CN102320040B - Force feedback interactive device for automatically regulating balance of dead weight - Google Patents
Force feedback interactive device for automatically regulating balance of dead weight Download PDFInfo
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- CN102320040B CN102320040B CN201110229208.7A CN201110229208A CN102320040B CN 102320040 B CN102320040 B CN 102320040B CN 201110229208 A CN201110229208 A CN 201110229208A CN 102320040 B CN102320040 B CN 102320040B
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Abstract
The invention discloses a force feedback interactive device for automatically regulating the balance of a dead weight, which is formed by a base mechanism, a shoulder mechanism, a big arm mechanism, a forearm mechanism, a wrist mechanism, an end effector mechanism, an automatic regulating and balancing mechanism, four direct current motors, four photoelectric encoders, three high-precision angular potentiometers and the like. In the invention, the direct current motors and a linear speed reduction mechanism are matched to provide three freedom degree force feedbacks and six motion freedom degrees of the three freedom degree force feedbacks by three photoelectric encoders and the three angular potentiometers. For the automatic regulating and balancing mechanism, one direct current motor is adopted to drive and control a balancing sliding block to automatically carry out dead weight compensation on the arm mechanisms of the equipment in real time by a speed reduction device, so that the manual fatigue is effectively reduced. The mechanism has compact design, large working space range, high rigidity and large range of a feedback force.
Description
Technical field
The present invention has designed a kind of force feedback interactive device with autonomous governor motion deadweight, this equipment provides six degrees of freedom of motion and Three Degree Of Freedom force feedback, can be used in realizable force feedback in virtual environment or principal and subordinate's remote tele-operation environment and alternately, accurately simulate the power/sense of touch size and Orientation in reciprocal process.
Background technology
In the middle of being incorporated into robot system, the mankind's such as decision-making, judgement intelligent factors design the objective of the struggle that full autonomous intelligence machine is related scientific research technical staff.Regrettably,, due to the restriction of the technology such as artificial intelligence, sensing technology, computer technology, Machine Design manufacture and control theory, full Autonomous intelligent robot is difficult to realize within foreseeable period.In order to improve the decision-making judgement of robot system, the mankind can be by the mode of man-machine interaction, relies on people's intervention to carry out intelligent decision to operating environment, by people's hand of operating machine, indirectly completes the task that some mankind can not directly complete.Based on this type of technical background, force feedback interactive device is current and even research emphasis and focus in one period from now on.Force feedback interactive device and other vision/sense of hearings (unidirectional information transmission channels, only can sensing external environment information) equipment obvious differences: force feedback interactive device has duplex channel, not only the information of force feedback interactive device sensing external environment or virtual environment can be passed through, and truly extraneous/virtual environment can be by people's intervention, changed or handle.
Force feedback interactive device is put and is divided into according to installation fixing position: desktop force feedback equipment; Portable force feedback equipment; Suspension wire type force feedback equipment.By mechanism configuration, be divided into: serial mechanism force feedback equipment; Parallel institution force feedback equipment; Hybrid mechanism force feedback equipment.Also can be according to transmission mechanism classification etc.These equipment are applied in different force feedback interaction scenarios, respectively have pluses and minuses.
At present, there have been in the world many comparatively successfully force feedback equipments, for example: the PHANToM series force feedback equipment of U.S. Sensable company, the force feedback equipment of Canada Quansar company, the Virtuose series force feedback equipment of France Haption, the Omega series force feedback equipment of Switzerland ForceDimension.It is the most successfully wherein the PHANToM series force feedback equipment of U.S. Sensable company, for example: the openly patent of invention (Pub.No.:US2008/0291161A1) of the said firm and patent of invention (Patent Number:US007714836B2, Patent Number:US005625576A) that success has been applied for etc.Yet, all there are a lot of defects in above-mentioned these open inventions or the patent of invention of having applied for: does not carry out gravity compensation completely, gravity compensation is must be indispensable in force feedback equipment, if force feedback equipment mechanical arm does not carry out self gravitation compensation, when carrying out force feedback at virtual environment or remote tele-operation environment when mutual, the feedback force that staff not only can be experienced, but also experienced the self gravitation of force feedback equipment mechanical arm.Because gravity and feedback force acting in conjunction are at staff, acting in conjunction power that staff is felt is inevitable is not real feedback force; Itself exist system stiffness poor; The feedback force providing is limited; The comparatively special apparatus expensive that causes of material of using.Above-mentioned a series of defects have caused again other defect: application scenario or environment are limited, and the versatility of equipment is poor, equipment break down inconvenient dismounting, maintenance and renewal part.In addition, also there is the problem of technical monopoly aspect in the said equipment.
For defect and the problem of above-mentioned a series of existence, a kind of method from main regulation gravity compensation has been proposed, based on the method, designed a kind of force feedback interactive device with autonomous adjusting dead weight balance.This force feedback equipment can be automatic, real-time carry out gravity compensation and can greatly improve force feedback sensation verisimilitude, and be that gravity is equilibrated on the pedestal of force feedback equipment as much as possible while carrying out autonomous adjusting dead weight balance; Avoid or reduced direct current generator for the required power of gravity compensation, thereby making direct current generator can export larger feedback force, greatly having improved the feedback force adjusting function of equipment, having improved the rigidity of system; The compare compensation technique of gravity balancing weight, adopt the gravity compensation of autonomous adjustment mechanism, can greatly reduce inertia and the friction of system, can also reduce on the impact of whole system working space and mechanical arm flexibility, also to make mechanism design more succinct adding of balancing weight simultaneously simultaneously.In addition, the present invention has also improved the material of design, has selected designing material comparatively general on market, has reduced environmental limit and has expanded the use occasion of force feedback equipment, has strengthened the versatility of force feedback equipment.Meanwhile, develop a kind of force feedback interactive device with the autonomous adjusting dead weight balance of independent intellectual property right and monopolize for breaking foreign technology, for promoting and promoting development in science and technology and the technological progress of force feedback technique association area also to have very important significance.
Summary of the invention
The object of the invention is for prior art defect, provide a kind of can be automatically, in real time mechanism's arm is carried out to gravity compensation, and the force feedback interactive device of a kind of autonomous adjusting dead weight balance that can use in virtual reality field or remote tele-operation field.
The technical solution adopted in the present invention is:
The present invention with patent of invention (Patent Number:US007714836B2) similarity of published patent of invention (Pub.No.:US2008/0291161A1) and success application is: adopt the most conventional linkage of connecting; Use direct current generator to match three degree of freedom force feedback is provided with line transmission speed reducer structure, by the six degrees of freedom of motion of three photoelectric encoders and three angular potentiometer detection force feedback equipments.
The present invention and above-mentioned prior art difference are: the force feedback interactive device based on existing published patent of invention (Pub.No.:US2008/0291161A1) and successful patent of invention (Patent Number:US007714836B2) of applying for, increased a kind of mechanism of autonomous adjustment, direct current generator of this autonomous adjustment mechanism's dependence is the position at balancing pole by balance slide block of the real-time regulation and control of reducing gear, the dead-weight balanced adjusting of realization to mechanism's arm of force feedback interactive device, thus realize the real-time gravity compensation of this equipment.Mechanism by this autonomous adjusting dead weight balance carries out automatic, real-time gravity compensation to force feedback equipment and can greatly improve force feedback and feel true to nature, and while carrying out autonomous adjusting dead weight balance, be that gravity is equilibrated on the pedestal of force feedback equipment as much as possible, avoid or reduced the power of direct current generator for the required generation of gravity compensation, thereby make direct current generator can export larger feedback force, greatly improve the feedback force adjusting function of equipment, improved the rigidity of system; The compare gravity compensation technology of gravity balancing weight, adopt autonomous adjustment mechanism to carry out gravity compensation, can greatly reduce inertia and the friction of system, can also reduce on the impact of whole system working space and mechanical arm flexibility, also to make mechanism design more succinct adding of balancing weight simultaneously simultaneously.
