining assembly has the following characteristics: the wrenching of the constraining shaft assembly can only be in the first plane or only in the second plane The inner pull drives the transmission rope body in the plane.

In the novel rope-driven operating handle, the restraint assembly includes three support rods, and each of the support rods has a three-section oblique bending structure; Position, wherein the projection of the connection point of the upper end of any one of the support rods on the balance plate on the chassis is located between the connection points of the other two support rods on the chassis.

In the novel rope-driven operating handle, the hinges between the upper end of each of the support rods and the balance plate, and the lower end and the chassis are all arranged by two hinge shafts perpendicular to each other, and the two The hinge shaft is arranged parallel to the balance plate and the chassis at the initial position.

The new type of rope-driven operating handle, wherein, the chassis is provided with a first wire hole and a second wire hole, and in the initial position, the position of the first wire hole is in line with the first connection part. The projected position on the chassis overlaps, and the position of the second wire passing hole overlaps with the projected position of the second connecting part on the chassis, so as to pass through different transmission rope bodies respectively.

In the novel rope-driven operating handle, the first connecting part and the second connecting part are respectively provided with two connecting nodes, which are arranged symmetrically on both sides of the balance plate.

In the novel rope-driven operating handle, the shaft assembly includes a first bearing, a first universal joint, a connecting rod, a second universal joint, a joystick and a second bearing, and the first bearing is arranged on On the base; the first universal joint connection is arranged between the first bearing and the connecting rod; the second universal joint connection is arranged between the connecting rod and the joystick ; The second bearing is sleeved on the lower end of the joystick for assembling the joystick on the balance plate; a third connecting portion is provided on the shaft assembly for connecting with the third transmission The rope body of the rope is connected.

In the novel rope-driven operating handle, a gripping portion is provided at the top of the joystick, and the shape of the gripping portion is spherical.

The new rope-driven operating handle, wherein, the bottom of the housing is provided with a fixed abutment, and the chassis is provided with a fixing hole at a position facing the fixed abutment; the rocker structure also includes a fixing bolt , the fixing bolt is arranged in the fixing hole, and is screwed with the fixing base, for fixing the chassis.

In the novel rope-driven operating handle, a plurality of perforations are provided on the side wall of the housing, and the perforations are used to pass through the rope body.

In the novel rope-driven operating handle, there are at least two rocker structures; at least two rocker structures are arranged side by side in the housing.

Compared with the prior art, the embodiment of the present invention has the following advantages:

The novel rope-driven operating handle disclosed by the present invention is used to control the rope-driven equipment. Since the rope body is used to extend into the casing, it is connected with the rocker structure, and is specifically fixed with the first connection part and the second connection part on the balance plate. Connection; during use, the chassis and the base are fixed on the housing, and the operator controls the rotation or push of the shaft assembly, which is constrained by the constraint assembly during the push process, so that the displacement of the shaft assembly can be in the first plane and the second plane Inner decoupling drives the balance disc to move only in the first plane or the second plane or moves according to the components in the first plane and the second plane respectively.

The first connecting part and the second connecting part on the balance disc are respectively arranged in the first plane and the second plane, so when the balance disc only rotates in the first plane, only the rope connected to the first connecting part is pulled ;When the balance plate only rotates in the second plane, only the rope body connected to the second connecting part is pulled; that is to say, the multi-degree-of-freedom transmission can be controlled through the rocker structure, which improves the convenience and flexibility of manipulation degrees, and each degree of freedom can be controlled relatively independently during the operation process, which realizes the independence of purely mechanical control of the rope body, and facilitates the understanding and intuitive experience of the control principle of the operating handle.

