CN105710865B - A kind of three-dimensional translating force feedback equipment - Google Patents
A kind of three-dimensional translating force feedback equipment Download PDFInfo
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- CN105710865B CN105710865B CN201610235880.XA CN201610235880A CN105710865B CN 105710865 B CN105710865 B CN 105710865B CN 201610235880 A CN201610235880 A CN 201610235880A CN 105710865 B CN105710865 B CN 105710865B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
A kind of three-dimensional translating force feedback equipment, including mechanical system and control system two large divisions, mechanical system are made up of basic machine and shell and stopping means；The basic machine of the force feedback equipment is installed on inside shell and stopping means, is connected by the mounting hole on base, and shell and stopping means realize the protection to basic machine and position-limiting action；The basic machine of the feedback device includes base assembly, rope drive component, link assembly and moving platform lever assembly；The shell and stopping means include shell, limitting casing, gag lever post；Control system is made up of host computer, control card, three parts of driver；Internal structure of the present invention is compact, and stable drive, with larger continuous power output and positional precision higher, realizes structural strength and virtual rigidity higher without return difference, and position resolution is high, reverse drive function admirable.
Description
Technical field
The present invention relates to a kind of three-dimensional translating force feedback equipment, it is the impedance control mould based on modified delta mechanisms
The force feedback equipment of formula, belongs to robotics.
Background technology
Traditional force sense interactive device is all applied under free space, and the structural parameters of equipment can be according to the need of performance parameter
Adjustment is designed, untill performance requirement is met.At present, force feedback equipment is widely used to the spies such as space, seabed
Under different environment, now the dimensional parameters of force feedback equipment are due to the limitation of using area, then by structural parameters such as space, quality
Constraint.Design and be adapted to certain space size, quality constraint and the force feedback that can be optimal various performance parameters
Equipment turns into the problem for needing to solve.
The content of the invention
1st, purpose：It is an object of the invention to provide a kind of three-dimensional translating force feedback equipment, this force feedback equipment is used
Modified delta mechanisms are used as machine configurations, and internal structure is compact, and mechanism's length parameters are optimal, in bulk and quality about
On the premise of beam, realize that working space is big, virtual rigidity is high, position resolution is high, reverse drive performance is good, isotropism degree is good
Etc. good equipment performance.
2nd, technical scheme：The present invention is achieved through the following technical solutions.
A kind of three-dimensional translating force feedback equipment of the present invention.The three-dimensional translating force feedback equipment includes that mechanical system and control are
System two large divisions.The motion of control system control machinery system each component.
Described mechanical system is made up of basic machine 1 and shell and stopping means 2.The basic machine of the force feedback equipment
1 is installed on inside shell and stopping means 2, is connected by the mounting hole on base 301, and shell and stopping means 2 are realized to machine
The protection of tool body 1 and position-limiting action.
The basic machine 1 of the force feedback equipment includes following functional unit：Base assembly 3, rope drive component 4,
Link assembly 5 and moving platform lever assembly 6.Their annexations each other are：Base assembly 3 is connected through a screw thread peace
Loaded on shell and stopping means 2, rope drive component 4 is installed on the support frame 303 of base assembly 3, and link assembly 5 is passed with rope
Dynamic component 4 is connected by driving lever 413, and three link assemblies of side chain 5 are connected with moving platform lever assembly 6, is formed simultaneously
Connection mechanism configuration.
The base assembly 3 includes a base 301 and three support frames 303.Annexation between them is：Three
Support frame 303 is coordinated by seam respectively and three alignment pins 302 are accurately located on base 301, and base 301 is grasped with moving platform
Vertical pole component 6 is connected.Three support frames 303 are symmetrical in 120 ° relative to the center hole of base 301, and positioning precision passes through
Alignment pin 302 ensures.Base 301 is a base platform for hexagon, there is mounting hole and location hole, support frame on base 301
303 are used for installing direct current generator 412 and rope drive component 4, play a supporting role, and are main load-carrying construction, therefore be machined with
The mounting hole of direct current generator 412 and the bearing hole and the mounting hole for bearing (ball) cover 410 of the big rope sheave 403 of installation.
