CN100355539C - Three-freedom dynamic sensing interexchanging apparatus - Google Patents
Three-freedom dynamic sensing interexchanging apparatus Download PDFInfo
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- CN100355539C CN100355539C CNB2005101159073A CN200510115907A CN100355539C CN 100355539 C CN100355539 C CN 100355539C CN B2005101159073 A CNB2005101159073 A CN B2005101159073A CN 200510115907 A CN200510115907 A CN 200510115907A CN 100355539 C CN100355539 C CN 100355539C
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Abstract
The present invention discloses a three-freedom force sense interactive device, which is composed of three sets of speed reducing mechanisms, a machine seat, a rotating bracket, a connecting rod mechanism, a handle, two encoders and three motors, wherein a speed reducing mechanism A and the rotating bracket are arranged at the upper part of the machine seat; the rotating bracket is provided with the other two sets of speed reducing mechanisms, the encoders and the two motors; the connecting rod mechanism is arranged on a driven wheel and rotates around a vertical shaft line of the rotating bracket; the handle is arranged at the end of the connecting rod mechanism. The device of the present invention is a table top type force sense interactive mechanism which is fixed on a worktable top, and provides the accurate size and the accurate direction of fictitious force with a larger force value in a simulated fictitious environment in a larger working space for a hand holding the handle when the device is in the state of positive movement. When the device is in the state of back drive, the working space of the mechanisms is larger so that the hand drives the mechanisms to sensitively move by the handle. The sense interactive device meets the characteristic requirements of outputting larger sense force in a larger working space and higher rigidity at the time of positive drive and sensitively moving at the time of back drive.
Description
Technical field
The present invention relates to a kind of dynamic sensing interexchanging apparatus of contact force size and Orientation between the object of accurately simulating in the virtual environment with three degree of freedom.
Background technology
Dynamic sensing interexchanging claims tactile sense reproduction again, and this technique functions comes from the principal and subordinate of robot operation and distant operation, and purpose is to provide the power visual information to the operator who is positioned at the strange land, simulates its perception of operation when participating in the cintest, to improve operational quality and efficient.In recent years, power feels that reproducing technology is rapidly developed in the virtual reality field, become a kind of new computer man-machine interacting mode, when dummy object is operated, the operator experiences the active force of dummy object, the material and the shape of object by force sense-reproducing device, even the motion of object, experience power feel perceived effect as the biconditional operation real-world object.Its function is a measure operator operation trend, communicates by letter with the virtual emulation environment, accepts the fictitious force signal that virtual environment is calculated, and by mechanical interface feedback force is imposed on the operator.
The type of dynamic sensing interexchanging apparatus comprises and is fixed in operator's arm and is fixed in two major types on the workbench, is applicable to different application scenarios.The former mainly comprises data arm, data glove, the characteristics of this kind equipment are to follow the tracks of the multifreedom motion of operator's arm or finger, but the ubiquity size is huge, weight is heavier, power is felt shortcomings such as experiencing the fidelity difference, be applicable to the occasion that does not require perception interactive power true to nature, generally be used for principal and subordinate's operation of mechanical arm or robot delicate.The present invention is a kind of Table top type dynamic sensing interexchanging apparatus that is fixed on the workbench, has characteristics such as easy to operate, that motion is flexible, and power feel impression is true to nature.
Summary of the invention
The purpose of this invention is to provide a kind of three-freedom dynamic sensing interexchanging apparatus, described dynamic sensing interexchanging apparatus adopts direct current generator to drive, with steel wire rope transmission speed reducer structure as the deceleration transmission mode, the driven rotary support rotates the plane motion with the relative runing rest of linkage, thereby realize three freedoms of motion, give the sensation of a power identical of staff that is held in the handle place with fictitious force in the virtual environment.
