CN104669299B - A kind of power feel operator with mechanical arm - Google Patents
A kind of power feel operator with mechanical arm Download PDFInfo
- Publication number
- CN104669299B CN104669299B CN201510024433.5A CN201510024433A CN104669299B CN 104669299 B CN104669299 B CN 104669299B CN 201510024433 A CN201510024433 A CN 201510024433A CN 104669299 B CN104669299 B CN 104669299B
- Authority
- CN
- China
- Prior art keywords
- joint
- drive
- motor
- angular transducer
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a kind of power feel operator with mechanical arm, it comprises six cradle heads, and therefore it has six-freedom degree.The series connection connecting rod mode using similar industrial mechanical arm is arranged, the first joint is at bottommost, and the 6th joint is at least significant end.Second and third joint have employed the arrangement of parallel linkage, 3rd joint motor is positioned on rotating disk, angular transducer is placed in joints axes, and this mode, while ensure that positional precision and the rigidity of structure, also reduces the rotary inertia of structure.Below in three joints, use the rope transmission mechanism with tensioner, it is ensured that in the case of gapless, it is provided that big force feedback ability；Three joints above use integral drive to drive.From the first joint to the connected mode at the joint shaft in the 5th joint being all the U-shaped shift fork used, it is ensured that structural strength and precision.
Description
Technical field
The present invention relates to a kind of mechanics operator, specifically, be holding of a kind of multivariant, band force feedback ability
Hold formula mechanical arm general power feel operator.
Background technology
Along with communication technology, computer technology and large-scale integrated electronic technology are the filling of the later stage seventies in last century
Distribution exhibition so that the demand of teleoperation is strengthened, the development of master-slave equipment the most gradually become popular direction, along with
The quick emergence of virtual reality technology, master-slave mode remote operating also there occurs some substantial changes.Today, teleoperation
The most mutually merge with virtual interacting technology, and develop rapidly.And the invention of this equipment has relied on master-slave mode distant the most just
Operating technology and the achievement of virtual interacting technology development.
General power feels that operator can divide according to the feature of version: 1. power feel operator based on series connection connecting rod；
2. power feel operator based on connecting rod in parallel；3. based on the power feel operator that linear motion is secondary；4. power based on exoskeleton-type is felt
Operator；5. based on line trail-type power feel operator.
But, mostly general remote operating equipment and the control object of dynamic sensing interexchanging operator are that some are compared with lower-mobility, little
Dummy object in the equipment in kind of inertia or virtual environment, these controlled devices itself can with feedback position, speed or
The information of person's power is to operator, it is achieved accurate force teleprence and force feedback precision.This result also in these dynamic sensing interexchangings behaviour
The work space making device is little, force feedback is limited in one's ability, is unfavorable for the shortcoming gripped.And if device to be controlled is all to have greatly
Quality, large inertia, big rigidity and the mechanical arm of low speed low frequency or crane.And the most also cannot install on these main equipments
The sensor of oneself state can be fed back.Therefore, general operator equipment is difficult to apply to this field.This invention for apparatus is just
In order to make up traditional power feel operation equipment deficiency in these areas.Due to the difference of control object, so this equipment is setting
The various performance indications paid close attention to during meter, also differ from other equipment.Especially in work space, feedback force size, hold
Holding the aspect such as mode and versatility, traditional power feels that operator is many cannot meet requirement, and meanwhile, the difference paying close attention to index is also led
Cause the difference of version.
Summary of the invention
It is an object of the invention to design a kind of multivariant, the mechanical arm general power feel operation of band force feedback ability
Device, is a kind of based on series connection bar linkage structure, uses palm grip mode to operate, have big work space, have big feedback
The universal power of the multiple degrees of freedom of power feels operator, is mainly used in the operation of large scale computer mechanical arm, large-scale many free crane operations
And the field such as virtual environment interactive simulation.
The present invention has the power feel operator of mechanical arm, comprises six cradle heads, and therefore it has six-freedom degree.Adopt
Arranging with the series connection connecting rod mode of similar industrial mechanical arm, the first joint is at bottommost, and the 6th joint is at least significant end.Second and third
Joint have employed the arrangement of parallel linkage, is positioned on rotating disk by the 3rd joint motor, but angle sensor is had a high regard for
It is placed in joints axes, while ensure that positional precision and the rigidity of structure, also reduces the rotary inertia of structure.Below
In three joints, use the rope transmission mechanism with tensioner, it is ensured that in the case of gapless, it is provided that big force feedback energy
Power；Three joints above use integral drive to drive.From the first joint at the joint shaft in the 5th joint being all use U-shaped
The connected mode of shift fork, it is ensured that structural strength and precision.