The rope drive component 4 is by small rope sheave 401, steel wire rope 402, big rope sheave 403, driving lever 413, pretension thread spindle
404th, disc spring 406 and pre-load nut 405 are constituted.Rope drive component 4 is a critically important part in mechanical system, transmits direct current
The power of the output of motor 412 and the key component of motion.Annexation between them is：Big rope sheave 403 is logical with small rope sheave 401
Cross steel wire rope 402 to connect, driving lever 413, pretension thread spindle 404, disc spring 406 and pre-load nut 405 are mounted on big rope sheave 403
On.There are two top wire holes, 417, two lacing holes 416 and some circle groovings 418 on small rope sheave 401, small rope sheave 401 is affixed to directly
On the stream output shaft of motor 412.The semicircular in shape of grooving 418 of small rope sheave 401, grooving 418 is distributed in the shape of a spiral, a steel wire rope
402 two ends pass from two lacing holes 416 and intersect after two-way winding in grooving 418, then are wound on big rope sheave 403,
Form the form of " 8 " word winding.Big rope sheave 403 uses integral structure with its rotating shaft, and only one of which groove structure wider can
Two steel wire ropes 402 and non-interference are planted, the axle of big rope sheave 403 stretches out from its center.Steel wire rope 402 be purchase into
Product, more submissive, its two ends are then tied on two shaft ends of pretension thread spindle 404 respectively with certain initial pretightning force,
It is fixed together with two thread spindles 404.The initial pretightning force installed often does not reach the requirement of precision drive, in addition it is also necessary to adjust
Pre-load nut 405 compresses multigroup disc spring 406 and produces required pretightning force.
The rope drive component 4 is installed on support frame 303, is realized support by rational shafting structure and is connected.Branch
Two deep groove ball bearings 407 are installed, the axle of big rope sheave 403 is interior with deep groove ball bearing 407 in the bearing hole of support 303
Circle coordinates, and inner ring axial direction one end of a deep groove ball bearing 407 uses shaft shoulder structure positioning, and the other end uses axial clearance regulation
Nut 408 is fixed.The outer ring of a number deep groove ball bearing 407 positions one end by the boss positioning on support frame 303, and the other end is used
Bearing (ball) cover 410 realizes positioning.Bearing (ball) cover 410 is installed on support frame 303, and is reserved with installation shaft end encoder 409
Mechanical interface, shaft end encoder 409 is connected with the shaft end of big rope sheave 403, can directly measure the corner information of big rope sheave 403.Directly
Stream motor 412 is then directly mounted on support frame 303, and the afterbody of direct current generator 412 installs motor side encoder 411.Direct current generator
412 is 24V brush direct current motors, and motor side encoder 411 uses rotary angular displacement sensor.Driving lever 413 with it is big
Rope sheave 403 is coordinated by seam and alignment pin 414 realizes being accurately positioned for spacing, then both are connected by housing screw 415,
Rigid structure is formed, rope drive component 4 is connected by driving lever 413 with link assembly 5, transmit power and motion.
The link assembly 5 is the pith of each side chain of the delta mechanisms that the equipment is used, and it is by principal and subordinate link
Bar 501, spring 503, elastic collar 504, bearing pin 505, the deep groove ball bearing of deep groove ball bearing 502, three of follower lever 508, two
506 and clamp nut 507 constitute.Their annexations each other are：Principal and subordinate link bar 501 and the company of being of follower lever 508
Bar, two principal and subordinate link bars 501 and two follower levers 508 are respectively from beginning to end by rotating the secondary connecting rod for being connected to form parallelogram
Component 5, four structures for rotating pair are identical, connected by 505, two No. three deep groove ball bearings 506 of bearing pin and clamp nut 507
Connect and form, axially position relies on clamp nut 507.The center section of follower lever 508 is for square, and the pars intermedia of principal and subordinate link bar 501
It is divided into circle, circular surface coordinates with No. two deep groove ball bearings 502, is formed and rotate secondary, this pair that rotates is in link assembly 5
Have at two, be connecting rope transmission component 4 and link assembly 5 at one, another place is connection link assembly 5 and moving platform control stick group
Part 6.This rotates secondary axially position and is blocked by elastic collar 504, withstands spring 503, and the other end is shaft shoulder structure, from
And the compression for passing through spring 503 produces enough axial pressing forces, No. two axially positions of deep groove ball bearing 502 are realized, spring
503rd, 502, No. three deep groove ball bearings 506, elastic collar 504 and clamp nuts 507 of No. two deep groove ball bearings are standard component.