The present invention is a kind of three-freedom dynamic sensing interexchanging apparatus, is made up of three cover reducing gears, support, runing rest, linkage, handle, two encoders and three motors.The structure of described three cover reducing gears is identical, is made of driving wheel, two steel wire ropes and driven pulley; Reducing gear A is installed on the installed surface of support, the centre bore that the bearing section of runing rest is passed the driven pulley A of reducing gear A is installed on two interior bearings of support column, the output shaft of motor A passes the hole on the support connecting plate and is fixed on the connecting plate, and motor A output shaft is connected with driving wheel A; Described driving wheel A is provided with steel wire rope thread segment and the linkage section that is connected with motor A output shaft, thread segment is provided with two trepannings, linkage section is provided with two screwed holes that are used to tighten up motor A output shaft, and the center of driving wheel A is a through hole, and the diameter of the diameter of through hole and motor A output shaft is adaptive; Motor B is fixed on the installed surface A of runing rest, and motor B output shaft is installed in the installing hole of installed surface A of runing rest, and digital encoder C is installed in the installing hole of installed surface A of runing rest, and the anglec of rotation of motor B is detected by digital encoder C; Motor C is fixed on the installed surface B of runing rest, and motor C output shaft is installed in the installing hole of installed surface B of runing rest, and digital encoder B is installed in the installing hole of installed surface B of runing rest, and the anglec of rotation of motor C is detected by digital encoder B; Reducing gear B and reducing gear C are installed in by feathering axis on the projection of the projection of installed surface A of runing rest and installed surface B; The L shaped link of the third connecting rod of linkage is installed on the driven pulley C of reducing gear C, and the L shaped link of the 4th connecting rod of linkage is installed on the driven pulley B of reducing gear B; Handle is installed in by a ball pivot in the circular link of linkage, and handle is a cylindrical rod.
Described three-freedom dynamic sensing interexchanging apparatus, an end of two steel wire ropes of its reducing gear A are fixed tightly in respectively in the trepanning A and trepanning B of driving wheel A, and the other end of two steel wire ropes oppositely is wrapped in the outside of the wheel rim of driving wheel A; One end of two steel wire ropes of described reducing gear B is fixed tightly in respectively in two trepannings of the driving wheel that is connected with motor B output shaft, and the other end of two steel wire ropes oppositely is wrapped in the outside of the wheel rim of driven pulley B; One end of two steel wire ropes of described reducing gear C is fixed tightly in respectively in two trepannings of the driving wheel that is connected with motor C output shaft, and the other end of two steel wire ropes oppositely is wrapped in the outside of the wheel rim of driven pulley C.
Described three-freedom dynamic sensing interexchanging apparatus, its first free degree are meant that motor A drives reducing gear A and drives the rotation of runing rest around vertical axis; Second free degree is meant that motor B drives reducing gear B and drives the 4th link motion; Three Degree Of Freedom is meant that motor C drives reducing gear C and drives the third connecting rod motion.
The advantage of three-freedom dynamic sensing interexchanging apparatus of the present invention is: (1) frame for movement simplicity of design is reasonable, reliable in function, and motion is accurately high, flexible operation, processing, assembling and easy maintenance etc.; The non-coaxial installation design of two motors (2) installing on the runing rest and the independent mounting means of digital encoder make mechanism compact as much as possible, thereby have reduced the overall rotary inertia of vertical axes relatively of apparatus of the present invention; (3) by being installed, limit switch and limited post realize the qualification of mechanism kinematic extreme position on support, driven pulley A, driven pulley B, driven pulley C and runing rest.Write down and its rotational angle is detected by the duty of digital encoder motor; (4) can provide bigger working space and bigger power output, the handle ball pivot center of mechanism's end has higher position resolution; (5) She Ji steel wire rope transmission speed reducer structure had both been realized the retarded motion of less speed ratio, and it is non-slip and do not have the characteristic of return difference to have guaranteed to be wrapped in steel wire rope on the big or small drive again, and its structural design novelty is creative; (6) mechanism structure design volume of the present invention is little, and operation is light and handy, and motion is flexible, and isotropism is good.
Description of drawings
Fig. 1 and Fig. 2 are respectively the external structures of three-freedom dynamic sensing interexchanging apparatus of the present invention.
Fig. 3 is the installation diagram of support, motor A, driving wheel A, driven pulley A and runing rest.
Fig. 4 is the structure chart of support.
Fig. 5 (a, b, c) is the structure chart of driven pulley A.
Fig. 6 is the structure chart of runing rest.
Fig. 7 (a, b, c) is the structure chart of driven pulley C.
Fig. 8 is the structure chart of linkage.
Fig. 9 is the structure chart of driving wheel.