In addition, the new rope-driven operating handle disclosed in the present invention is completely connected to the mechanical component through the rope body to realize transmission. During use, the rope body remains in a tight state, and the force change on the mechanical component connected to it is directly fed back to the rocker. Structurally, there is no need for sensors, and the operator can intuitively feel the load changes on the mechanical components through the tactile sense of the hand, so as to make timely adjustments and improve the sensitivity of the new rope-driven operating handle; moreover, no electronic equipment or driving structure is used to assist in the control , The product cost is low, and it is convenient for teaching and using.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structural representation of novel rope drive operating handle among the present invention;

Fig. 2 is the structural representation of rocker structure in the present invention;

Fig. 3 is the structure explosion diagram of rocker structure in the present invention;

Fig. 4 is the structural representation of balance plate in the present invention;

Fig. 5 is a structural schematic diagram of a constraint assembly in the present invention;

Fig. 6 is the rope length test result figure of novel rope drive operating handle in the present invention;

Fig. 7 is another rope length test result diagram of the novel rope drive operating handle in the present invention;

Fig. 8 is another rope length test result diagram of the novel rope drive operating handle in the present invention;

Fig. 9 is another rope length test result diagram of the novel rope drive operating handle in the present invention;

Fig. 10 is another test result diagram of the rope length of the new rope-driven operating handle of the present invention.

Among them, 100, shell; 110, fixed abutment; 120, perforation; 200, rocker structure; 210, chassis; 211, center hole; 212, first hinge part; 213, second hinge part; 214, third Hinge part; 215, first wire hole; 216, second wire hole; 217, fixing hole; 220, base; 230, shaft assembly; 231, first bearing; 232, first universal joint; 233 , connecting rod; 234, the second universal joint; 235, the joystick; 2351, the grip part; 236, the second bearing; 240, the balance plate; 241, the first connecting part; 242, the second connecting part; 243, The fourth hinge part; 244, the fifth hinge part; 245, the sixth hinge part; 250, the constraint assembly; 251, the first support rod; 2511, the first hinge block; 2511a, the first shaft; 2511b, the second shaft; 2512, the first rod body; 2513, the second hinge block; 2513a, the third shaft; 2513b, the fourth shaft; 252, the second support rod; 2521, the third hinge block; 2521a, the fifth shaft; 2521b, the sixth shaft 2522, the second rod body; 2523, the fourth hinge block; 2523a, the seventh shaft; 2523b, the eighth shaft; Rotating shaft; 2532, the third rod body; 2533, the sixth hinge block; 2533a, the eleventh rotating shaft; 2533b, the twelfth rotating shaft; 300, fixing bolts.

detailed description

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to Fig. 1, Fig. 2 and Fig. 3, in one embodiment of the application of the present invention, a new type of rope-driven operating handle is disclosed, which is used to control multiple ropes of the rope-driven equipment, which can be, but not limited to, a medical surgical robot In the teaching equipment, the operation of the mechanical arm and the manipulator is all controlled by rope, and it is necessary to pull and drive and operate multiple transmission ropes, and the preferred embodiment of the present invention provides a handle structure for manipulation.

Wherein, it includes a housing 100 and a rocker structure 200 disposed in the housing 100, and the rocker structure 200 can be provided with multiple groups of rockers, such as the embodiment of two rocker assemblies shown in FIG. 1 , Each rocker assembly can be set to control three degrees of freedom transmission ropes. The rocker structure 200 includes a chassis 210 , a base 220 , a shaft assembly 230 , a balance plate 240 and a constraint assembly 250 , as shown in FIG. 2 .

The chassis 210 is fixed and assembled on the housing 100, and a central hole 211 is formed at the center of the chassis 210, as shown in FIG. in the center hole 211; the shaft assembly 230 is connected to the base 220 by a universal drive; A first connecting portion 241 and a second connecting portion 242 for connecting different rope bodies are alternately arranged around the shaft assembly 230 , and each connecting portion is provided with two opposite nodes for connecting the ends of the transmission rope.