The present invention and above-mentioned prior art have similarity, but those similar just substantially similar.The comparatively special apparatus expensive that causes of material that prior art is used, application scenario or environment are limited, and the versatility of equipment is poor, equipment break down inconvenient dismounting, maintenance and renewal part.Therefore, in order to overcome described defect, the mechanism design that forms the various pieces such as the base mechanism, shoulder mechanism of equipment of the present invention, large arm mechanism, little arm mechanism, wrist mechanism, end effector mechanism, autonomous adjustment mechanism, four photoelectric encoders of four direct current generators, three high accuracy angular potentiometers, be connected and installed, all carried out improvement and bring new ideas.
Base mechanism is comprised of three parts such as base reducing gear, base support platform, base shafts, and photoelectric encoder (10-1) is arranged on direct current generator (8-1) rear portion and forms an integral installation in base support platform; Base reducing gear driving wheel is nested on direct current generator (8-1) output shaft; Wire rope connection base deceleration driving wheel and base deceleration driven pulley form base deceleration device, and the speed reducing ratio of this deceleration device is 10:1.Shoulder mechanism is comprised of shoulder support frame, shoulder rotating shaft, large arm reducing gear, forearm reducing gear, autonomous adjustment reducing gear, six parts of installation fixed component.Fixed component (2-6) is installed to be fixed on autonomous adjustment mechanism and large arm mechanism on fixed component (2-6).Photoelectric encoder (10-2), photoelectric encoder (10-3), photoelectric encoder (10-4) is arranged on respectively motor (8-2) by respective sequence separately, motor (8-3), on motor (8-4), forming three integral body is then arranged on shoulder support frame together, three reducing gear driving wheels are respectively large arm deceleration driving wheels, forearm deceleration driving wheel and autonomous adjustment deceleration driving wheel (2-5-1) are nested in respectively three motors (8-2), the output shaft of motor (8-3) and motor (8-4), and by steel wire rope respectively with large arm reducing gear driven pulley, forearm reducing gear driven pulley, autonomous adjustment deceleration driven pulley forms respectively large arm reducing gear, forearm reducing gear, autonomous adjustment mechanism reducing gear.The speed reducing ratio of these three reducing gears is also 10:1.It is upper that large arm mechanism one end and autonomous adjustment mechanism one end are arranged on respectively fixed component (2-6), and fixed component (2-6) is arranged in shoulder rotating shaft.Large arm mechanism and independently adjustment mechanism lay respectively at shoulder rotating shaft front and back position, around shoulder rotating shaft, rotate.The other one end of large arm mechanism is connected with forearm mechanism one end by large arm rotating shaft, and the forearm mechanism other end is connected by rotating shaft with wrist mechanism one end.End effector is connected with wrist mechanism other one end by rotating shaft.Large arm mechanism, little arm mechanism, wrist mechanism and end effector have certain quality, when people's manual operating end effector carries out force feedback when mutual, described four part institute gravitates of arm mechanism, in staff, easily cause staff to produce fatigue and lose the mutual sense of reality of force feedback.In order to improve gravity effect, introduced autonomous adjustment mechanism.Described autonomous adjustment mechanism relies on the motor (8-4) being arranged on shoulder support frame to drive steel wire rope to match with balanced controls deceleration device and controls the position of balance slide block on balancing pole, utilize lever principle to improve the impact of gravity on staff generation.Independently adjustment mechanism energy adjustment slide block is offset the gravity effect of large arm mechanism, also can improve the gravity effect of forearm, wrist and end effector.When independently adjustment mechanism utilizes lever principle to carry out gravitational equilibrium adjusting to large arm mechanism, partial action power has passed to little arm mechanism by the coupling between mechanism.The little arm mechanism of same reason also can be force transmission to wrist mechanism, wrist mechanism again by force transmission to end effector, end effector again by force transmission to staff.When large arm mechanism, little arm mechanism, wrist mechanism and the end effector difference of present position and angle each other, active force each other also will change.Carrying out force feedback when mutual, the force and motion between large arm mechanism, little arm mechanism, wrist mechanism and end effector exists simultaneously, and the active force producing is each other not decoupling zero, but intercouple, has formed comparatively complicated mechanical relationship.When large arm mechanism, little arm mechanism, wrist mechanism and end effector ground of living in relative position change, independently adjustment mechanism can fully offset and compensate the suffered gravity of whole force feedback equipment mechanical arm in the position of adjustment slide block on balanced controls.Secondly, by introducing autonomous adjustment mechanism, carry out gravity compensation, reduce the gravity compensation of direct current generator for force feedback equipment, thereby made direct current generator fully for the generation of the power of force feedback equipment, greatly improved continuous feedback power and the maximum feedback power of force feedback equipment system.Two high accuracy angular potentiometers are installed in little arm mechanism and wrist mechanism.End effector mechanism is connected with wrist mechanism by rotating shaft.And a high accuracy angular potentiometer is also installed in end effector mechanism.
The present invention can provide Three Degree Of Freedom force feedback, six degrees of freedom of motion the independently force feedback interactive device of regulating connecting rod gravitational equilibrium.Described Three Degree Of Freedom force feedback and six degrees of freedom of motion refer to: the motor that base mechanism is installed and base reducing gear device are used for producing first freedom degree force feedback and first freedom of motion, and the photoelectric coding matching with motor is used for detecting first freedom of motion simultaneously; The motor (8-2) that shoulder mechanism installs at place is matched and produces second freedom degree force feedback and second freedom of motion with large arm deceleration device by steel wire rope, and the photoelectric encoder wherein matching with motor (8-2) is used for detecting second freedom of motion; The motor (8-3) that shoulder mechanism installs at place matches with forearm deceleration device by steel wire rope and produces three degree of freedom force feedback and the 3rd freedom of motion, and the photoelectric encoder wherein matching with motor detects the 3rd freedom of motion; Little arm mechanism and wrist mechanism produce the 4th and the 5th freedom of motion, and two high accuracy angular potentiometers are installed in little arm mechanism and wrist mechanism detect respectively fourth, fifth freedom of motion; End effector mechanism provides six degrees of freedom of motion, and has also installed a high accuracy angular potentiometer and detected six degrees of freedom of motion at this place.
The invention has the beneficial effects as follows:
Compared with prior art have the following advantages: (1) proposes and designed a kind of autonomous adjustment mechanism, position by balance slide block on adjustment bar is carried out gravity compensation during to large arm mechanism, little arm mechanism, wrist mechanism and end effector diverse location of living in, while carrying out gravity compensation by autonomous adjustment mechanism, be that the suffered gravity of whole force feedback equipment is equilibrated to base mechanism position as far as possible.
(2) adopt autonomous adjustment mechanism to carry out gravity compensation and adopt motor to carry out gravity compensation technology completely to compare, greatly reduced motor for the power of the required generation that compensates, thereby make motor can export larger feedback force, greatly improved the feedback force of force feedback equipment and the rigidity of system.
(3) adopting autonomous adjustment mechanism to carry out gravity compensation compares with adopting the compensation technique of gravity balancing weight completely, reduce greatly inertia and the friction of system, reduced adding the impact of whole system working space and mechanical arm flexibility and making mechanism design more succinct of balancing weight simultaneously.