In the present invention, the 6th joint control of distalmost end the yaw freedom in terminal angle, and it is by operating handle, power
Torque motor and angular transducer are constituted, and motor is linked in sequence in rotor shaft direction with angular transducer, and the kind of drive is direct
Drive；Be connected with the 6th joint is the 5th joint.
The main body in the 5th joint is a U-shaped shift fork, the two ends of shift fork fixed drive motor and angular transducer respectively；The
The axle in five joints is connected by the main part in screw and the 6th joint.6th joint is the most adjustable with the position in the 5th joint
Joint；5th joint uses the mode directly driven, motor and angular transducer to be respectively arranged the two ends in rotating shaft；5th joint control
Make the pitch freedom of terminal angle.
4th joint control the rolling degree of freedom of terminal angle, is connected by the shift fork in connecting rod and the 5th joint, the 4th
On joint, torque motor is linked in sequence in rotor shaft direction with angular transducer, and the kind of drive is directly to drive.
3rd joint and second joint control two position freedoms of end respectively；3rd joint is divided with second joint
Being distributed in two rotating shafts of parallel rod structure, the 3rd joint is in top position, close with the 4th joint, second joint under
Orientation is put；The angular transducer in the 3rd joint is fixed on joint shaft upwards, but, drive motor to be positioned on the rotating disk of lower section,
The driving force of motor is delivered on the 3rd joint with parallel bar linkage structure by rope transmission mechanism；The angular transducer of second joint
It also is secured on the axis in this joint, is fixed on rotating disk control motor and is also adopted by rope transmission mechanism, driving force is delivered to the
On the axis in two joints.
First joint is positioned on nethermost base plate, and it controls the one degree of freedom of terminal position；The pass in the first joint
Nodal axisn is fixing with the rotating disk of installation second joint, the 3rd joint motor to be connected.During this articulation, will drive whole rotating disk and
On rotating disk, each several part rotates together.First joint uses rope drive structure, and motor is fixed on base, and base is whole equipment
Support.Angular transducer is fixing on the axis of joint shaft；First joint links together closely with base.On base admittedly
Surely there are the main part in the first joint, handle back to zero structure, electrical fitting and control circuit.
It is an advantage of the current invention that:
1, power of the present invention feels that operator uses the cascaded structure of six degree of freedom so that be provided with the position and attitude of the total space
Perception, is assembled with motor on each joint simultaneously, it is achieved that the power feel feedback capability of total space position and attitude；
2, in power of the present invention feel operator, second joint and the 3rd joint use the frame mode of parallel rod form
Arrange so that operator is not in the case of reducing work space, it is thus achieved that the bigger rigidity of structure and more flexible driver
Arrangement；
3, power of the present invention feels that the advantage that operator uses rope to drive can also eliminate knot while being to increase transmission moment of torsion
The gap of structure, it is achieved real gapless driving；And the error of transmission link is completely eliminated, more by mode especially that directly drive
The precision of the equipment further improved.
Accompanying drawing explanation
Fig. 1 is power of the present invention feel operator overall structure figure schematic diagram；
Fig. 2 is the first articulation structure schematic diagram in power of the present invention feel operator；
Fig. 3 is that power of the present invention feels operator transfer Moving plate bottom surface institute mounting structure schematic diagram；
Fig. 4 is the first joint strainer structural representation；
Fig. 5 is second joint structural representation in power of the present invention feel operator；
Fig. 6 is the 3rd joint and the 4th articulation structure schematic diagram in power of the present invention feel operator；
Fig. 7 is the 5th joint and the 6th articulation structure schematic diagram in power of the present invention feel operator；
Fig. 8 is the structural representation after shell installed by power of the present invention feel operator.