The connection direction between the two nodes of the first connecting part 241 and the shaft assembly 230 is the first direction, and the connection between the two nodes of the second connecting part 242 and the shaft assembly 230 is the first direction. The connection direction between 230 is the second direction, and the first direction is perpendicular to the second direction; the vertical plane where the first direction is located is the first plane; the vertical plane where the second direction is located The plane is the second plane; the constraining assembly 250 adopts a three-section obliquely bent structure, and its two ends are connected to the chassis 210 and the balance plate 240, and at each connection end of the constraining assembly 250 They are all arranged to connect the chassis 210 or the balance plate 240 with hinge shafts perpendicular to each other, the hinge axes are all arranged parallel to the chassis 210 or the balance plate 240, and the constraint assembly 250 is set as three supports Each support rod is offset clockwise or counterclockwise from the connection point of the upper end and the balance plate 240 and then connected to the connection point of the chassis 210 at the lower end, each support rod is at the connection point of the end Initial position (that is, when the balance plate 240 and the chassis 210 are up and down at this time) the connecting ends of the support rods are all perpendicular to the balance plate 240 or the chassis 210, and the projection of the upper connection point on the chassis The location is in the middle of the connection points at the lower ends of the other two support rods. This structure ensures that when the shaft assembly 230 is pushed to deviate in a certain direction, the displacement in the first plane and the displacement in the second plane can be adjusted. Decoupling, in other words, when the shaft assembly 230 is pushed to completely displace in the first plane or in the second plane, it will cause the transmission rope connected to the first connecting part 241 or the second connecting part 242 to draw independently. pull drive, and the other side, that is, the transmission rope in the vertical plane is completely different, that is, the shaft assembly 230 is constrained to drive the transmission rope only in the first plane or only in the second plane. .

Of course, when the shaft assembly 230 is pushed arbitrarily, the tilted position of the balance plate 240 will be driven, and corresponding component displacements will be generated in the first plane and the second plane, but because the above-mentioned structure of the present invention has a predetermined The set degree of freedom decoupling feature, in the actual teaching operation, allows operators such as teachers or classmates to get a clear experience of component offset, especially when the operation is only in the first plane or only in the second plane. The control experiment can be carried out on a transmission rope alone.

The new rope-driven operating handle disclosed in this embodiment is used to control the rope-driven equipment. The corresponding transmission rope body that needs to be controlled and pulled can be inserted into the housing 100 and connected to the rocker structure 200. Specifically, the transmission rope Both ends of the balance plate 240 are fixedly connected to the two nodes of the first connection part 241 or the second connection part 242 . During use, the chassis 210 and the base 220 are fixed on the housing 100, and the operator controls the displacement and angle of the shaft rod assembly 230. Since the lower end of the restraint component is hinged on the chassis 210 (using mutually perpendicular and parallel to the chassis 210 Two small hinge shafts), the chassis 210 is fixed on the base 220, so the constraining part is driven by the shaft assembly 230 and constrains the pulling of the transmission rope, so that the joints in the first plane or the second plane The pulling displacement of the connected driving rope is decoupled, and the driving rope driven by the balance plate 240 can draw and move relatively independently in the first plane or the second plane.

The first connecting portion 241 and the second connecting portion 242 on the balance plate 240 are respectively arranged in the first plane and the second plane, so when the balance plate 240 is only moved in the first plane or in the second plane, it can Only the rope connected to the first connecting part 241 or the second connecting part 242 is pulled. That is to say, the relatively independent transmission of the multi-degree-of-freedom transmission rope can be controlled through the rocker structure 200, which improves the convenience and flexibility of manipulation, and can realize non-interference between each degree of freedom during the operation process, increasing the need for The independence of the control of the rope body improves the control accuracy of the new rope drive operating handle.

Specifically, the novel rope-driven operating handle disclosed in this embodiment realizes the transmission completely through the connection between the rope body and the mechanical component. On the rocker structure 200, no sensor is needed, and the operator can intuitively feel the load change on the mechanical component through the tactile sense of the hand, so as to make timely adjustments, which improves the teaching convenience of the new rope-driven operating handle; moreover, no electronic equipment or The driving structure assists in control, reduces the weight of the product, facilitates control and use, and saves costs.

As shown in FIG. 1 , as an implementation of this embodiment, it is disclosed that there are at least two rocker structures 200 ; at least two rocker structures 200 are arranged side by side in the housing 100 . In actual manufacturing, two or more rocker structures 200 can be set on the new rope drive operating handle, and each rocker structure 200 can control the rope body transmission with at least three degrees of freedom; Hold the new rope drive operating handle, and push multiple shaft assemblies 230 with your fingers to control the rope drive transmission with multiple degrees of freedom; it can be seen that setting multiple rocker structures 200 according to the use requirements can increase the control of the new rope drive operating handle The ability to accurately control complex robots improves the efficiency of the new rope-driven operating handle.