(4) a kind of design of mechanical arm of the force feedback equipment from main regulation gravitational equilibrium copies people's arm to design with reference to Human Engineering Principle, and mechanism design is simple, flexible and convenient operation, and isotropic is good; Have six degrees of freedom of motion, flexible operation, space are large, adopt the locus of high accuracy angular potentiometer and the motion of photoelectric encoder testing agency, and kinematic accuracy and repeatable accuracy are high.
(5) direct current generators and a reducing gear are arranged on base; Other three direct current generators and three reducing gears are all arranged on shoulder mechanism.Four reducing gears all adopt steel wire rope connection principal and subordinate drive to carry out deceleration transmission and substitute traditional gear reduction system, on the driven pulley of each reducing gear, designed steel wire rope pre-tightening device simple and that use, prevent that steel wire rope from skidding, thereby eliminated the defect that has backhaul gap in traditional gear train assembly.Three reducing gears of shoulder adopt triple spindle designs, can make three reducing gears work together and not produce mutually movement interference simultaneously.
(6) force feedback equipment integrated model is compact to design, and the distribution and the each several part that during design, have taken into full account whole system quality are installed symmetry; Secondly, due to the autonomous adjustment of introducing mechanism, make motor fully for the generation of force feedback, needn't, for the compensation of gravity, can select so the lighter motor of the less quality of moment.Therefore, the design of introducing autonomic balance has also reduced inertia and the friction of force feedback equipment.
Accompanying drawing explanation
Fig. 1 is the general illustration of a kind of force feedback interactive device from main regulation gravitational equilibrium of the present invention.
In figure: 1. the little arm mechanism of base mechanism 2. shoulder mechanism 3. large arm mechanism 4.
5. 6. autonomous adjustment mechanisms of end effector mechanism 7. of wrist mechanism;
Fig. 2 is each concrete schematic diagram that forms of a kind of force feedback interactive device from main regulation gravitational equilibrium of the present invention.
In figure: 1-1-1. gripper shoe A 1-1-2. gripper shoe B 1-1-3. gripper shoe C 1-1-4. gripper shoe D 1-2. base shaft 1-3-1 deceleration driving wheel 1-3-2. deceleration driven pulley 2-1-1. bracing frame base plate
2-1-2. left support frame 2-1-3. right support frame 2-3-2. deceleration driven pulley 2-4-1. deceleration driving wheel
The large armed lever part of 2-4-2. deceleration driven pulley 2-5-1. deceleration driving wheel 2-5-2. deceleration driven pulley 3-1.
The large arm steel wire rope of 3-2. rotating shaft 3-3. 4-1. forearm rod member 4-2. potentiometer mounting bracket
5-1. wrist brace 5-2. wrist rotating shaft 6-1. end hand grip 6-2. potentiometer fixed support
7-1. balancing pole 7-2. balance slide block 7-3. pulley 7-4. steel wire rope
8-1. direct current generator 8-3. direct current generator 8-4. direct current generator 9-2. angular potentiometer
10-1. photoelectric encoder 10-2. photoelectric encoder 10-3. photoelectric encoder 10-4. photoelectric encoder;
Fig. 3 is the schematic diagram of the base mechanism (1) of the force feedback interactive device shown in Fig. 1;
In figure: 1-1-1. gripper shoe A 1-1-2. gripper shoe B 1-1-3. gripper shoe C 1-1-4. gripper shoe D
1-2. base shaft 1-3-1 deceleration driving wheel 1-3-2. deceleration driven pulley 8-1. direct current generator
10-1. photoelectric encoder;
Fig. 4 is the structural representation of the gripper shoe A (1-1-1) of the base mechanism shown in Fig. 3 (1);
In figure: 1-1-1. gripper shoe A A-1. rotating shaft through hole A-2. rotating shaft through hole A-3. spacing hole A-4. spacing hole;
Fig. 5 is the structural representation of the deceleration driven pulley (1-3-2) of the base mechanism shown in Fig. 3 (1);
In figure: 1-3-2. deceleration driven pulley 1-3-2-1. cambered surface 1 1-3-2-2. cambered surface hole 2 1-3-2-3. bayonet socket screw 1-3-2-4. bayonet socket screws;
Fig. 6 is the schematic diagram of the shoulder mechanism (2) of the force feedback interactive device shown in Fig. 1;
In figure: 2-1-1. bracing frame base plate 2-1-2. left support frame 2-1-3. right support frame 2-3-1. deceleration driving wheel
2-3-2. deceleration driven pulley 2-4-1. deceleration driving wheel 2-4-2. deceleration driven pulley 2-5-1. deceleration driving wheel
2-5-2. deceleration driven pulley 2-5-3. limit component 2-6. fixed component 2-7. pretension member
2-8. spacing hole 8-2. direct current generator 10-2. photoelectric encoder;
Fig. 7 is the schematic diagram of shoulder rotating shaft (2-2) three sleeves of the shoulder mechanism (2) shown in Fig. 6;
In figure: 2-2. shoulder rotating shaft 2-1-2. left support frame 2-1-3. right support frame 2-1-1. bracing frame base plate 2-2. shoulder rotating shaft 2-2-1. first sleeve 2-2-2. the second sleeve 2-2-3 the 3rd sleeve 2-9. limited block;
Fig. 8 is the schematic diagram of the large arm mechanism (3) of the force feedback interactive device shown in Fig. 1;
In figure: the large armed lever part of 3-1. 3-2. rotating shaft 2-6. fixed component;
Fig. 9 is the internal mechanism schematic diagram of the little arm mechanism (4) of the force feedback interactive device shown in Fig. 1;
In figure: the rotating shaft of 9-1. angular potentiometer 4-1. forearm rod member 4-2. potentiometer mounting bracket 4-3. potentiometer support;
Figure 10 is external agency's schematic diagram of the little arm mechanism (4) of the force feedback interactive device shown in Fig. 1;
In figure: the rotating shaft of 4-1. forearm rod member 4-2. potentiometer mounting bracket 4-3. potentiometer support;
Figure 11 is the outside schematic diagram of angular potentiometer (9-1) of the little arm mechanism (4) of the force feedback interactive device shown in Fig. 1;
In figure: 9-1. angular potentiometer 9-1-1. fixed via 9-1-2 central through hole 9-1-3. fixed via;
Figure 12 is the schematic diagram of the wrist mechanism (5) of the force feedback interactive device shown in Fig. 1;
In figure: 5-1. wrist brace 5-2. wrist rotating shaft 5-3. central through hole 5-4. fixing hole 9-2. angular potentiometer;
Figure 13 is end effector mechanism (6) the external structure schematic diagram of the force feedback interactive device shown in Fig. 1;
In figure: 6-1. end hand grip 6-2. potentiometer fixed support 6-3. fixing hole;
Figure 14 is end effector mechanism (6) the internal structure schematic diagram of the force feedback interactive device shown in Fig. 1;
In figure: 6-1. end hand grip 6-2. potentiometer fixed support 6-4. fixing hole 6-5. arm pivot post 6-6. fixing hole 9-3 angular potentiometer 9-3-3 fixed via;
Figure 15 is autonomous adjustment mechanism (7) schematic diagram of the force feedback interactive device shown in figure;
In figure: the large arm steel wire rope of 2-2. shoulder rotating shaft 2-5-3. limit component 2-6. fixed component 3-1. large armed lever part 3-2. rotating shaft 3-3. 7-1. balancing pole 7-2. balance slide block 7-3. pulley 7-4. steel wire rope.