The moving platform lever assembly 6 is connected with link assembly 5 by rotating pair, belongs to the end of motion and power transmission
End, moving platform lever assembly 6 is made up of moving platform 601, compression piece 602 and control stick 603.Their connections each other
Relation is：Moving platform 601 is the symmetrical part of a three valve types, and three valves for stretching out are connected with three link assemblies of side chain 5, its
Center is reserved with semicircular vertical slot structure, and control stick 603 is circular carbon fiber bar, and control stick 603 is placed in groove, compresses piece
602 is the compressing component that full circle is cooperatively formed with the vertical slot structure of semicircle, is connected through a screw thread and tightens compression piece 602 so as to locking
Control stick 603, realizes being fixedly connected for control stick 603 and moving platform 601.
Shell and stopping means 2 are made up of shell 201, limitting casing 202, gag lever post 203.Their relations each other
It is：Shell 201 is the rectangular body case turned into by six pieces of flat board threaded connections, is reserved with shell and stopping means 2
The interface of control system and the window of action bars 603, limitting casing 202 are installed on the top of shell 201, and limitting casing 202 is pros
Body framework, gag lever post 203 is connected with control stick 603, and gag lever post 203 is limited frame and is limited in foursquare region three-dimensional shifting
It is dynamic, so as to realize the limitation to the equipment square working space.
Described control system is made up of host computer (PC), control card, three parts of driver.They are each other
Relation is：Host computer is connected with control card, and control card is connected with driver again, and driver then produces driving current, drives direct current
Motor 412 works.
Host computer (PC) in the control system is one and is mainly used to read sensor information and completes motion and power
The software of calculating, realization calculates the output torque of direct current generator 412, and each road signal collects, and graphical interfaces interaction etc.
Function.The control card is a common control panel, and its effect is the communication for carrying out data with host computer and handle respectively,
The data that directly read the feedback in equipment, the drive signal for providing direct current generator 412, the data exchange for completing with host computer.
Control card is including STM32 embedded microprocessors, DAC D/A converter modules, I/O interfaces, ethernet communication module etc..Control card
Communicated by Ethernet with host computer.The driver is the finished product driver of Copley companies, and its effect is right
Direct current generator 412 carries out direct torque.The force feedback equipment control system, can be with from the servo-driver of brush direct current motor
Matched well with the direct current generator 412 selected by equipment, be connected with small rope sheave 401 by the output shaft of direct current generator 412, then it is real
Existing control system and the connection of basic machine 1, regular feedback force is exported to operating side.
3. compared to existing technology, the invention has the advantages that and effect：
1st, the present invention makes full use of space by rational Machine Design, and internal structure is compact, and appearance and size meets space
Constraint, realizes the dexterous workspace of maximum under the premise of constraint.
2nd, in dexterous workspace, stable drive is smart with larger continuous power output and position higher without return difference
Degree.
3rd, using follow-on delta mechanism configurations, length parameters are optimal, and the same sex degree of three moving directions is good.
4th, on the premise of quality is constrained, Design of Mechanical Structure is optimized, and realizes structural strength and virtual rigidity higher, instead
It is excellent to driveability.
5th, space is spacing using not decoupling for end, realizes that the square working space of work requirements is spacing.
Brief description of the drawings
Fig. 1 is a kind of monnolithic case schematic diagram of three-dimensional translating force feedback equipment of the invention.
Fig. 2 is that a kind of basic machine of three-dimensional translating force feedback equipment of the invention adopts the principle of modified delta mechanisms
Figure.
Fig. 3 is a kind of assembling schematic diagram of three-dimensional translating force feedback equipment basic machine of the invention.
Fig. 4 (a) is a kind of assembling axonometric drawing of three-dimensional translating force feedback equipment pedestal of the invention.
Fig. 4 (b) is a kind of assembling plan view of three-dimensional translating force feedback equipment pedestal of the invention.
Fig. 5 is a kind of three-dimensional translating force feedback equipment wire rope gearing component diagram of the invention.
Fig. 6 is a kind of invention small rope sheave schematic diagram of three-dimensional translating force feedback equipment.
Fig. 7 is a kind of three-dimensional translating force feedback equipment rope sheave shafting structure sectional view of the invention.