As shown in Figure 1, as another implementation of this embodiment, it is disclosed that the bottom of the housing 100 is provided with a fixed base 110, and the position of the chassis 210 facing the fixed base 110 is provided with A fixing hole 217, as shown in FIG. 3; the rocker structure 200 also includes a fixing bolt 300, and the fixing bolt 300 is arranged in the fixing hole 217 for connecting the chassis 210 and the fixing base 110 Screw connection. Fix the chassis 210 by fixing bolts 300 to flexibly disassemble the chassis 210, and increase the firmness of the connection by arranging a plurality of fixing bolts 300 around the edge of the chassis 210 to improve the stability of the rocker structure 200 on the housing 100 sex.

As shown in Figure 1, as another implementation of this embodiment, it is disclosed that the side wall of the housing 100 is provided with a plurality of perforations 120, and the perforations 120 are used to pass the rope of the transmission rope. body. The rope body is passed through the side wall of the housing 100 and connected to the corresponding mechanical arm, which can be used to drive the bending, rotation or movement of the mechanical arm, and to control the movement of the mechanical arm. During the use of the new rope drive operating handle, the setting of the side wall perforation 120 can facilitate the restriction of the moving direction of the rope body, and reduce the friction generated by the rope body during transmission, which is beneficial to prolong the service life of the rope body.

As shown in Figure 3, as another implementation of this embodiment, it is disclosed that the chassis 210 is provided with a first wire passing hole 215 and a second wire passing hole 216, and the position of the first wire passing hole 215 It overlaps with the initial position of the projection of the node of the first connecting part 241 on the chassis 210; The initial positions are overlapped and are used to pass through the corresponding drive rope ends. After the first connecting part 241 disclosed in this embodiment fixes the rope, pull the rope to the chassis 210, pass through the first wire hole 215, and then pull it out laterally from the side of the housing 100 to connect to the rope. Similarly, after the second connecting part 242 fixes the rope body, it pulls the rope body to the chassis 210, passes through the second wire passing hole 216, and then pulls it out laterally. Pull the ropes to the bottom of the chassis 210, and then pull them out, so that the ropes above the chassis 210 remain independent of each other. During the pulling process, even if the balance plate 240 rotates, the ropes at different positions will not They will not approach each other or cross each other, which reduces the mutual interference between rope bodies with different degrees of freedom, further improves the independence of rope body control, and improves the control accuracy of the new rope drive operating handle.

As shown in Figure 3, as another implementation of this embodiment, the disclosed shaft assembly 230 includes a first bearing 231, a first universal joint 232, a connecting rod 233, a second universal joint 234, Operating rod 235 and second bearing 236; The first bearing 231 is arranged on the base 220; The first universal joint 232 is fixedly connected to the inner ring of the first bearing 231 and the connecting rod 233 One end; the second universal joint 234 is fixedly connected between the other end of the connecting rod 233 and the joystick 235; the second bearing 236 is sleeved on the joystick 235 for connecting Assemble the balance plate 240 and the joystick 235.

On the shaft assembly 230, specifically, it can be arranged below the shaft assembly 230, such as on the first universal joint 232, there is a third connection part, and the third connection part is used for connecting with the first universal joint 232. The three-degree-of-freedom transmission rope is connected to the rope body. In this embodiment, the first bearing 231 and the second bearing 236 are provided so that the components such as the first universal joint 232, the connecting rod 233, the second universal joint 234 and the joystick 235 can rotate independently without being affected by the housing 100 and the balance. Therefore, the first universal joint 232 is provided with the rope body connected by the third connection part, which can increase the number of transmission rope rope bodies that can be controlled by the rocker structure 200, thereby controlling the rope body with more degrees of freedom , increase the control ability of the new rope-driven operating handle, and improve the convenience of use.