The specific embodiment
1-15 is described as follows by reference to the accompanying drawings: the present invention is a kind of man-machine interaction force feedback equipment with three degree of freedom force feedback and six spatial movement frees degree, in order to improve gravity effect, has introduced autonomous adjustment mechanism (7).Autonomous adjustment mechanism (7) comprising: four parts of balancing pole (7-1), balance slide block (7-2) and pulley (7-3) and steel wire rope (7-4) form.By this force feedback equipment, by the balance slide block (7-2) on adjustment bar (7-1), each arm connecting rod gravity of this force feedback equipment is compensated.Described autonomous adjustment mechanism relies on the motor (8-4) being arranged on shoulder support frame to drive to match with balanced controls deceleration device by steel wire rope and controls the position of balance slide block on balancing pole, utilizes lever principle to improve the impact of gravity on arm generation.Balanced controls not only can improve the gravity effect of large arm mechanism by adjustment slide block, also can improve the gravity effect of forearm and wrist and end effector.(direct current generator (8-1) produces left and right directions force feedback in Three Degree Of Freedom force feedback, direct current generator (8-2) produces above-below direction force feedback, direct current generator (8-4) produces fore-and-aft direction force feedback), six spatial movement frees degree (are copied staff design, there is side-to-side movement, move up and down, seesaw and the other independent rotation that can form three directions), this force feedback equipment accurately detects the position of force feedback equipment in three dimensions by three photoelectric encoders and three high accuracy current potential meters, the size of feedback force can produce the power of different sizes according to the difference of selected direct current generator.This invention equipment has proposed the method for a kind of novelty, original autonomous adjusting dead weight balance, utilizes the method to design a kind of force feedback interactive device from main regulation gravitational equilibrium.This equipment carries out gravity compensation by introducing autonomous adjustment mechanism, reduced motor for the power of the required generation that compensates, thereby made motor can export larger feedback force, greatly improved the feedback force effect of force feedback equipment.With reference to Human Engineering Principle, copy people's arm to design, mechanism design is simple, flexible and convenient operation, and isotropic is good.Have six degrees of freedom of motion, flexible operation, space are large, adopt the locus of high accuracy angular potentiometer and the motion of photoelectric encoder testing agency, and kinematic accuracy and repeatable accuracy are high.In addition, integrated model is compact to design, and the distribution and the each several part that during design, have taken into full account whole system quality are installed symmetry.Again, due to the autonomous adjustment of introducing mechanism, make motor fully for the generation of force feedback, needn't, for the compensation of gravity, can select so the lighter motor of the less quality of moment.Therefore, the design of introducing autonomic balance has also reduced inertia and the friction of force feedback equipment.This equipment can be applied to the mutual field of force feedback touch feeling and carry out virtual reality human-computer interaction and remote tele-operation technical field, carries out man-machine force feedback and strengthens alternately the telepresenc in reciprocal process.
As Fig. 1, Fig. 2, shown in Fig. 3 and Fig. 6, this force feedback equipment part: by base mechanism (1), shoulder mechanism (2), large arm mechanism (3), little arm mechanism (4), wrist mechanism (5), end effector mechanism (6), autonomous adjustment mechanism (7), four direct current generator (motors (8-1), motor (8-2), motor (8-3) and motor (8-4)), four photoelectric encoder (photoelectric encoders (10-1), photoelectric encoder (10-2), photoelectric encoder (10-3) and photoelectric encoder (10-4)), three high accuracy angular potentiometer (angular potentiometers (9-1), angular potentiometer (9-2) and angular potentiometer (9-3)) form.Described base mechanism (1) is as shown in Figures 2 and 3: by base support platform, base shaft (1-2), base reducing gear, three parts form.Described support platform as shown in Figures 2 and 3, connects and composes support platform by reserved screwed hole with fastened by screw by four gripper shoe A (1-1-1), gripper shoe B (1-1-2), gripper shoe C (1-1-3) and gripper shoe D (1-1-4).Base reducing gear consists of the driving wheel that slows down (1-3-1) and deceleration driven pulley (1-3-2).As shown in Figure 3 and Figure 4, there is a rotating shaft through hole (A-1) support plate A (1-1-1) center, there are three screw twisted rotary shaft through holes (A-1), base shaft (1-2), through rotating shaft through hole (A-1), is fastened on the support plate A upper (1-1-1) of base support platform by these three screws.As shown in Fig. 3, Fig. 4 and Fig. 5, base reducing gear deceleration driven pulley (1-3-2) is discoid, parallel with gripper shoe A (1-1-1) in gripper shoe A (1-1-1) top, deceleration driven pulley (1-3-2) center has a through hole concentric with support plate (A) rotating shaft through hole (A-1), and it is fastening with deceleration driven pulley (1-3-2) center that the rotating shaft through hole (A-1) of a gripper shoe A (1-1-1) is passed through in rotating shaft (1-2).Base deceleration driven pulley (1-3-2) is fixed on rotating shaft (1-2) and above with respect to gripper shoe A (1-1-1), rotates.As shown in Figure 4 and Figure 5, on gripper shoe A (1-1-1), be reserved with spacing aperture (1-3-2) and spacing aperture (A-4), described two spacing apertures by screw come with base deceleration driven pulley (1-3-2) side cambered surface spacing hole (1-3-2-1) and side cambered surface spacing hole (1-3-2-2) in screw interact and limit the anglec of rotation of base deceleration driven pulley (1-3-2).As shown in Figure 3, the output shaft of motor (8-1) is connected with the driving wheel (1-3-1) of base reducing gear (1-3).Described deceleration driving wheel (1-3-1) is hollow cylinder, described deceleration driving wheel (1-3-1) hollow cylinder lateral wall is reserved screwed hole, inside described deceleration driving wheel (1-3-1) hollow cylinder, hollow bore diameter and motor (8-1) output shaft diameter just match, motor (8-1) output shaft can insert hollow bore inside deceleration driving wheel (1-3-1) cylinder just, and by reserved pretension screwed hole outside cylindrical wall, deceleration driving wheel (1-3-1) is fastened on machine shaft.As shown in Figure 3 and Figure 4, together with after motor (8-1) output shaft is fastening with deceleration driving wheel (1-3-1), pass the rotating shaft through hole (A-2) of the gripper shoe A (1-1-1) of base support platform, rotating shaft through hole (A-2) is six reserved apertures around, motor (8-1) relies on these six apertures to be screwed in the bottom of the gripper shoe A (1-1-1) of base support platform, described in this, the diameter of reserved rotating shaft through hole (A-2) is greater than deceleration driving wheel (1-3-1) external diameter slightly, this can not bump and interfere with the support plate A (1-1-1) of base support platform when guaranteeing that the output shaft of deceleration driving wheel (1-3-1) with motor (8-1) rotates.Deceleration driving wheel (1-3-1) is used steel cable to embed in the screwed hole of its outside cylindrical walls to carry out multi-turn winding; Subsequently the two ends of steel wire rope are wrapped in respectively on the circular arc end face of discoid deceleration driven pulley (1-3-2), on deceleration driven pulley (1-3-2) the circular arc end face of base reducing gear in the bayonet socket screw (1-3-2-3) and bayonet socket screw (1-3-2-4) of two fixedly steel wire ropes of having reserved, and utilize pretension screw to carry out sufficient pretension to steel wire rope.Deceleration driving wheel (1-3-1) is fixed on the output shaft of motor (8-1), when motor (8-1) rotates, driving wheel (1-3-1) is just followed motor output shaft and is rotated together, driving wheel (1-3-1) drives reducing gear driven pulley (1-3-2) by wire rope gearing like this, thereby realize the mutual transmission between the principal and subordinate wheel of base reducing gear, final shoulder mechanism (2) the retinue's deceleration driving wheel (1-3-2) that is fixed on reducing gear top that drives rotatablely moves together, thereby produces feedback force and first freedom of motion of left and right directions.