Among the figure: 1. support 101. chassis 102. hole B, 103. convex surfaces
104. column 105. through holes 106. connecting plates 107. hole A 108. deep groove ball bearings
109. taper roll bearing 110. installing holes 111. installed surfaces 2. reducing gear A 201. centre bores
202. circular hole 203. ㄩ shape lugs 204. pin-and-holes 205. spacer pins 206. limit switches
207. screwed hole 208. perforation 209. pin-and-holes 210. wheel rims 211. flanges
213. driven pulley A, 214. driving wheel A, 215. steel wire ropes, 216. thread segments 212. bore a hole
217. linkage section 218. screwed holes 219. through holes 220. trepanning B 221. trepanning A
222. helicla flute 3. runing rests 301. installed surface B 302. installed surface A 303. limit switches
304. hole E 305. hole F 306. projections 307. limit switches 308. installing holes
309. 313. second sections axles of installing hole 312. first sections axles of 310. projections, 311. horizontal mounting surfaces
314. the 3rd section axle 315. pin-and-holes 316. vertical axis 317. feathering axis 4. reducing gear C
401. support edge 402. through holes 403. circular holes 404. wheel rims 405. notches
406. ㄩ shape lug 407. pin-and-holes 408. perforation 409. perforation 410. spacer pins
41 1. driven pulley C, 412. steel wire ropes, 413. screwed holes, 414. installing holes, 5. linkages
510. first connecting rod 520. second connecting rods 530. third connecting rods 540. the 4th connecting rod 511.U shape link
512. 516. times flat boards of square link 513. circular link 514. linking arms, 515. upper flat plates
517. 518. times flat boards of upper flat plate, 519. circular holes, 521. linking arm 522.U shape links
523. 525. times flat boards of axis hole 524. upper flat plates, 531. linking arms, 532. axis holes
533.L shape link 534. end plates 535. installing holes 6. handles 7. motor A
8. motor B 9. motor C 10. digital encoder C 11. digital encoder B
12. reducing gear B 1201. driven pulley B 1202. steel wire ropes
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of dynamic sensing interexchanging apparatus, has three freedoms of motion (but handle horizontal movement, move both vertically and left and right sides swing), and the three-dimensional motion that can accurately follow the tracks of staff is not less than the power of 4N simultaneously in the output of handle ball pivot place.It can be applied in many virtual reality systems and emulation field, improves " feeling of immersion " of operator in virtual environment, and the simulation that realizable force is felt makes that man-machine interaction is true more, nature.
In power was felt simulation process, dynamic sensing interexchanging apparatus was operated in two kinds of duties.A kind of user's of being operating means moves freely in the Virtual Space, and virtual tool does not touch dummy object, and this moment, motor was in the freely-movable state of outage, and the handle of dynamic sensing interexchanging apparatus makes this duty be called as the reverse drive duty; Another duty is that motor is in the energising motion state, the handle that the user operates dynamic sensing interexchanging apparatus makes virtual tool contact with dummy object, virtual reality system feeds back to the user by device again by the size and Orientation that calculates contact force, make the user feel this contact force, this duty is called the forward drive duty.
In the present invention, during the dynamic sensing interexchanging apparatus positive movement, three motor (motor A7, motor B8 and motor C9) (be reducing gear A by steel wire rope transmission speed reducer structure respectively, reducing gear B and reducing gear C) drive shaft part (first section axle 312 at vertical axis 316 places of runing rest 3, second section axle 313 and the 3rd section axle 314) and linkage 5 motions, and then in the information of operating grip 6 ball pivot place power outputs, its handle 6 reaches 0.04mm with the position resolution of the ball pivot of linkage 5 joints, reverse actuating force is 0.67N～1.31N, and the tactile feedback force of this device output is 4N～50N.Described motor A7 is a DC servo motor, and power output is 60W; Motor B8 and motor C9 are the disc type DC servo motor, and the motor power output is 50W.
In the present invention, during the dynamic sensing interexchanging apparatus counter motion, three motors are in the freely-movable state of outage, and the operator realizes three-dimensional motion by handle 6, and all the other members move under operator's mode of operation as driven member.
The present invention is a kind of three-freedom dynamic sensing interexchanging apparatus, by reducing gear A2, reducing gear B12, reducing gear C4, support 1, runing rest 3, linkage 5, handle 6, digital encoder C10, digital encoder B11 and motor A7, motor B8, motor C9 forms (as depicted in figs. 1 and 2), wherein also relate to several gadgets, as spacer pin (structure is small-sized cylindrical rod), limit switch (structure is a scale copper), and (sleeve structure is a hollow circular-tube to be enclosed within sleeve pipe on the feathering axis 317, this sleeve pipe is comparatively general in the use, with the interval location that solves between driven pulley B12 and the driven pulley C411, play the purpose of location in the present invention).Described reducing gear A2 is made of driving wheel A214, two steel wire ropes and driven pulley A213, described reducing gear B12 is made of driving wheel, two steel wire ropes 1202 and driven pulley B1201, described reducing gear C4 is made of driving wheel, two steel wire ropes 412 and driven pulley C411, they are connected with three motors (motor A7, motor B8 and motor C9) output shaft respectively, and the structure of the driving wheel of three reducing gears is identical (as shown in Figure 9).Reducing gear A2 is installed