Fig. 8 is a kind of three-dimensional translating force feedback equipment delta mechanisms wall scroll side chain assembling schematic diagram of invention.
Fig. 9 is a kind of invention big rope wheel component schematic diagram of three-dimensional translating force feedback equipment.
Figure 10 is a kind of three-dimensional translating force feedback equipment link assembly schematic diagram of invention.
Figure 11 is a kind of three-dimensional translating force feedback equipment action bars of invention and stopping means schematic diagram.
Figure 12 is a kind of three-dimensional translating force feedback equipment control system integrated stand composition of invention.
Wherein, each reference implication is as follows：
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of three-dimensional translating force feedback equipment.The force feedback equipment can be divided into mechanical system and control system two
It is most of.Mechanical system will be described in detail using the structure chart of each component of machine below, control system is then being
The form of block architecture diagram of uniting is introduced.
As shown in figure 1, the mechanical system of the equipment is made up of basic machine 1 and shell and stopping means 2.The force feedback sets
Standby basic machine 1 is installed on inside shell and stopping means 2, is connected by mounting hole on base 301, shell and spacing dress
Put protection and position-limiting action of 2 realizations to basic machine 1.Basic machine 1 mainly uses modified delta mechanism configurations to realize,
The schematic diagram of the mechanism is as shown in Figure 2.
As shown in figure 3, basic machine 1 mainly includes following functional unit：Base assembly 3, rope drive component 4, company
Bar assembly 5 and moving platform lever assembly 6.Their annexations each other are：Base assembly 3 is connected through a screw thread installation
In on shell and stopping means 2, rope drive component 4 is installed on the support frame 303 of base assembly 3, link assembly 5 and rope drive
Component 4 is connected by driving lever 413, and three link assemblies of side chain 5 are connected with moving platform lever assembly 6, forms in parallel
Mechanism configuration.
The base assembly 3 includes a base 301 and three support frames 303.As shown in Fig. 4 (b), three support frames
303 are coordinated and three alignment pins 302 are accurately located on base 301 by seam respectively, and base 301 is uniform by three again
Hexagon socket head cap screw is connected with shell and stopping means 2.It is the top view of base assembly 3, main presentation in figure as shown in Fig. 4 (b)
Three support frames 303 are symmetrical in 120 ° relative to the center hole of base 301, and positioning precision is ensured by alignment pin 301.
Support frame 303 is used for installing direct current generator 412 and rope drive component 4, plays a supporting role, and is main load-carrying construction.
The rope drive component 4 is by small rope sheave 401, steel wire rope 402, big rope sheave 403, driving lever 413, pretension thread spindle
404th, disc spring 406 and pre-load nut 405 are constituted.As shown in figure 5, rope drive component 4 is a critically important portion in mechanical system
Point, the power of the transmission output of direct current generator 412 is with the key component of motion, the annexation between them：Big rope sheave 403 with
Small rope sheave 401 is connected by steel wire rope 402, and driving lever 413, pretension thread spindle 404, disc spring 406 and pre-load nut 405 are respectively mounted
In on big rope sheave 403.It is as shown in Figure 6 the structure chart of small rope sheave 401, there are two top wire holes 417, two to wear on small rope sheave 401
Cord hole 416 and about 8 circle groovings 418, small rope sheave 401 are affixed on the output shaft of direct current generator 412.The grooving 418 of small rope sheave 401 is in
Semicircle, grooving 418 is distributed in the shape of a spiral, and a two ends for the steel wire rope of diameter 0.8mm 402 pass from two lacing holes 416
And intersect after two-way winding in grooving 418, then be wound on big rope sheave 403, form the form of " 8 " word winding, its gearratio
It is 8:1.The two ends of steel wire rope 402 are then tied on two shaft ends of pretension thread spindle 404 respectively with certain initial pretightning force,
It is fixed together with two thread spindles 404.The initial pretightning force installed often does not reach the requirement of accurate rope drive, in addition it is also necessary to adjust
Section pre-load nut 405 compresses 14 groups of disc springs 406 and produces required pretightning force.Rope drive component 4 is installed on support frame 303, its
The shafting structure figure of installation is as shown in fig. 7, big rope sheave 403 uses peace in integral structure, the bearing hole of support frame 303 with its rotating shaft
Two deep groove ball bearings 407 are filled, the axle of big rope sheave 403 and an inner ring for deep groove ball bearing 407 coordinate, a deep-groove ball
Inner ring axial direction one end of bearing 407 uses shaft shoulder structure positioning, and the other end is fixed using axial clearance regulation nut 408.No. one
The outer ring of deep groove ball bearing 407 positions one end by the boss positioning on support frame 303, and the other end is realized using bearing (ball) cover 410
Positioning.Bearing (ball) cover 410 is installed on support frame 303, and is reserved with the mechanical interface for installing shaft end encoder 409, and shaft end is compiled
Code device 409 is connected with the shaft end of big rope sheave 403, can directly measure the corner information of big rope sheave 403.Direct current generator 412 is then direct
It is installed on support frame 303, the afterbody of direct current generator 412 installs motor side encoder 411.