Described shoulder mechanism (2) as shown in Fig. 2, Fig. 6 and Fig. 7, described shoulder mechanism (2) by shoulder support frame, shoulder rotating shaft (2-2), large arm reducing gear, forearm reducing gear, autonomous adjustment reducing gear, install fixed component (2-6) totally six parts form.Shoulder support frame is comprised of shoulder support frame base plate (2-1-1), left shoulder support frame (2-1-2) and right shoulder support frame (2-1-3) three parts.Shoulder support frame base plate (2-1-1) is fixed on discoid deceleration driven pulley (1-3-2) upper of base reducing gear.It is upper that left shoulder support frame (2-1-2) and right shoulder support frame (2-1-3) the first from left right side are arranged on shoulder support frame base plate (2-1-1), and it is also fastening on it that shoulder rotating shaft (2-2) connects left shoulder support frame (2-1-2) and right shoulder support frame (2-1-3) from left to right.Shoulder rotating shaft 2-2 connects left shoulder support frame 2-1-2 and right shoulder support frame 2-1-3 fastening on it from left to right.As shown in Figure 6 and Figure 7, large arm reducing gear, forearm reducing gear and autonomous adjustment reducing gear are all by deceleration driving wheel with see that driven pulley two parts form, and are described as respectively: large arm deceleration driving wheel (2-3-1) and greatly arm deceleration driven pulley (2-3-2); Forearm deceleration driving wheel (2-4-1) and forearm deceleration driven pulley (2-4-2); Autonomous adjustment deceleration driving wheel (2-5-1) and autonomous adjustment deceleration driven pulley (2-5-2).Large arm deceleration driven pulley (2-3-2), forearm mechanism driven pulley (2-4-2) and autonomous adjustment deceleration driven pulley (2-5-2) are to be all semicircle dish-type, are parallel to each other and are arranged on shoulder rotating shaft (2-2).Forearm deceleration driven pulley (2-4-2) is arranged near left shoulder support frame (2-1-2) and locates.Autonomous adjustment deceleration driven pulley (2-5-2) is arranged near right shoulder support frame (2-1-3).Large arm deceleration driven pulley (2-3-2) is arranged in the rotating shaft between forearm deceleration driven pulley (2-4-2) and autonomous adjustment deceleration driven pulley (2-5-2).As shown in Figure 7, shoulder rotating shaft (2-2) is that three cover rotating shafts form: the first sleeve (2-2-1), the second sleeve (2-2-2) and the 3rd sleeve (2-2-3).First set rotating shaft (2-2-1), near left shoulder support frame (2-1-2), is fixed with forearm deceleration driven pulley (2-4-2) and pretension and builds (2-7) in first set rotating shaft (2-2-1).When forearm reducing gear driven pulley (2-4-2) drives first sleeve (2-2-1) of shoulder rotating shaft (2-2) to rotate, only have pretension to build (2-7) the first sleeve (2-2-1) rotation subsequently, other reducing gears and the structure part of shoulder rotating shaft (2) upper (or in the second cover rotating shaft (2-2-2) and the 3rd cover rotating shaft (2-2-3)) can not be subject to the impact that first set rotating shaft (2-2-1) is rotated.Same reason, the close right shoulder support frame (2-1-3) of the second rotating shaft (2-2-2), and coaxial with first set rotating shaft (2-2-1).In the second cover rotating shaft (2-2-1), be fixed with autonomous adjustment deceleration driven pulley (2-5-2) and spacing structure (2-5-3), when autonomous adjustment deceleration driven pulley (2-5-2) rotates together by the spacing structure (2-5-3) that rotarilys actuate the second cover rotating shaft (2-2-2) and be fixed in the second cover rotating shaft, upper other reducing gears of shoulder rotating shaft (2) and structure part can not be subject to the impact of the second cover rotating shaft (2-2-2).The 3rd cover rotating shaft (2-2-3) is usingd the outer shaft of the second cover rotating shaft (2-2-2) as axle, is arranged on the second cover rotating shaft (2-2-2).Large arm deceleration driven pulley (2-3-2) and fixing build (2-6) are installed in the 3rd cover rotating shaft (2-2-3), when large arm deceleration driven pulley (2-3-2) rotates, the 3rd cover rotating shaft (2-2-3) and fixed component (2-6) will rotate with large arm deceleration driven pulley (2-3-2).Large arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1) are all hollow cylinder shape, their cylindrical wall outside is the multi-turn screwed hole of reserved lay winding wire ropes in advance all, and hollow bore diameter and direct current generator (8-2), direct current generator (8-3) and direct current generator (8-4) output shaft diameter match respectively inside cylindrical wall.It is upper that direct current generator (8-2) and direct current generator (8-3) are fixed on left shoulder support frame (2-1-2), and direct current generator (8-4) is fixed on right shoulder support frame (2-1-3).Direct current generator (8-2), direct current generator (8-3) and direct current generator (8-4) output shaft separately insert respectively hollow bore inside large arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1) cylinder, and by they the reserved pretension screwed hole in cylindrical wall outside by large arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and independently adjustment deceleration driving wheel (2-5-1) be fastened on separately accordingly on machine shaft.Large arm deceleration driving wheel (2-3-1), forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1) are used steel cable (totally three steel wire ropes) to embed it in screwed hole of outside cylindrical walls, to carry out multi-turn winding separately separately, subsequently by described large arm deceleration driving wheel (2-3-1), on forearm deceleration driving wheel (2-4-1) and autonomous adjustment deceleration driving wheel (2-5-1), the two ends of the steel wire rope that multi-turn is wound around are separately wrapped in respectively each self-corresponding large arm deceleration driven pulley (2-3-2), forearm deceleration driven pulley (2-4-2) and autonomous adjustment deceleration driven pulley (2-5-2) are on the circular arc end face of semi-disc, described three driven pulleys are separately on the circular arc end face of semi-disc and are all reserved with two fixedly bayonet socket screws of steel wire rope, and utilize pretension screw to carry out sufficient pretension (installing similar to base reducing gear) to steel wire rope separately.Reducing gear driving wheel (2-3-1), driving wheel (2-4-1) and driving wheel (2-5-1) are separately fixed at direct current generator (8-2), on the output shaft of direct current generator (8-3) and direct current generator (8-4), as direct current generator (8-2), when direct current generator (8-3) and direct current generator (8-4) rotate, described deceleration driving wheel (2-3-1), deceleration driving wheel (2-4-1) and deceleration driving wheel (2-5-1) are just followed corresponding direct current generator output shaft separately and are rotated together, described like this deceleration driving wheel (2-3-1), deceleration driving wheel (2-4-1) and deceleration driving wheel (2-5-1) are by each self-corresponding deceleration driven pulley (2-3-2) of Steel rope drive separately, deceleration driven pulley (2-4-2) and deceleration driven pulley (2-5-2), thereby realize the mutual transmission of the deceleration driving wheel between reducing gear and deceleration driven pulley separately, final and drive is fixed on the large arm mechanism (3) on reducing gear top, little arm mechanism (4) and autonomous adjustment mechanism (7) are with driven pulley (2-3-2) separately, driven pulley (2-4-2) and driven pulley (2-5-2) rotatablely move together.As shown in Figure 6, on deceleration driven pulley (2-4-2), be separately in addition and in semicircle card, be reserved with spacing hole (2-8), at reducing gear driven pulley (2-4-2), also have other two spacing holes similar with spacing hole (2-8) in addition, do not mark in the drawings, on reducing gear driven pulley (2-3-2), driven pulley (2-5-2), also each has three spacing holes by oneself equally, these six spacing holes and spacing hole (2-8) are similar not to be marked in the drawings yet, and the object of these spacing holes is all to use and limit the anglec of rotation of driven pulley separately for attachment screw.On left support frame fixedly direct current generator (8-2) part to have a slight protrusion limited block (2-9) be for coordinating spacing hole on deceleration driven pulley (2-3-2) and additional screw to carry out spacing to deceleration driven pulley (2-3-2).Photoelectric encoder 10-2, photoelectric encoder (10-3), photoelectric encoder (10-4) are arranged on respectively motor (8-2), motor (8-3) and motor (8-4) rear portion, are used for calculating separately the anglec of rotation of direct current generator output revolving shaft or driving wheel accordingly.Fixing build (2-6) of installation that is used for fixing large arm mechanism (3) and autonomous adjustment mechanism (7) is housed in shoulder rotating shaft (2-2), this fixing build (2-6) is fixed in shoulder rotating shaft (2-2), be positioned between forearm reducing gear driven pulley (2-4-2) and large arm reducing gear driven pulley (2-3-2), the large arm deceleration driven pulley (2-3-2) of distance is more close, in addition at upper close fixing (2-6) the other limited location structure (2-5-3) that builds of installing of shoulder rotating shaft (2-2), on this spacing structure (2-5-3), be reserved with spacing hole, the shackle line that can be used in installation and the autonomous adjustment of pretension mechanism (7), this spacing structure (2-5-3) together with autonomous adjustment deceleration driven pulley (2-5-2) the autonomous adjustment of rotating drive mechanism (7) thus in shackle line driven equilibrium mechanism (7) in balance slide block (7-2).Pretension is housed in addition on axle (2-2) and builds (2-7), at described pretension, build and on (2-7), leave the pre-tieholen of steel wire rope the shackle line of little arm mechanism is fixed to the effect with pretension effect shackle line.