on the installed surface 111 of support 1, after the 3rd section axle 314 of runing rest 3, second section axle 313, first section axle 312 pass the centre bore 201 of driven pulley A213 of reducing gear A2 in turn, first section axle 312 is installed in the deep groove ball bearing 108, the 3rd section axle 314 is installed in the taper roll bearing 109, the output shaft of motor A7 passes the hole A107 on support 1 connecting plate 106 and is fixed on the connecting plate 106, and motor A7 output shaft is connected with driving wheel A214; Described driving wheel A214 is provided with steel wire rope thread segment 216 and the linkage section 217 that is connected with motor A7 output shaft, thread segment 216 is provided with two trepannings, linkage section 217 is provided with two screwed holes 218 that are used to tighten up motor A7 output shaft, the center of driving wheel A214 is a through hole 219, and the diameter of the diameter of through hole 219 and motor A7 output shaft is adaptive; Motor B8 is fixed on the installed surface A302 of runing rest 3, and motor B8 output shaft is installed in the installing hole 309 of installed surface A302 of runing rest 3, digital encoder C10 is installed in the installing hole 308 of installed surface A302 of runing rest 3, and the anglec of rotation of motor B8 is detected by digital encoder C10; Motor C9 is fixed on the installed surface B301 of runing rest 3, and motor C9 output shaft is installed in the installing hole E304 of installed surface B301 of runing rest 3, digital encoder B11 is installed in the installing hole 305 of installed surface B301 of runing rest 3, and the anglec of rotation of motor C9 is detected by digital encoder B11; Reducing gear B12 and reducing gear C4 are installed in by feathering axis 317 on the projection 306 of the projection 310 of installed surface A302 of runing rest 3 and installed surface B301; The L shaped link 533 of the third connecting rod 530 of linkage 5 is installed on the driven pulley C411 of reducing gear C4, and the L shaped link of the 4th connecting rod 540 of linkage 5 is installed on the driven pulley B1201 of reducing gear B12; Handle 6 is installed in by a ball pivot in the circular link 513 of linkage 5, and handle 6 is a cylindrical rod.
In the present invention, the chassis 101 of support 1 is provided with the hole B102 of power supply machine A7 installation and the installing hole that is used for support 1 is fixed on a basal plane, 101 center is provided with convex surface 103 on the chassis, convex surface 103 is between the connecting plate 106 being column 104, connecting plate 106 is provided with the hole A107 that power supply machine A7 output shaft passes, and the installing hole 110 that is used for fixing limit switch 206, the center of column 104 is through holes 105, the inner bottom part of through hole 105 is provided with taper roll bearing 109, and the top of through hole 105 is provided with deep groove ball bearing 108 (as shown in Figure 3 and Figure 4).
In the present invention, the center position of the driven pulley A213 of reducing gear A2 is provided with flange 211, first section axle 312 diameter of the aperture of flange 211 centre bores 201 and runing rest 3 are adaptive, flange 211 is provided with pin-and-hole 209, pin-and-hole 209 on pin-and-hole 315 on first section axle 312 and the flange 211 of driven pulley A 213 is realized being connected of runing rest 3 and driven pulley A213 by a pin, symmetry offers three circular holes 202 between flange 211 and the wheel rim 210, be provided with " ㄩ " shape lug 203 between per two circular holes 202, be respectively equipped with pin-and-hole 204 and screwed hole 207 on two " ㄩ " angles of lug 203, the wheel rim 210 of screwed hole 207 positions is provided with the perforation of passing through for steel wire rope 215 208 (as shown in Figure 5).
In the present invention, runing rest 3 is provided with first section axle 312, second section axle 313, the 3rd section axle 314, with first section axle 312 joint are horizontal mounting surfaces 311, two sides of horizontal mounting surface 311 are provided with installed surface A302 and installed surface B301, installed surface A302 is provided with the hole 309 for the hole 308 of digital encoder C10 installation and power supply machine B8 installation, projection 310 outsides of installed surface A302 are equipped with limit switch 307, the center, end of projection 310 offers the hole that the flat rotating shaft 317 that supplies water passes, installed surface B301 is provided with the hole E304 for digital encoder B11 and motor C9 installation, hole F305, projection 306 outsides of installed surface B301 are equipped with limit switch 303, and the center, end of projection 306 offers the hole (as shown in Figure 6) that the flat rotating shaft 317 that supplies water passes.
In the present invention, the center position of the driven pulley C411 of reducing gear C4 is provided with support edge 401, the aperture of support edge 401 through holes 402 and the diameter of back shaft 412 are adaptive, on the wheel rim 404 of driven pulley C411, be provided with the notch 405 of linking arm 531 placements of the third connecting rod 530 that supplies linkage 5, on notch 405 opening vertical direction, be provided with installing hole 414, offer two circular holes 403 between support edge 401 and the wheel rim 404, be provided with " ㄩ " shape lug 406 with circular hole 403 symmetric positions, be respectively equipped with screwed hole 413 on two " ㄩ " angles of lug 406, the wheel rim 404 of screwed hole 413 positions is provided with the perforation of passing through for steel wire rope 408, the outer side edges of " ㄩ " shape lug 406 is provided with pin-and-hole 407, and spacer pin 410 is installed in the pin-and-hole 407 (as shown in Figure 7).