The modified delta mechanisms that the equipment is used are the full symmetric parallel institution of three side chains, are illustrated in figure 8
One side chain of delta mechanisms, it includes big rope sheave 403, driving lever 413, link assembly 5 and moving platform 601.As shown in figure 9,
Big rope sheave 403 and driving lever 413 are connected, connecting rope transmission component 4 and link assembly 5.The one end of driving lever 413 and big rope sheave 403
It is connected, one end is formed by No. two deep groove ball bearings 502 and link assembly 5 and rotates secondary.To ensure equipment precision, then need accurate each
The distance between rotating shaft, the rotating shaft of big rope sheave 403 passes through driving lever 413 and big rope sheave 403 to the distance of the rotating shaft of driving lever 413
Seam coordinate and alignment pin 414 realizes being accurately positioned for spacing, then both are connected by housing screw 415, form rigidity
Structure.
The link assembly 5 is the pith of each side chain of the delta mechanisms that the equipment is used, and it is by principal and subordinate link
Bar 501, spring 503, elastic collar 504, bearing pin 505, the deep groove ball bearing of deep groove ball bearing 502, three of follower lever 508, two
506 and clamp nut 507 constitute.As shown in Figure 10, the parallelogram structure of link assembly 5, link assembly 5 and rope drive group
The driving lever 413 of part 4 is formed by two No. two deep groove ball bearings 502 and principal and subordinate link bar 501 and rotates secondary, No. two deep-groove ball axles
Hold 502 inner ring axial direction one end by the shaft shoulder structure positioning on principal and subordinate link bar 501, the other end then rely on spring 503 and elasticity
Collar 504 provides axial pressing force, withstands No. two inner rings of deep groove ball bearing 502.The parallelogram sturcutre of link assembly 5 it is another
Outer both sides are follower lever 508, and the connection between follower lever 508 and principal and subordinate's connecting rod 501 is also to rotate secondary, and the rotation pair is by bearing pin
505th, two No. three deep groove ball bearings 506 and clamp nut 507 are constituted.Another connecting rod of link assembly 5 and moving platform 601
It is connected.
The moving platform lever assembly 6 is connected with link assembly 5 by rotating pair, belongs to the end of motion and power transmission
End, moving platform lever assembly 6 is made up of moving platform 601, compression piece 602 and control stick 603.It is as shown in figure 11 moving platform
Lever assembly 6, it is secondary that moving platform 601 and link assembly 5 are connected to form rotation, control stick 603 by compress piece 602 be fixed on it is dynamic
Whole mechanism kinematic can be driven on platform 601, therefore during operator holding 603 end of control stick, it is follow-on so as to realize
The forms of motion of the Three Degree Of Freedom translation of delta mechanisms.Because the space of delta mechanisms is not the three-dimensional space of rule
Between, by bar optimization analysis long and the analysis of working space, it is necessary to limit the three-dimensional translating working space of control stick 603
System.
The shell and stopping means 2 of the force feedback equipment are made up of shell 201, limitting casing 202, gag lever post 203.Their phases
Mutually between relation be：Shell 201 is the rectangular body case turned into by six pieces of flat board threaded connections, shell and spacing dress
The window of the interface and action bars 603 that control system is reserved with 2 is put, limitting casing 202 is installed on the top of shell 201, spacing
Frame 202 is square framework, and gag lever post 203 is connected with control stick 603, and gag lever post 203 is limited frame and is limited in foursquare area
It is three-dimensional mobile in domain, so as to realize the limitation to the equipment square working space.