In figure:
2-second joint 3-the 3rd joint, 1-the first joint
4-the 4th joint 5-the 5th joint 6-the 6th joint
7-static balance mechanism 8-sleeve 9-back to zero location bar
10-containment vessel 101-rotation dish 102-the first joint rotating shaft
103-the first joint driving mechanism 104-the first joint angles sensor 103a-the first joint drive motor
103b-the first joint sector drive plate 103c-the first joint drive drive 103d-the first joint drive steel wire rope
103e-the first joint strainer 103b1-mounting seat A 103b2-mounting seat B
103e1-union joint 103e2-tensioning adjusting nut 103e3-tensioning regulation bolt
103e4-limit screw 103e5-lead 201-left socle
202-right support 203-second joint rotating shaft 204-power transmission shaft
205-big arm link 206-second joint link 207-second joint drive mechanism
208-angular surveying axle 209-second joint angular transducer 207a-second joint drives motor
207b-second joint sector drive plate 207c-second joint drives drive 207d-second joint to drive steel wire rope
207e-second joint strainer 301-the 3rd joint link 302-rocking arm
303-the 3rd joint rotating shaft 304-the 3rd joint driving mechanism 305-the 3rd joint angular transducer
304a-the 3rd joint drive motor 304b-the 3rd joint sector drive plate 304c-the 3rd joint drive drive
304d-the 3rd joint drive steel wire rope 304e-the 3rd joint strainer 304f-crank
304g-little arm link 304h-contiguous block 304i-drive connection frame
304j-drive shaft 304k-connecting shaft 401-the 4th joint drive motor
402-the 4th joint rotating shaft 403-turning arm 404-turning arm connector
405-the 4th joint angles sensor 501-the 5th joint link；502-the 5th joint drive motor
503-the 5th joint motor shell 504-connection rotating shaft 505-the 5th joint angles sensor
601-the 6th joint drive motor 602-the 6th joint motor shell 603-operates handle
604-the 6th joint angles sensor 605-connecting plate
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention has the power of mechanical arm and feels that operator has six joints, and overall structure is the series connection with parallel rod
Bar linkage structure, each joint control the one degree of freedom of robot arm end effector.As it is shown in figure 1, in six joints, first
Joint 1, second joint 2 and the 3rd joint 3 are joint, bottom three；First joint 1 is used for controlling the end of controlled mechanical arm and performs
Device horizontally rotates, and second joint 2 is used for controlling the end effector swing of controlled mechanical arm, and the 3rd joint 3 is used for controlling
The end effector of controlled mechanical arm swings up and down.4th joint, joint the 4, the 5th 5 and the 6th joint 6 are end three joint；The
Four joints 4 are used for controlling the end effector rolling of controlled mechanical arm；5th joint 5 controls the end effector of controlled mechanical arm
Pitch attitude, the 6th joint 6 controls the driftage of controlled robot arm end effector.
Described first joint 1 is installed on the pedestal 11, drives with the first joint including the 101, the first joint rotating shaft 102 of rotation dish
Motivation structure 103, as shown in Figure 2 and Figure 3.Wherein, the first joint rotating shaft 102 is coaxially connected with rotation dish 101.First joint rotating shaft
102 are arranged in the sleeve 8 of base 7 upper surface coaxial design by upper and lower two deep groove ball bearings, make rotation dish 101 and base
7 is parallel.In two deep groove ball bearings, it is positioned at the deep groove ball bearing outer ring of lower section by the shoulder of design in sleeve 8 inwall circumference
Realize location；Positioned by the blowout patche of socket in the first joint rotating shaft 102 between two deep groove ball bearing inner rings；Above is deep
Ditch ball bearing outer ring is installed back-up ring by sleeve 8 top and is positioned；First joint rotating shaft 102 is by design in its top circumferences all
Shoulder, is fixed on top deep groove ball bearing inner ring；Rotation dish 101 respect thereto 7 thus can be made to rotate, by the first joint drive
Mechanism 103 realizes.First joint rotating shaft 102 bottom is provided with the first joint angles sensor 104, is passed by the first joint angles
Sensor 104 measures the rotational angle in the first joint 1.A lug A it is designed with, in sleeve top week in first joint rotating shaft 102
Upwards it is designed with two lug B, by the lug A and two lug B interference in rotation dish 101 rotation process, it is achieved first
The rotary spacing in joint 1.