In the present invention, linkage 5 is by first connecting rod 510, second connecting rod 520, third connecting rod 530 and the 4th connecting rod 540 constitute, the axis hole of the 4th connecting rod 540 adopts relatively rotating of rolling bearing to be connected with the U-shaped link 511 of first connecting rod 510, the axis hole of third connecting rod 530 adopts relatively rotating of rolling bearing to be connected with the U-shaped link 522 of second connecting rod 520, the axis hole of second connecting rod 520 adopts relatively rotating of rolling bearing to be connected with the square link 512 of first connecting rod 510, in the circular hole 519 of the circular link 513 of first connecting rod 510 ball pivot is installed, each connecting rod be connected to form a quadrangle form, first connecting rod 510 is provided with linking arm 514, one end of linking arm 51 4 is U-shaped links 511, be respectively equipped with installing hole on the upper plate 515 of U-shaped link 511 and the lower plate 516, the other end of linking arm 514 is square links 512, be respectively equipped with installing hole on the upper plate 517 of square link 512 and the lower plate 518, the end of square link 512 is the circular links 513 that are used to install described handle 6 ball pivots, second connecting rod 520 is provided with linking arm 521, one end of linking arm 521 is U-shaped links 522, be respectively equipped with installing hole on the upper plate 524 of U-shaped link 522 and the lower plate 525, the other end of linking arm 521 is provided with axis hole 523, third connecting rod 530 is provided with linking arm 531, one end of linking arm 531 is provided with axis hole 532, the other end of linking arm 531 is designed to L shaped link 533, and 534 are provided with installing hole 535 on the end plate.The third connecting rod 530 of linkage 5 adopts with being connected of driven pulley C411 screw suit is achieved a fixed connection on installing hole 535 and installing hole 414; Adopt being connected of the 4th connecting rod 540 of linkage 5 and driven pulley B1201 screw suit is achieved a fixed connection on the installing hole of the installing hole of the end plate of the L shaped link of the 4th connecting rod 540 and driven pulley B1201.In the present invention, ball pivot (ball pivot is an oscillating bearing, and handle 6 is installed in the centre bore of oscillating bearing) is installed in the circular hole 519 of the circular link 513 of first connecting rod 510.
In the present invention, steel wire rope is conventional in the three cover steel wire rope transmission speed reducer structures (reducing gear A2, reducing gear B12 and reducing gear C4), so its structure is not done detailed explanation.The canoe of steel wire rope will be explained by following explanatory note: see also shown in Figure 9, by in two screwed holes 218, being screwed into screw the output shaft of motor A7 is fixed on the driving wheel A214 on the linkage section 217 of driving wheel A214, after then an end of two steel wire ropes 215 being passed the trepanning A221 and trepanning B220 on the driving wheel A214 respectively, knotting also is wrapped in the helicla flute 222 that (steel wire rope that twines in the helicla flute 222 measures its length according to linkage 5 range of movement, general 5～10 circles that twine get final product), after then the other end of two steel wire ropes 215 oppositely being wrapped on the wheel rim 210 of driven pulley A2, and after passing the steel wire rope perforation 208 and steel wire rope perforation 212 of offering on the wheel rim 210, and in the terminal knotting of steel wire rope, and adopt screw is installed in steel wire rope 215 is not come off, realize that motor A7 drives reducing gear A2 and drives the rotation of runing rest 3 around vertical axis 316.One end of two steel wire ropes 1202 of described reducing gear B12 is fixed tightly in respectively in two trepannings of the driving wheel that is connected with motor B8 output shaft, and the other end of two steel wire ropes 1202 oppositely is wrapped in the outside of the wheel rim of driven pulley B1201; One end of two steel wire ropes 412 of described reducing gear C4 is fixed tightly in respectively in two trepannings of the driving wheel that is connected with motor C9 output shaft, and the other end of two steel wire ropes 412 oppositely is wrapped in the outside of the wheel rim 404 of driven pulley C411.As two other reducing gear with motor B8 and motor C9 that the present invention relates to, its steel wire rope canoe is identical, so do not do repeat specification.Therefore, the three degree of freedom of three-freedom dynamic sensing interexchanging apparatus of the present invention is meant: motor A7 drives reducing gear A2 and drives the rotation of runing rest 3 around vertical axis 316; Second free degree is meant that motor B8 drives reducing gear B12 and drives 540 motions of the 4th connecting rod; Three Degree Of Freedom is meant that motor C9 drives reducing gear C4 and drives third connecting rod 530 motions.