Specifically, while the operator pushes the joystick 235 to drive the balance plate 240 to tilt, he can also rotate the joystick 235 to drive the rotation of the third connecting part. Body draw control, such as three drive ropes. The manipulation of the third connecting part by the joystick 235 is not affected by the inclination state of the joystick 235, which increases the flexibility of the rope driving at the third connecting part, so as to improve the flexibility of the control of the new rope-driven operating handle. Specifically, the third connection part can be set as an annular or spiral rope groove, and the corresponding transmission rope is tightened on the third connection part, and the corresponding transmission rope can be driven to draw by turning the control lever 235 . pull work.

As shown in FIG. 3 , as another implementation of this embodiment, it is disclosed that the end of the joystick 235 is provided with a gripping portion 2351 for easy grasping, and the shape of the gripping portion 2351 may be spherical. In this embodiment, the process of the operator controlling the rope body with multiple degrees of freedom is realized by operating the joystick 235 , so the spherical grip part 2351 is provided to facilitate stable operation of the joystick 235 .

As shown in Fig. 3 and Fig. 4, as another implementation mode of this embodiment, it is disclosed that the chassis 210 is provided with a total of three hinges: a first hinge part 212, a second hinge part 213 and a third hinge part 214. portion, used to hinge the lower end of the corresponding constraint assembly 250 , the first hinge portion 212 , the second hinge portion 213 and the third hinge portion 214 are evenly arranged around the base 220 . The balance plate 240 is provided with a fourth hinge part 243, a fifth hinge part 244 and a sixth hinge part 245, and three other hinge parts are evenly arranged around the shaft assembly 230, and are used to hinge the constraint assembly correspondingly. The upper end of the 250.

In the initial position, the projection of the hinge part used to connect the upper end of the constraint assembly 250 on the chassis 210 is located in the middle of the two hinge parts on the chassis. As shown in FIG. 5 , the constraint assembly 250 includes three support rods: a first support rod 251, a second support rod 252 and a third support rod 253, which are respectively connected to the corresponding upper and lower hinges. .

The first support rod 251, the second support rod 252, and the third support rod 253 disclosed in this embodiment surround the shaft assembly 230 in turn, and form a support structure through a dislocation connection with the chassis 210 and the balance plate 240. The installation is convenient, and the control balance plate 240 can control the displacement decoupling of the two transmission ropes in the first plane and in the second plane, so that the rocker structure 200 can independently control the rope bodies in different degrees of freedom. Effect.

Specifically, as shown in FIG. 6, in the simulation test of the specific embodiment, when the balance plate 240 is in a horizontal state, the restraint assembly 250 is in the initial position, and the distance between the balance plate 240 and the chassis 210 is 124.08 millimeters; As shown in Figures 7 and 8, when the balance plate 240 is pulled to a certain angle in the first plane, the measured lengths of the ropes connected to the two first hinged parts 212 are 154.74 mm and 93.42 mm respectively, that is, shortening and stretching respectively. 30.66 millimeters longer; as shown in Figure 9 and Figure 10, and at this moment the length of the rope body connected on the two second hinged parts 213 still keeps 124.08 millimeters unchanged.

Therefore, in the process of pulling and manipulating the shaft assembly 230 in the first plane or in the second plane, only the rope in the direction of motion is pulled and driven, and the length of the rope in the direction perpendicular to the direction of motion is not large. will change. The arrangement of the support rod structure of the constraint assembly 250 in the present invention ensures the decoupling effect in the vertical direction, so no matter in which direction the shaft rod assembly 230 drives the balance plate 240 to rotate, the edge points in the vertical direction will be It will not be affected by the displacement in the direction of motion, so that under the accurate control of the rocker structure 200, the transmission ropes respectively connected to the first connecting part 241 and the second connecting part 242 can be controlled independently of each other. It is beneficial to improve the control accuracy of the rocker structure 200 and improve the control performance of the new rope-driven operating handle.

As shown in Figure 5, as another implementation of this embodiment, three support rod structures are disclosed, wherein the first support rod 251 includes a first hinge block 2511, a first rod body 2512 and a second hinge block 2513, the two ends of the first hinge block 2511 are respectively provided with a first rotating shaft 2511a hinged with the first hinge part 212 and a second rotating shaft 2511b hinged with the first rod body 2512, the first rotating shaft 2511a It is arranged perpendicular to the second rotating shaft 2511b.