As shown in Figure 8 and Figure 9, described large arm mechanism (3) is by large armed lever part (3-1), and rotating shaft (3-2) and large arm steel wire rope (3-3) form.It is upper that large armed lever part (3-1) is screwed in fixing structure (2-6), and fixing build (2-6) is fixed on the 3rd sleeve (2-2-3) of rotating shaft (2-2).When the driving wheel (2-3-1) that slows down on direct current generator (8-2) output shaft rotates by winding Steel rope drive deceleration driven pulley (2-3-2) thereon, drive the 3rd sleeve (2-2-3) and drive large armed lever part (3-1) rotation and feedback force and second freedom of motion of generation above-below direction thereby rotation drive is fixed on the fixedly structure (2-6) on the 3rd sleeve (2-2-3).Direct current generator (8-2) rear portion is provided with photoelectric encoder, can monitor accurately turned position and the angle of motor by photoelectric encoder, can calculate the angle of large armed lever part (3-1) rotation by the speed reducing ratio 10:1 of reducing gear.
As shown in Figure 9 and Figure 10, described little arm mechanism (4) is by forearm rod member (4-1), and potentiometer mounting bracket (4-2), potentiometer support rotating shaft (4-3) and angular potentiometer (9-1) form.Forearm rod member (4-1) one end has big hole place by the rotating shaft (3-2) of large arm mechanism (3), to be fixed on the end of large armed lever part (3-1).Steel wire rope (3-3) one end is wrapped in rotating shaft (3-2), the fixing hole reserved by rotating shaft (3-2) is fixed on steel wire rope in rotating shaft (3-2), the other one end of steel wire rope is fixed on pretension and builds (2-7) above, and pretension builds (2-7) and is arranged in the first set rotating shaft (2-2-1) of shoulder rotating shaft (2-2).When on direct current generator (8-3) output shaft, reducing gear driving wheel (2-4-1) rotates by winding Steel rope drive reducing gear driven pulley (2-4-2) thereon, driving first set rotating shaft (2-2-1) thereby rotating drives the pretension being fixed on the first sleeve (2-2-1) to build (2-7), thereby drive the steel wire rope (3-3) on large arm mechanism, this steel wire rope (3-3) drives rotating shaft on large arm mechanism (3-2) to rotate, on large arm mechanism, rotating shaft (3-2) drives forearm rod member (4-1) around rotating shaft (3-2) rotation on large arm mechanism (3), to produce feedback force and the 3rd freedom of motion of fore-and-aft direction.Direct current generator (8-3) rear portion is provided with photoelectric encoder (10-3), by photoelectric encoder (10-3), can detect accurately turned position and the angle of motor (8-3), by the speed reducing ratio of reducing gear, calculate the angle of forearm rod member (3-1) rotation.As shown in Fig. 9 and Figure 11; the upper potentiometer mounting bracket (4-2) of little arm mechanism (4) is comprised of upper and lower two parts; it is upper that high accuracy current potential meter (9-1) is arranged on potentiometer mounting bracket (4-2), and be fixed on mounting bracket 4-2 by fixed via (9-1-1).High accuracy current potential meter 9-1 is flattened cylindrical shape, there is a central through hole (9-1-2) centre, this central through hole (9-1-2) sideway swivel outside the flattened cylindrical of potentiometer 9-1, the axle of potentiometer support rotating shaft (4-3) inserts high accuracy current potential meter 9-1 central through hole (9-1-2) and is fixed on the axle of potentiometer support rotating shaft (4-3) by fixed via (9-1-3), when the axle of potentiometer support rotating shaft (4-3) rotates, will drive high accuracy current potential meter (9-1) to rotate and also form the 4th freedom of motion simultaneously, the angle of high precision potentiometer (9-1) detection angles rotation accurately.
As shown in figure 12, wrist mechanism (5) is comprised of wrist brace (5-1), wrist rotating shaft (5-2).Wherein in wrist brace (5-1), there are central through hole (5-3) and fixing hole (5-4).High accuracy current potential meter (9-2) is arranged on wrist brace (5-1) side, and by fixing hole (5-4), potentiometer is fixed in wrist brace.Forearm potentiometer support rotating shaft (4-3) is passed the central through hole (5-3) in the wrist brace (5-1) of wrist mechanism (5) and is fixed in wrist brace (5-1).Wrist brace (5-1) has also formed the 5th freedom of motion simultaneously around forearm potentiometer support rotating shaft (4-3) rotation, and utilizes the high accuracy current potential meter (9-1) being arranged on potentiometer mounting bracket (4-2) to detect the anglec of rotation of wrist mechanism.
As shown in Figure 13 and Figure 14, end effector mechanism (6) is comprised of end hand grip (6-1), potentiometer fixed support (6-2) and arm pivot post (6-5).On potentiometer fixed support (6-2), there are two fixing holes (6-3) and fixing hole (6-4).On arm pivot post, there is fixing hole (6-6).End effector mechanism (6) is connected with the wrist rotating shaft (5-2) of wrist mechanism (5) with fixing hole (6-4) by the end fixing hole (6-3) on it.The upper high accuracy current potential meter (9-2) of installing of wrist brace (5-1) can detect the anglec of rotation of wrist rotating shaft accurately, thereby can detect accurately end effector mechanism around the anglec of rotation of wrist rotating shaft (5-2).End hand grip (6-1) is used fixing hole (6-6) to be fixedly connected with arm pivot post (6-5), (angle current potential (9-1), angle current potential (9-1) and angle current potential (9-1) meter are all the same to the central through hole of arm pivot post (6-5) insertion high accuracy current potential meter (9-3), can be referring to the schematic diagram of Figure 11 angular potentiometer (9-1)), by fixed via (9-3-3) on described potentiometer, potentiometer is fixed on arm pivot post (6-5).Potentiometer (9-3) is same type potentiometer (concrete figure is referring to Figure 11) with potentiometer (9-1) and potentiometer (9-2), be flat hollow cylinder dress, cylinder madial wall can rotate with respect to cylinder lateral wall, when arm pivot post rotates, drive potentiometer to form six degrees of freedom of motion around arm pivot post (6-5) rotation simultaneously, thereby can record accurately the angle of arm pivot post (6-5) rotation.