Dynamic sensing interexchanging apparatus of the present invention, main body mechanism are the two degree-of-freedom motion around the plane motion of the single-degree-of-freedom dead axle rotation of vertical axis 316 (being the center line of the multisection type axle of runing rest 3) and linkage 5 relative runing rests 3.Motor A7 vertically is installed on the support 1, together does dead axle around vertical curve 316 by steel wire rope 215 transmission speed reducer structure A, 2 driven rotary supports 3 and motor B8, motor C9, reducing gear B12, reducing gear C4, linkage 5 and handle 6 etc. on it and rotates; Motor B8 and motor C9 level are installed on two the installed surface A301 and installed surface B302 of runing rest 3, the installation site of its motor B8 and motor C9 is that the parallel but disalignment mode of the electrical axis of two motors fixedly mounts, thereby the driving wheel that is connected with motor B8 drives the 4th connecting rod 540 motions that driven pulley B1201 motion makes linkage 5 by steel wire rope 1202, thereby the driving wheel that is connected with motor C9 drives third connecting rod 530 motions that driven pulley C411 motion makes linkage 5 by steel wire rope 412, thereby make the motor B8 of horizontal positioned and motor C9 near vertical axis 316 to greatest extent, reach and reduce the purpose of apparatus of the present invention around the rotary inertia at vertical axis 316 centers.Motor B8 and motor C9 realize the plane motion of two frees degree of linkage 5 relative runing rests 3 by steel wire rope transmission speed reducer structure drive link mechanism 5 motions separately, finally realize three freedoms of motion in the handle 6 and the junction of linkage 5.In order to realize reverse drive performance preferably, require dynamic sensing interexchanging apparatus of the present invention can overcome itself gravity, inertia force, frictional force, and accomplish isotropism.In order to reduce rotary inertia around the linkage 5 of vertical axis 316 rotations, the present invention adopts the axial dimension path to big two in the disc type direct current generator (being motor B8 and motor C9) of size, and has solved the installation question of digital encoder C10 and digital encoder B11 well.
Dynamic sensing interexchanging apparatus of the present invention can be not less than the power of 4N in the output of handle ball pivot place, and the position resolution of mechanism's end can reach 0.04mm, and the maximum reverse driving force only is 1.31N, and average reverse actuating force is 0.67N, and average isotropism degree is 0.89.
Three-freedom dynamic sensing interexchanging apparatus of the present invention adopts three direct current generators altogether, by steel wire rope transmission speed reducer structure, drives the dead axle rotation of vertical axes and the plane motion of the relative vertical axes of linkage, thereby realizes three freedoms of motion.Three-freedom dynamic sensing interexchanging apparatus of the present invention is one can be fixed on a Table top type power feel reproducing mechanism on the work top under mechanism's positive movement state (electric machine operation state), can in bigger working space, give the size and Orientation of simulating fictitious force under the virtual environment more accurately of staff that is held on the handle, and the power value is bigger; Under reverse drive state (motor off position), the working space of mechanism is bigger, and staff is by handle lead agency movement sensitive, light.This dynamic sensing interexchanging apparatus realized when forward drive in bigger working space and higher stiffness under the bigger haptic force of output, the characteristic requirement of movement sensitive when reverse drive.Taken into account the contradictory problems of big rigidity and little quality and little rotary inertia in the design, accomplished that gap in the mechanism driving and friction are as far as possible little, the design main points that free movement space and working space are big as far as possible.