Described control system is made up of host computer (PC), control card, three parts of driver.They are each other
Relation is：Host computer is connected with control card, and control card is connected with driver again, and driver then produces driving current, drives direct current
Motor 412 works.As shown in figure 12, the control system of the force feedback equipment has been shown with the form of system architecture diagram.It is described
Host computer (PC) in control system is one and is mainly used to read sensor information and completes the software that motion and power are calculated, real
Now calculate the output torque of direct current generator 412, each road signal collects, and the function such as graphical interfaces interaction.The control
Card is a common control panel, and its effect is the communication for carrying out data with host computer and handle respectively, directly reads equipment
On feedback data, provide the drive signal of direct current generator 412, complete and the data exchange of host computer.Control card includes
STM32 embedded microprocessors, DAC D/A converter modules, I/O interfaces, ethernet communication module etc..Control card is led to host computer
Ethernet is crossed to be communicated.The driver is the finished product driver of Copley companies, and its effect is to direct current generator 412
Carry out direct torque.The force feedback equipment control system from brush direct current motor servo-driver, can with selected by equipment
Direct current generator 412 is matched well, is connected with small rope sheave 401 by the output shaft of direct current generator 412, then realize control system
With the connection of basic machine 1, regular feedback force is exported to operating side.
The course of work of the force feedback equipment is as follows：Upper computer software is first run, then to control card and direct current generator 412
Whether upper electricity, upper computer software automatic detection ethernet communication connection succeeds.Ethernet successful connection under normal operation, it is no
Then equipment needs repairing can not carry out follow-up work.After Ethernet successful connection, operator holds control stick 603 and is grasped
Make, drive each rotating shaft of delta mechanisms to be driven, the collection of shaft end encoder 409 staff information is passed to by control card
Position machine, so that the instrument in controlling virtual environment carries out corresponding operating.Thing in the instrument in virtual environment and virtual environment
When body collides, the power Rendering algorithms in upper computer software calculate the information of reciprocal force, are delivered to slave computer control card product
The signal of raw motor, driver produces driving current to drive direct current generator 412 to produce corresponding torque again, so that near to staff
The reciprocal force of vraisemblance.This interaction is carried out in real time, and the refreshing frequency of dynamic sensing interexchanging is very high, it is ensured that power output it is continuous
Property.
Claims (1)
1. a kind of three-dimensional translating force feedback equipment, it is characterised in that：The three-dimensional translating force feedback equipment includes mechanical system and control
System two large divisions processed, the motion of control system control machinery system each component；
Described mechanical system is made up of basic machine (1) and shell and stopping means (2)；The basic machine of the force feedback equipment
(1) it is installed on that shell and stopping means (2) are internal, is connected by the mounting hole on base (301), shell and stopping means (2)
Realize the protection to basic machine (1) and position-limiting action；
The basic machine (1) of the force feedback equipment includes following component：Base assembly (3), rope drive component (4), company
Bar assembly (5) and moving platform lever assembly (6)；Their annexations each other are：The base assembly (3) is by screw thread
It is connected and installed on shell and stopping means (2), rope drive component (4) is installed on the support frame of base assembly (3) (303),
Link assembly (5) is connected with rope drive component (4) by driving lever (413), and three link assemblies of side chain (5) are and moving platform
Lever assembly (6) is connected, and forms parallel institution configuration；
The base assembly (3) includes a base (301) and three support frames (303)；Annexation between them is：Three
Individual support frame (303) is coordinated by seam respectively and three alignment pins (302) are accurately located on base (301), the base
(301) it is connected with moving platform lever assembly (6)；Three support frames (303) are in 120 ° relative to the center hole of base (301)
Symmetrical, positioning precision is ensured by alignment pin (302)；Base (301) is a base platform for hexagon, base
(301) there are mounting hole and location hole on, support frame (303) is played for installing direct current generator (412) and rope drive component (4)
Supporting role, is main load-carrying construction, therefore is machined with the mounting hole of direct current generator (412) and installs big rope sheave (403)
Bearing hole and the mounting hole for bearing (ball) cover (410)；