As shown in figure 12, autonomous adjustment mechanism (7) by balancing pole (7-1), balance slide block (7-2) form, pulley (7-3) and steel wire rope (7-4) four parts form.Balancing pole (7-1) is very smooth, and balance slide block (7-2) can be upper with respect to balancing pole slip at balancing pole (7-1), and due to very smooth, between them, friction is very small.Balancing pole (7-1) one end is provided with two pulleys (7-3).In balance slide block (7-2), there are two apertures, steel wire rope (7-4) is looped around on spacing structure (2-5-3), one end is from sliding anterior aperture around the fixing balance slide block (7-2) of inserting in balancing pole (7-1) top, steel wire rope (7-4) in addition one end continues around balancing pole top after two pulleys (7-3) around balancing pole bottom and around passing through, and inserts in the aperture at balance slide block (7-2) rear portion.Three apertures are arranged at balance slide block (7-2) top, can be used for the steel wire rope of fastening insertion balance slide block (7-2) front and rear, and by steel wire rope (7-4) pretension.Balanced controls 7 are connected by screw with fixed component (2-6) by balancing pole (7-1).Direct current generator (8-4) output shaft drives autonomous adjustment deceleration driving wheel (2-5-1), deceleration driving wheel (2-5-1) drives autonomous adjustment deceleration driven pulley (2-5-2) by the steel wire rope being wound around thereon, described deceleration driven pulley (2-5-2) is the second cover rotating shaft (2-2-2) of drive shaft (2-2) again, and spacing structure (2-5-3) is fixed on the second sleeve (2-2-2).When motor (8-4) drives reducing gear driven pulley (2-5-2) by driving wheel (2-5-1), described reducing gear driven pulley (2-5-2) drives the second rotating shaft (2-2-2), the second rotating shaft (2-2-2) drives spacing structure (2-5-3), spacing structure (2-5-3) drives steel wire rope fixed thereon (7-4), leash dynamic balance slide block (7-2) by steel wire rope (7-4) above slides at balancing pole (7-1), reaches and changes the position of balance slide block (7-2) on balancing pole (7-1).Adjustment slide block (7-2) position utilizes is the lever principle of balancing pole (7-1) when large arm mechanism (3) is produced to leverage, and partial action power has passed to little arm mechanism (4) by the coupling between mechanism.The little arm mechanism of same reason (4) also can be force transmission to wrist mechanism (5), wrist mechanism (5) again by force transmission to end effector mechanism (6), end effector mechanism (6) give to handle force transmission again the staff of end effector handle (6-1).When large arm mechanism (3), little arm mechanism (4), wrist mechanism (5) is different due to mutual residing position with end effector mechanism (6) and the difference of angle, active force each other also will change.Carrying out actual force feedback when mutual, in the time of force and motion, existing, the active force producing is each other not decoupling zero, but intercouple, has formed complicated mechanical relationship.So, by designing autonomous adjustment mechanism (7), in the time of can changing for large arm mechanism (3), little arm mechanism (4), wrist mechanism (5) and end effector mechanism (6) present position, the position of adjustment slide block (7-2) fully compensates the suffered gravity of whole arm.
In the present invention, the motor that the steel wire rope adopting is conventional steel wire rope, adopt is DC servo motor.The machine operation of adjustment slide block (7-2) position is under speed and position control mode, and other three for providing the machine operation of feedback force at current-mode, by controlling the size of current of electric size adjustment feedback force.
When a kind of force feedback interactive device of autonomous adjusting dead weight balance is during in reverse drive state, the end hand grip (6-1) of the hand-held end effector of operator mechanism (6) moves at space free.Now, autonomous adjustment mechanism (7) can carry out automatically gravity compensation and be described as: as shown in Figure of description (12), adjustment slide block (7-2) position utilizes is the lever principle of balancing pole (7-1) when large arm mechanism (3) is produced to leverage, and partial action power has passed to little arm mechanism (4) by the coupling between mechanism.The little arm mechanism of same reason (4) also can be force transmission to wrist mechanism (5), wrist mechanism (5) again by force transmission to end effector mechanism (6), end effector mechanism (6) give to handle force transmission again the staff of end effector handle (6-1).When large arm mechanism (3), little arm mechanism (4), wrist mechanism (5) is different due to mutual residing position with end effector mechanism (6) and the difference of angle, active force each other also will change.Carrying out actual force feedback when mutual, in the time of force and motion, existing, the active force producing is each other not decoupling zero, but the transmission of power.So, by designing autonomous adjustment mechanism (7), in the time of can changing for large arm mechanism (3), little arm mechanism (4), wrist mechanism (5) and end effector mechanism (6) present position, the position of adjustment slide block (7-2) fully compensates the suffered gravity of whole arm.
Subsequently, when this force feedback equipment is during in forward drive state, system can be utilized the size that calculates the suffered feedback force of the hand-held end hand grip of operator (6-1) by dynamics, and producing three direction feedback forces by three motor actings in conjunction, staff just can be felt the feedback force of three directions of outside like this.Because the feedback force acting in conjunction of these three directions is on the hand-held end hand grip of operator on (6-1), staff just can feel that by end hand grip (6-1) three-dimensional that the feedback force of three directions forms make a concerted effort, final this makes a concerted effort to be only the feedback force that staff is really felt, also produced three freedoms of motion simultaneously:
1, first feedback force produces: the driving wheel (1-3-1) that slows down is as shown in Figure 2 used steel cable to embed in the screwed hole of its outside cylindrical walls to carry out multi-turn winding; Subsequently the two ends of steel wire rope are wrapped in respectively on the circular arc end face of deceleration driven pulley (1-3-2) disk, on deceleration driven pulley (1-3-2) circular arc end face in the bayonet socket screw (1-3-2-3) and bayonet socket screw (1-3-2-4) of two fixedly steel wire ropes of having reserved, and utilize pretension screw to carry out sufficient pretension to steel wire rope.Deceleration driving wheel (1-3-1) is fixed on the output shaft of motor (8-1), when motor (8-1) rotates, deceleration driving wheel (1-3-1) is just followed motor output shaft and is rotated together, deceleration driving wheel (1-3-1) drives deceleration driven pulley (1-3-2) by wire rope gearing like this, thereby realize the mutual transmission between base reducing gear driving wheel and driven pulley, the shoulder mechanism (2) that final and drive is fixed on reducing gear top rotatablely moves with driven pulley (1-3-2), thereby produces feedback force and first freedom of motion of left and right directions.
2, second feedback force produces: as shown in accompanying drawing 2 and accompanying drawing 8, described large arm mechanism (3) is by large armed lever part (3-1), and rotating shaft (3-2) and steel wire rope (3-3) form.It is upper that large armed lever part (3-1) is screwed in fixing structure (2-6), and fixing build (2-6) is fixed on the 3rd sleeve (2-2-3) of rotating shaft (2-2).When reducing gear driving wheel (2-3-1) rotates by winding Steel rope drive reducing gear driven pulley (2-3-2) thereon on direct current generator (8-2) output shaft, drive the 3rd sleeve (2-2-3) and drive large armed lever part (3-1) rotation and feedback force and second freedom of motion of generation above-below direction thereby rotation drive is fixed on the fixedly structure (2-6) on the 3rd sleeve (2-2-3).