Claims (6)
1, a kind of three-freedom dynamic sensing interexchanging apparatus is characterized in that: be made up of reducing gear A (2), reducing gear B (12), reducing gear C (4), support (1), runing rest (3), linkage (5), handle (6), digital encoder C (10), digital encoder B (11) and motor A (7), motor B (8), motor C (9);
Described reducing gear A (2) is made of driving wheel A (214), two steel wire ropes and driven pulley A (213);
Described reducing gear B (12) is made of driving wheel, two steel wire ropes (1202) and driven pulley B (1201);
Described reducing gear C (4) is made of driving wheel, two steel wire ropes (412) and driven pulley C (411);
Reducing gear A (2) is installed on the installed surface (111) of support (1), after the 3rd section axle (314) of runing rest (3), second section axle (313), first section axle (312) pass the centre bore (201) of driven pulley A (213) of reducing gear A (2) in turn, first section axle (312) is installed in the deep groove ball bearing (108), and the 3rd section axle (314) is installed in the taper roll bearing (109);
Connecting plate (106) is provided with hole A (107), and the output shaft of motor A (7) passes hole A (107) and is fixed on the connecting plate (106), and motor A (7) output shaft is connected with driving wheel A (214); Described driving wheel A (214) is provided with steel wire rope thread segment (216) and the linkage section (217) that is connected with motor A (7) output shaft, thread segment (216) is provided with two trepannings, linkage section (217) is provided with two screwed holes (218) that are used to tighten up motor A (7) output shaft, the center of driving wheel A (214) is a through hole (219), and the diameter of the diameter of through hole (219) and motor A (7) output shaft is adaptive;
Motor B (8) is fixed on the installed surface A (302) of runing rest (3), and motor B (8) output shaft is installed in the installing hole (309) of installed surface A (302) of runing rest (3), digital encoder C (10) is installed in the installing hole (308) of installed surface A (302) of runing rest (3), and the anglec of rotation of motor B (8) is detected by digital encoder C (10);
Motor C (9) is fixed on the installed surface B (301) of runing rest (3), and motor C (9) output shaft is installed in the installing hole (304) of installed surface B (301) of runing rest (3), digital encoder B (11) is installed in the installing hole (305) of installed surface B (301) of runing rest (3), and the anglec of rotation of motor C (9) is detected by digital encoder B (11);
Reducing gear B (12) and reducing gear C (4) are installed in by feathering axis (317) on the projection (306) of the projection (310) of installed surface A (302) of runing rest (3) and installed surface B (301);
The L shaped link (533) of the third connecting rod (530) of linkage (5) is installed on the driven pulley C (411) of reducing gear C (4), and the L shaped link of the 4th connecting rod (540) of linkage (5) is installed on the driven pulley B (1201) of reducing gear B (12);
Handle (6) is installed in the circular link (513) of linkage (5) by a ball pivot, and handle (6) is a cylindrical rod;
The chassis (101) of described support (1) is provided with the hole B (102) that power supply machine A (7) installs, and the installing hole that is used for support (1) is fixed on a basal plane, the center of (101) is provided with convex surface (103) on the chassis, convex surface (103) is between the connecting plate (106) being column (104), and the installing hole (110) that is used for fixing limit switch (206), the center of column (104) is a through hole (105), the inner bottom part of through hole (105) is provided with taper roll bearing (109), and the top of through hole (105) is provided with deep groove ball bearing (108);
The center position of the driven pulley A (213) of described reducing gear A (2) is provided with flange (211), clutch shaft bearing section (312) diameter of the aperture of flange (2 11) centre bore (201) and runing rest (3) is adaptive, flange (211) is provided with pin-and-hole (209), pin-and-hole (209) on pin-and-hole (315) on the clutch shaft bearing section (312) and the flange (211) of driven pulley A (213) is realized being connected of runing rest (3) and driven pulley A (2 13) by a pin, symmetry offers three circular holes (202) between flange (211) and the wheel rim (2 10), be provided with " ㄩ " shape lug (203) between per two circular holes (202), be respectively equipped with pin-and-hole (204) and screwed hole (207) on two " ㄩ " angles of lug (203), the wheel rim (210) of screwed hole (207) position is provided with the perforation of passing through for steel wire rope (215) (208);
Described runing rest (3) is provided with clutch shaft bearing section (312), the second bearing section (313), the 3rd bearing section (314), with clutch shaft bearing section (312) joint be horizontal mounting surface (311), two sides of horizontal mounting surface (311) are provided with installed surface A (302) and installed surface B (301), installed surface A (302) is provided with hole C (308), hole D (309), hole C (308) is for digital encoder C (10) is installed, hole D (309) is for motor B (8) is installed, projection (310) outside of installed surface A (302) is equipped with limit switch (307), the center, end of projection (310) offers the hole that the flat rotating shaft (317) that supplies water passes, installed surface B (301) is provided with hole E (304), hole F (305), hole E (304) is for digital encoder B (11) is installed, hole F (305) is for motor C (9) is installed, projection (306) outside of installed surface B (301) is equipped with limit switch (303), and the center, end of projection (306) offers the hole that the flat rotating shaft (317) that supplies water passes;