The rope drive component (4) is by small rope sheave (401), steel wire rope (402), big rope sheave (403), driving lever (413), pretension spiral shell
Line axle (404), disc spring (406) and pre-load nut (405) are constituted；The rope drive component (4) is critically important one in mechanical system
Individual part, the power of transmission direct current generator (412) output and the key component of motion；Annexation between them is：This is big
Rope sheave (403) is connected with small rope sheave (401) by steel wire rope (402), the driving lever (413), pretension thread spindle (404), disc spring
(406) it is mounted on big rope sheave (403) with pre-load nut (405)；There are two top wire holes (417), two on the small rope sheave (401)
Individual lacing hole (416) and some circles grooving (418), the small rope sheave (401) are affixed on direct current generator (412) output shaft；This is small
Grooving (418) semicircular in shape of rope sheave (401), grooving (418) is distributed in the shape of a spiral, and a two ends for steel wire rope (402) are from two
Individual lacing hole (416) passes and intersects after two-way winding in grooving (418), then is wound on big rope sheave (403), is formed " 8 "
The form of word winding；The big rope sheave (403) uses integral structure with its rotating shaft, and only one of which groove structure wider can cloth
Lower two steel wire ropes (402) and non-interference, the axle of the big rope sheave (403) stretches out from its center；The steel wire rope (402) is choosing
The finished product of purchase, submissive, its two ends are then tied on two pretension thread spindle (404) shaft ends respectively with initial pretightning force, with
Two thread spindles (404) are fixed together；The initial pretightning force installed often does not reach the requirement of precision drive, in addition it is also necessary to adjust
Pre-load nut (405) compresses the pretightning force needed for multigroup disc spring (406) produces；
The rope drive component (4) is installed on support frame (303), is realized support by rational shafting structure and is connected；Should
Two deep groove ball bearings (407), the axle and a deep-groove ball axle of big rope sheave (403) are installed in support frame (303) bearing hole
The inner ring for holding (407) coordinates, and inner ring axial direction one end of a deep groove ball bearing (407) uses shaft shoulder structure positioning, and the other end is adopted
It is fixed with axial clearance regulation nut (408)；The outer ring of a number deep groove ball bearing (407) positions one end by support frame (303)
Boss positioning, the other end using bearing (ball) cover (410) realize positioning；Bearing (ball) cover (410) is installed on support frame (303),
And the mechanical interface for installing shaft end encoder (409) is reserved with, shaft end encoder (409) is connected with the shaft end of big rope sheave (403),
The corner information of big rope sheave (403) can directly be measured；Direct current generator (412) is then directly mounted on support frame (303), direct current
Machine (412) afterbody installs motor side encoder (411)；The direct current generator (412) is 24V brush direct current motors, motor side coding
Device (411) uses rotary angular displacement sensor；Driving lever (413) is coordinated and is positioned with big rope sheave (403) by seam
Pin (414) realizes being accurately positioned for spacing, then both are connected by housing screw (415), forms rigid structure, rope drive group
Part (4) is connected by driving lever (413) with link assembly (5), transmits power and motion；
The link assembly (5) is the pith of each side chain of the delta mechanisms that the equipment is used, and it is by principal and subordinate link bar
(501), spring (503), elastic collar (504), bearing pin (505), follower lever (508), No. two deep groove ball bearings (502), No. three
Deep groove ball bearing (506) and clamp nut (507) are constituted；Their annexations each other are：Principal and subordinate link bar (501) and
Follower lever (508) is connecting rod, and two principal and subordinate link bars (501) are with two follower levers (508) respectively from beginning to end by rotating parafacies
Company forms the link assembly (5) of parallelogram, and four to rotate secondary structures identical, by bearing pin (505), two No. three it is deep
Ditch ball bearing (506) and clamp nut (507) are formed by connecting, and axially position relies on clamp nut (507)；The follower lever (508)
Center section is square, and principal and subordinate link bar (501) center section is circle, and circular surface is with No. two deep groove ball bearings (502)
Coordinate, formed and rotate secondary, this pair that rotates also has at two in link assembly (5), be connecting rope transmission component (4) at one with even
Bar assembly (5), another place is connection link assembly (5) and moving platform lever assembly (6)；This rotate secondary axially position according to
Blocked by elastic collar (504), withstand spring (503), the other end is shaft shoulder structure, so that the compression for passing through spring (503)
Enough axial pressing forces are produced, No. two axially positions of deep groove ball bearing (502) are realized；