Both ends of the second hinge block 2513 are respectively provided with a third shaft 2513a hinged with the first rod body 2512 and a fourth shaft 2513b hinged with the fifth hinge 244, the third shaft 2513a is connected with the The fourth rotating shaft 2513b is arranged vertically.

In this embodiment, the movable connection between the first hinge part 212 and the first rod body 2512 is realized by setting the first rotating shaft 2511a and the second rotating shaft 2511b perpendicular to each other on the first hinge block 2511, and by setting the third rotating shaft 2513a and the fourth rotating shaft 2513b The flexible connection between the first rod body 2512 and the fifth hinge part 244 is realized, so that the first support rod 251 can be shifted with the inclination of the balance plate 240 during the supporting process.

As shown in Figure 5 again, the second support rod 252 and the third support rod 253 adopt a similar structure, wherein the second support rod 253 includes a third hinge block 2521, a second rod body 2522 and a fourth hinge Block 2523, the fifth shaft 2521a and the sixth shaft 2521b, the seventh shaft 2523a and the eighth shaft 2523b. The third support rod 253 includes a fifth hinge block 2531 , a third rod body 2532 and a sixth hinge block 2533 , a ninth rotating shaft 2531 a and a tenth rotating shaft 2531 b , an eleventh rotating shaft 2533 a and a twelfth rotating shaft 2533 b.

In this embodiment, the three supporting rod structures all adopt a three-stage bending structure, which is obliquely supported and hinged between the balance plate 240 and the chassis 210 from the upper end to the lower end. The displacement in the second plane perpendicular to the first plane in the first plane is decoupled; in addition, the first support rod 251, the second support rod 252 and the third support rod 253 are evenly distributed around the shaft assembly 230, and together constitute a constraint The assembly 250 enables all positions on the balance plate 240 to be supported in a balanced and stable manner.

To sum up, the present application discloses a new type of rope-driven operating handle, which is used to control multiple ropes of the rope-driven equipment, especially the teaching setting operation of the medical surgical robot; wherein, it includes the housing 100 and the The rocker structure 200 in the housing 100, the rocker structure 200 includes a chassis 210, a base 220, a shaft assembly 230, a balance plate 240 and a constraint assembly 250, the chassis 210 is arranged on the housing 100, The central position of the chassis 210 is formed with a central hole 211; the base 220 is connected to the housing 100 and located in the central hole 211; the shaft assembly 230 is universally connected to the base 220 The center of the balance plate 240 is nested on the shaft assembly 230, and the balance plate 240 is symmetrically provided with a first connecting portion 241 and a second connecting portion 241 for connecting the rope body around the shaft assembly 230; The connection part 242, the connection direction between the first connection part 241 and the shaft assembly 230 is the first direction, and the connection direction between the second connection part 242 and the shaft assembly 230 is The second direction, the first direction is perpendicular to the second direction; the vertical plane where the first direction is located is the first plane; the vertical plane where the second direction is located is the second plane; The constraint assembly 250 is connected between the chassis 210 and the balance plate 240, and its structure can constrain the shaft assembly 230 to be driven only in the first plane or only in the second plane. rope.

The new rope-driven operating handle disclosed in this embodiment is used to control the rope-driven equipment. The rope body extends into the casing 100 and connects with the rocker structure 200, specifically the first connecting part 241 and the second connecting part 241 on the balance plate 240. The connecting part 242 is fixedly connected; during use, the chassis 210 and the base 220 are fixed on the housing 100, and the operator controls the pulling or turning of the shaft assembly 230, and is constrained by the restraint assembly 250 during the pulling process, so that the shaft assembly 230 can only move obliquely in the first plane or the second plane, and drive the balance plate 240 to move in the first plane or the second plane, so as to realize that only the transmission rope connected to a certain connecting part can be pulled; The shaft assembly 230 can also be provided with a third connecting portion around the shaft assembly, and the pulling and driving of the third transmission rope body can be realized by rotating the shaft assembly 230; that is to say, the new type of rope disclosed in this embodiment The drive operating handle is a purely mechanical transmission, which does not require assembly of electronic equipment. The multi-degree-of-freedom transmission can be controlled through the rocker structure 200, which improves the convenience and flexibility of manipulation, and there will be no interference between the various degrees of freedom during the operation. , which increases the independence of the control of the rope body and improves the control accuracy of the new rope-driven operating handle.