3, the 3rd feedback force produces: as shown in Fig. 2, Fig. 6 and Fig. 9, forearm rod member (4-1) one end has big hole place by large arm mechanism rotating shaft (3-2), to be fixed on the end of large armed lever part (3-1).Steel wire rope (3-3) one end is wrapped in rotating shaft (3-2), the fixing hole reserved by rotating shaft (3-2) is fixed on steel wire rope in rotating shaft (3-2), the other one end of steel wire rope is fixed on pretension and builds (2-7) above, and pretension builds (2-7) and is arranged in the first set rotating shaft (2-2-1) of rotating shaft (2-2).When on direct current generator (8-3) output shaft, reducing gear driving wheel (2-4-1) rotates by winding Steel rope drive reducing gear driven pulley (2-4-2) thereon, driving first set rotating shaft (2-2-1) thereby rotating drives the pretension being fixed on the first sleeve (2-2-1) to build (2-7), thereby drive the steel wire rope (3-3) on large arm mechanism, this steel wire rope (3-3) drives rotating shaft on large arm mechanism (3-2) to rotate, and on large arm mechanism, rotating shaft (3-2) drives forearm rod member around rotating shaft rotation on large arm mechanism, to produce feedback force and the 3rd freedom of motion of fore-and-aft direction.Other three freedoms of motion are described as follows:
4, the 4th freedom of motion: the upper potentiometer mounting bracket (4-2) of little arm mechanism (4) is comprised of upper and lower two parts as shown in Fig. 9, Figure 10 and Figure 11, it is upper that high accuracy current potential meter (9-1) is arranged on potentiometer mounting bracket (4-2), and be fixed on mounting bracket (4-2) by fixed via (9-1-1).As shown in figure 11, high accuracy current potential meter (9-1) is flattened cylindrical shape, there is a central through hole (9-1-2) centre, this central through hole (9-1-2) sideway swivel outside the flattened cylindrical of potentiometer (9-1), the axle of potentiometer support rotating shaft (4-3) inserts high accuracy current potential meter (9-1) central through hole (9-1-2) and is fixed on the axle of potentiometer support rotating shaft (4-3) by fixed via (9-1-3), will drive high accuracy current potential meter (9-1) to rotate and also form the 4th freedom of motion simultaneously when the axle of potentiometer support rotating shaft (4-3) rotates.
5, the 5th freedom of motion: as shown in figure 12, wrist mechanism (5) is comprised of wrist brace (5-1), wrist rotating shaft (5-2).Wherein in wrist brace (5-1), there are central through hole (5-3) and fixing hole (5-4).High accuracy current potential meter (9-2) is arranged on wrist brace (5-1) side, and by fixing hole (5-4), potentiometer is fixed in wrist brace.Forearm potentiometer support rotating shaft (4-3) is passed the central through hole (5-3) in the wrist brace (5-1) of wrist mechanism (5) and is fixed in wrist brace (5-1).Wrist brace (5-1) has also formed the 5th freedom of motion simultaneously around forearm potentiometer support rotating shaft (4-3) rotation.
6, six degrees of freedom of motion: as shown in Figure 13 and Figure 14, end hand grip (6-1) is used fixing hole (6-6) to be fixedly connected with arm pivot post (6-5), arm pivot post (6-5) inserts the central through hole (9-3-2) of high accuracy current potential meter (9-3), by fixed via on potentiometer (9-3-3), potentiometer is fixed on arm pivot post (6-5).Potentiometer (9-3) is same type potentiometer (concrete figure is referring to Figure 11) with potentiometer (9-1) and potentiometer (9-2), be flat hollow cylinder dress, cylinder madial wall can rotate with respect to cylinder lateral wall, drives potentiometer to form six degrees of freedom of motion around arm pivot post (6-5) rotation when arm pivot post rotates simultaneously.
Claims (1)
1. a force feedback interactive device for autonomous adjusting dead weight balance, comprises base mechanism, series connection linkage, direct current generator, line transmission speed reducer structure, photoelectric encoder, angular potentiometer, it is characterized in that:
(1), described equipment has increased a kind of autonomous adjustment mechanism, direct current generator of this autonomous adjustment mechanism's dependence is the position at balancing pole by balance slide block of the real-time regulation and control of reducing gear, the dead-weight balanced adjusting of realization to mechanism's arm of force feedback interactive device, thus realize the real-time gravity compensation of this equipment;
(2), described equipment comprises base mechanism, shoulder mechanism, large arm mechanism, little arm mechanism, wrist mechanism, end effector mechanism, autonomous adjustment mechanism, the first direct current generator, the second direct current generator, the 3rd direct current generator, the 4th direct current generator, the first photoelectric encoder, the second photoelectric encoder, the 3rd photoelectric encoder, the 4th photoelectric encoder and three high accuracy angular potentiometers, the structure of this force feedback interactive device is:
Base mechanism is comprised of base reducing gear, base support platform, base shaft three parts, the first photoelectric encoder (10-1) is arranged on the first direct current generator (8-1) rear portion and forms an integral installation in base support platform, base reducing gear driving wheel (1-3-1) is nested on the first direct current generator (8-1) output shaft, wire rope connection base reducing gear driving wheel (1-3-1) and base reducing gear driven pulley (1-3-2) form base deceleration device, and the speed reducing ratio of this deceleration device is 10:1;
Shoulder mechanism is comprised of shoulder support frame, shoulder rotating shaft, large arm reducing gear, forearm reducing gear, autonomous adjustment reducing gear, six parts of installation fixed component, fixed component (2-6) is installed to be fixed on autonomous adjustment mechanism and large arm mechanism on fixed component (2-6), the second photoelectric encoder (10-2), the 3rd photoelectric encoder (10-3), the 4th photoelectric encoder (10-4) is arranged on respectively the second direct current generator (8-2) by respective sequence separately, the 3rd direct current generator (8-3), on the 4th direct current generator (8-4), forming three integral body is then arranged on shoulder support frame together, large arm reducing gear driving wheel (2-3-1), forearm reducing gear driving wheel (2-4-1) and autonomous adjustment reducing gear driving wheel (2-5-1) are nested in respectively the second direct current generator (8-2), the output shaft of the 3rd direct current generator (8-3) and the 4th direct current generator (8-4), and respectively by steel wire rope and large arm reducing gear driven pulley (2-3-2), forearm reducing gear driven pulley (2-4-2), autonomous adjustment mechanism's deceleration driven pulley (2-5-2) forms large arm deceleration device, forearm deceleration device, autonomous adjustment mechanism deceleration device, the speed reducing ratio of these three deceleration devices is also 10:1, it is upper that large arm mechanism one end and autonomous adjustment mechanism one end are arranged on respectively fixed component (2-6), and fixed component (2-6) is arranged in shoulder rotating shaft (2-2), large arm mechanism and independently adjustment mechanism lay respectively at shoulder rotating shaft (2-2) front and back position, around shoulder rotating shaft (2-2), rotate, the other one end of large arm mechanism is connected with forearm mechanism one end by rotating shaft, and the forearm mechanism other end is connected by rotating shaft with wrist mechanism one end, end effector is connected with wrist mechanism other one end by rotating shaft,
Autonomous adjustment mechanism relies on the 4th direct current generator (8-4) that is arranged on the shoulder support frame position of control balance slide block on balancing pole of matching with autonomous adjustment mechanism deceleration device, when large arm mechanism, little arm mechanism, wrist mechanism and end effector present position change, independently adjustment mechanism can fully offset and compensate the suffered gravity of whole force feedback equipment mechanical arm in the position of adjustment slide block on balanced controls;
Large arm mechanism, little arm mechanism join end to end by rotating shaft, and little arm mechanism is connected with wrist mechanism by rotating shaft; Two high accuracy angular potentiometers are installed in wrist mechanism, and end effector mechanism is connected with wrist mechanism by rotating shaft, and a high accuracy angular potentiometer is also installed in end effector mechanism.
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