The moving platform lever assembly (6) is connected with link assembly (5) by rotating pair, belongs to the end of motion and power transmission
End, moving platform lever assembly (6) is made up of moving platform (601), compression piece (602) and control stick (603)；They mutually it
Between annexation be：Moving platform (601) is the symmetrical part of a three valve types, three valves for stretching out and three connection rod sets of side chain
Part (5) is connected, and its center is reserved with semicircular vertical slot structure, and the control stick (603) is circular carbon fiber bar, by control stick
(603) it is placed in groove, it is the compressing component that full circle is cooperatively formed with the vertical slot structure of semicircle to compress piece (602), is connected by screw thread
Connect and tighten compression piece (602) so as to locking control stick (603), realize being fixedly connected for control stick (603) and moving platform (601)；
The shell and stopping means (2) are made up of shell (201), limitting casing (202), gag lever post (203)；They are each other
Relation be：Shell (201) is the rectangular body case turned into by six pieces of flat board threaded connections, shell and stopping means
(2) window of the interface and control stick (603) of control system is reserved with, limitting casing (202) is installed on the top of shell (201)
Portion, the limitting casing (202) is square framework, and gag lever post (203) is connected with control stick (603), and gag lever post (203) is limited frame
Three-dimensional movement is limited in foursquare region, so as to realize the limitation to the equipment square working space；
Described control system is made up of host computer (PC), control card, three parts of driver；Their relations each other
It is：The host computer is connected with control card, and control card is connected with driver again, and driver then produces driving current, drives direct current
Machine (412) works；
Host computer (PC) in the control system is one for read sensor information and completes motion with setting that power is calculated
Standby, realization calculates the output torque of direct current generator (412), and each road signal collects, and graphical interfaces interaction；The control
Card is a common control panel, and its effect is the communication for carrying out data with host computer and handle respectively, directly reads equipment
On feedback data, provide the drive signal of direct current generator (412), complete and the data exchange of host computer (PC)；The control
Card includes STM32 embedded microprocessors, DAC D/A converter modules, I/O interfaces, ethernet communication module；The control card with it is upper
Position machine is communicated by Ethernet；The driver is that its effect is that direct current generator (412) is entered from existing finished product
Row direct torque；The force feedback equipment control system from brush direct current motor servo-driver, can with selected by equipment
Direct current generator (412) is matched well；It is connected with small rope sheave (401) by direct current generator (412) output shaft, then realizes control system
System and the connection of basic machine (1), regular feedback force is exported to operating side.
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| CN201610235880.XA CN105710865B (en) | 2016-04-15 | 2016-04-15 | A kind of three-dimensional translating force feedback equipment |
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| CN201610235880.XA CN105710865B (en) | 2016-04-15 | 2016-04-15 | A kind of three-dimensional translating force feedback equipment |
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| CN105710865B true CN105710865B (en) | 2017-06-23 |
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| CN107160369B (en) * | 2017-07-05 | 2021-08-10 | 华南理工大学 | Frame type parallel force feedback equipment with 6-degree-of-freedom reusable tail end |
| CN107560777B (en) * | 2017-07-31 | 2019-07-30 | 东南大学 | Based on the three-dimensional force feedback handle restoring force control structure of power/torque sensor and method |
| CN109333528B (en) * | 2018-09-19 | 2022-04-22 | 深圳普瑞赛思检测技术有限公司 | Universal 6-degree-of-freedom force feedback device |
| CN109746900B (en) * | 2019-02-01 | 2021-03-30 | 北京众绘虚拟现实技术研究院有限公司 | Three-translation parallel force feedback device for medical simulation |
| CN110664587B (en) * | 2019-09-30 | 2021-11-05 | 太原理工大学 | Spherical parallel wrist rehabilitation robot |
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| US6437771B1 (en) * | 1995-01-18 | 2002-08-20 | Immersion Corporation | Force feedback device including flexure member between actuator and user object |
| CN100355539C (en) * | 2005-11-11 | 2007-12-19 | 北京航空航天大学 | Three-freedom dynamic sensing interexchanging apparatus |
| CN100431809C (en) * | 2007-01-22 | 2008-11-12 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN101387907A (en) * | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six freedom degree two-in-parallel haptic interface device based on flexible drive |
| CN102462535A (en) * | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | Three-degree-of-freedom virtual force feedback parallel operating mechanism |
| CN102717383B (en) * | 2012-06-29 | 2014-08-20 | 北京航空航天大学 | Novel six-freedom-degree force feedback device |
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