The center position of the driven pulley C (411) of described reducing gear C (4) is provided with support edge (401), the diameter of the aperture of support edge (401) through hole (402) and back shaft (412) is adaptive, on the wheel rim (404) of driven pulley C (411), be provided with the notch (405) of linking arm (531) placement of the third connecting rod (530) that supplies linkage (5), on notch (405) opening vertical direction, be provided with installing hole (414), offer two circular holes (403) between support edge (401) and the wheel rim (404), be provided with " ㄩ " shape lug (406) with circular hole (403) symmetric position, be respectively equipped with screwed hole (413) on two " ㄩ " angles of lug (406), the wheel rim (404) of screwed hole (413) position is provided with the perforation of passing through for steel wire rope (408), the outer side edges of " ㄩ " shape lug (406) is provided with pin-and-hole (407), and spacer pin (410) is installed in the pin-and-hole (407);
Described linkage (5) is by first connecting rod (510), second connecting rod (520), third connecting rod (530) and the 4th connecting rod (540) constitute, the axis hole of the 4th connecting rod (540) adopts relatively rotating of rolling bearing to be connected with the U-shaped link (511) of first connecting rod (510), the axis hole of third connecting rod (530) adopts relatively rotating of rolling bearing to be connected with the U-shaped link (522) of second connecting rod (520), the axis hole of second connecting rod (520) adopts relatively rotating of rolling bearing to be connected with the square link (512) of first connecting rod (510), in the circular hole (519) of the circular link (513) of first connecting rod (510) ball pivot is installed, each connecting rod be connected to form a quadrangle form, first connecting rod (510) is provided with linking arm (514), one end of linking arm (514) is U-shaped link (511), be respectively equipped with installing hole on the upper plate (515) of U-shaped link (511) and the lower plate (516), the other end of linking arm (514) is square link (512), be respectively equipped with installing hole on the upper plate (517) of square link (512) and the lower plate (518), the end of square link (512) is the circular link (513) that is used to install described handle (6) ball pivot, second connecting rod (520) is provided with linking arm (521), one end of linking arm (521) is U-shaped link (522), be respectively equipped with installing hole on the upper plate (524) of U-shaped link (522) and the lower plate (525), the other end of linking arm (521) is provided with axis hole (523), third connecting rod (530) is provided with linking arm (531), one end of linking arm (531) is provided with axis hole (532), the other end of linking arm (531) is designed to L shaped link (533), and (534) are provided with installing hole (535) on the end plate.
2, three-freedom dynamic sensing interexchanging apparatus according to claim 1, it is characterized in that: an end of two steel wire ropes (215) of described reducing gear A (2) is fixed tightly in respectively in the trepanning A (221) and trepanning B (220) of driving wheel A (214), and the other end of two steel wire ropes (215) oppositely is wrapped in the outside of the wheel rim (210) of driving wheel A (214); One end of two steel wire ropes (1202) of described reducing gear B (12) is fixed tightly in respectively in two trepannings of the driving wheel that is connected with motor B (8) output shaft, and the other end of two steel wire ropes (1202) oppositely is wrapped in the outside of the wheel rim of driven pulley B (1201); One end of two steel wire ropes (412) of described reducing gear C (4) is fixed tightly in respectively in two trepannings of the driving wheel that is connected with motor C (9) output shaft, and the other end of two steel wire ropes (412) oppositely is wrapped in the outside of the wheel rim (404) of driven pulley C (411).
3, three-freedom dynamic sensing interexchanging apparatus according to claim 1 is characterized in that: first free degree is meant that motor A (7) drives reducing gear A (2) and drives the rotation of runing rest (3) around vertical axis (316); Second free degree is meant that motor B (8) drives reducing gear B (12) and drives the 4th connecting rod (540) motion; Three Degree Of Freedom is meant that motor C (9) drives reducing gear C (4) and drives third connecting rod (530) motion.
4, three-freedom dynamic sensing interexchanging apparatus according to claim 1 is characterized in that: described motor A (7) is a DC servo motor, and power output is 60W; Motor B (8) and motor C (9) are the disc type DC servo motor, and the motor power output is 50W.
5, three-freedom dynamic sensing interexchanging apparatus according to claim 1 is characterized in that: handle (6) reaches 0.04mm with the position resolution of the ball pivot of linkage (5) joint, and reverse actuating force is 0.67N～1.31N.
6, three-freedom dynamic sensing interexchanging apparatus according to claim 1 is characterized in that: the tactile feedback force of described three-freedom dynamic sensing interexchanging apparatus output is 4N～50N.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101159073A CN100355539C (en) | 2005-11-11 | 2005-11-11 | Three-freedom dynamic sensing interexchanging apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101159073A CN100355539C (en) | 2005-11-11 | 2005-11-11 | Three-freedom dynamic sensing interexchanging apparatus |
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| CN1792572A CN1792572A (en) | 2006-06-28 |
| CN100355539C true CN100355539C (en) | 2007-12-19 |
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| CNB2005101159073A Expired - Fee Related CN100355539C (en) | 2005-11-11 | 2005-11-11 | Three-freedom dynamic sensing interexchanging apparatus |
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