At the same time, the rope-driven operating handle device of the present invention can also realize two-way remote control operation, which can not only realize the master control of the handle and the manipulation of the manipulator, but also realize the slave control of the movement of the manipulator. In the case of using more sets of rocker structures 200, the number of the transmission ropes can be greatly increased, thereby improving the controllable degree of freedom of the rope drive. In practical teaching, the handle device can demonstrate the controlled working principle of the robot arm, so as to realize a more realistic engineering teaching method and provide an excellent teaching tool for this purpose.

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the present invention takes the new rope drive operating handle as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the new rope drive operating handle, and can also be applied to other similar workpieces. in production and use.

It should be understood that the present invention is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. A new type of rope-driven operating handle, which is used to control the transmission rope body of the rope-driven equipment; it is characterized in that it includes a housing and a rocker structure located in the housing, and the rocker structure includes: The chassis is arranged on the housing, and a central hole is formed at the center of the chassis; a base, connected to the housing, located in the central hole; a shaft assembly connected with the universal transmission of the base; The balance plate is nested on the shaft assembly, and the first connection part and the second connection part for connecting different transmission ropes are arranged relatively vertically around the shaft assembly on the balance plate. The first The vertical plane where the connecting part is located is the first plane; the vertical plane where the second connecting part is located is the second plane; A constraining assembly, the two ends of which are respectively hingedly connected between the chassis and the balance plate, the structural arrangement of the constraining assembly has the following characteristics: the wrenching of the constraining shaft assembly can only be within the first plane or The transmission rope body in the second plane is pulled and driven only in the second plane. 2. The novel rope-driven operating handle according to claim 1, wherein the restraint assembly includes three support rods, and each of the support rods has a three-section oblique bending structure; between the chassis and the The initial position facing the balance plate, wherein the projection of the connection point of the upper end of any one of the support rods on the balance plate on the chassis is located at the connection points of the other two support rods on the chassis between. 3. The novel rope-driven operating handle according to claim 2, characterized in that, the hinges between the upper end of each support rod and the balance plate, and the lower end and the chassis are two hinges perpendicular to each other. axis, and the two hinged axes are set parallel to the balance plate and the chassis at the initial position. 4. The novel rope-driven operating handle according to claim 3, characterized in that, the chassis is provided with a first wire-passing hole and a second wire-passing hole, and the position of the first wire-passing hole in the initial position is the same as The projected position of the first connecting part on the chassis overlaps, and the position of the second wire passing hole overlaps with the projected position of the second connecting part on the chassis, so as to pass through different transmission wires respectively. Rope body. 5. The new rope drive operating handle according to claim 4, characterized in that, the first connecting part and the second connecting part are respectively provided with two connecting nodes, which are symmetrically arranged on the sides of the balance plate. sides. 6. The novel rope drive operating handle according to claim 5, wherein the shaft assembly comprises: a first bearing arranged on the base; The first universal joint is connected and arranged between the first bearing and a connecting rod; a second universal joint connected between the connecting rod and a joystick; The second bearing is sleeved on the lower end of the joystick, and is used to assemble the joystick on the balance plate; Wherein, a third connecting portion is provided on the shaft assembly for connecting with the rope body of the third transmission rope. 7 . The novel rope-driven operating handle according to claim 6 , wherein a gripping portion is provided on the top end of the joystick, and the shape of the gripping portion is spherical. 8 . 8. The novel rope drive operating handle according to claim 7, characterized in that, the bottom of the housing is provided with a fixed base, and the chassis is provided with a fixing hole at a position facing the fixed base; The rocker structure further includes fixing bolts, which are arranged in the fixing holes and are screwed to the fixing base for fixing the chassis. 9 . The novel rope-driven operating handle according to claim 8 , wherein a plurality of perforations are provided on the side wall of the casing, and the perforations are used to pass through the rope body. 10. The new rope-driven operating handle according to any one of claims 1 to 9, characterized in that there are at least two rocker structures; at least two rocker structures are arranged side by side in the housing .

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