Above-mentioned first joint drive machine 103 structure use rope drive type of drive, including the first joint drive motor 103a,
First joint sector drive plate 103b, the first joint transmission wheel 103c, the first joint drive steel wire rope 103d and the first joint are opened
Tight mechanism 103e, as shown in Figure 3.Wherein, the first joint drive motor 103a is fixedly mounted on base 7 upper surface, output shaft axle
Line is perpendicular to horizontal plane, and output shaft is coaxially installed with the first joint transmission wheel 103c.First joint drive steel wire rope
103d is two, is all wrapped in the helicla flute of the design in the first joint transmission wheel 103c outer wall circumference, and by the first pass
The toroidal membrane of joint drive 103c axially middle part design is separated by, and makes two first joint drive steel wire rope 103d being wound around
During interfere.The fixing end of two first joint drive steel wire rope 103d is both secured to the first joint transmission wheel 103c
On, driving end is used for connecting the first joint sector drive plate 103b of hollow out design.The fan of the first joint sector drive plate 103b
Face is fixedly mounted on rotation dish 101 lower surface, and central angle is near rotation dish 101 center.First joint sector drive plate
On the two sides (radius place plane) of 103b, a set of first joint strainer 103e is respectively installed；Two first joint drives
The driving end of steel wire rope 103d is respectively along the first joint sector rotation dish 103b arcwall face, by the first joint drive steel wire rope 103d
Arcwall face two ends are fixed on the first joint strainer 103e, and make the first joint drive steel wire rope 103d be parallel to level
Face；Drive the first joint transmission wheel 103c to rotate from there through the first joint drive motor 103a, make two first joint drives
In steel wire rope 103d one takes turns at the first joint transmission and is wound around on 103c, and another release pulls the first joint sector transmission
Dish 103b rotates, and then realizes the rotation of rotation dish 101.It is fan-shaped that above-mentioned first joint drive steel wire rope 103d is positioned at the first joint
On drive plate 103b arcwall face along arc in the groove of design, it is achieved the first joint drive steel wire rope 10 spacing, make the first pass
In the fan-shaped drive plate 103b rotation process of joint, the first joint drive steel wire rope 103d is without departing from the first joint sector drive plate
103b。
Above-mentioned first joint strainer 103e is used for fixing the driving end of the first joint drive steel wire rope 103d, the most real
The tensioning of existing first joint drive steel wire rope 103d；First joint strainer 103e includes union joint 103e1, tensioning regulation spiral shell
Female 103e2 and tensioning regulate bolt 103e3, as shown in Figure 4.Wherein, tensioning regulation bolt 103e3 is along the first joint sector transmission
Dish 103b radial direction is arranged, and is threadably mounted on the first sector drive plate 103b side, joint the integrative installation technology seat of design
On A103b1, axis is parallel with the first sector drive plate 103b side, joint.Tensioning adjusting nut 103e2 has the length on axially
Degree, threaded one end is arranged on tensioning regulation bolt 103e3, and the other end is threaded union joint 103e1, passes through union joint
Location between the shaft shoulder realization of the upper design of 103e1 and tensioning adjusting nut 103e2；By screw tensioning regulation bolt 103e3 or
Tensioning adjusting nut 103e2, the tensile force that can realize the first joint drive steel wire rope 103d controls.In order to make the first joint fan-shaped
Drive plate two ends are by the first joint drive steel wire rope 103d pull strength positional symmetry, therefore by the first joint sector drive plate 103b
On two sides on the first joint strainer 103e in union joint be positioned at same level position；But due to two first joints
Steel wire rope 103d external part is driven to be positioned on different level, if directly by two first joint drive steel wire rope 103d and two
First joint strainer 103e, can make the side of the first joint sector drive plate 103b by the first joint drive steel wire rope
Also by the component in other directions while 103d pull strength.Therefore, the present invention is ensureing a first joint drive steel wire
When rope 103d and the first joint strainer 103e is in parallel, horizontal surface state after connecting, another root the first joint drive steel wire
Rope 103d is walked around by the lead 103e5 being installed on the first sector drive plate side, joint, after guiding, reconnects first
Joint strainer 103e, and then make equal and plane-parallel after two first joint drive steel wire rope 103d connections.
When assembling in the present invention, before the first joint drive steel wire rope 103d and union joint 103e1 is fixing, first by
Steel wire rope perforation is worn through the steel wire rope on the integrative installation technology seat B103b2 of the first joint sector drive plate 103b lateral layout
Hole；Steel wire rope perforation connects with vertical screw hole, and screw hole is used for installing limit screw 103e4, makes limit screw 103e4 axis
It is perpendicular to the first sector drive plate 103b side, joint, and regulates bolt 103e3 axes intersect with tensioning；Thus, filling
Timing, the first joint drive steel wire rope 103d first by steel wire rope perforation through, by tightening limit screw 103e4 by the first joint
Drive steel wire rope 103d to compress, lock the first joint drive steel wire rope 103d position, and then the first joint drive steel wire can be facilitated
Connection between rope 103d and union joint 103e1.After assembling, limit screw 103e4 can be unclamped, carry out the first joint drive
Steel wire rope 103d tensile force regulates.
Described second joint 2 and the 3rd joint 3 are respectively by second joint drive mechanism 207 and the 3rd joint driving mechanism
304 drive motion, as shown in Figure 5, Figure 6, use the frame mode of parallel rod form to arrange.Described second joint 2 includes a left side
Support 201, right support 202, second joint rotating shaft 203, power transmission shaft 204, big arm link 205, second joint link 206；The
Three joints 3 include the 3rd joint link 301, rocking arm 302 and the 3rd joint rotating shaft 303.
In second joint, left socle 201 and right support 202 are fixedly mounted on rotation dish 101 upper surface both sides, left socle
Second joint rotating shaft 203 is installed on 201, makes second joint rotating shaft 203 axis and plane-parallel.Second joint rotating shaft 203
It is divided into second joint rotating shaft installation end and second joint rotating shaft linkage section by the shoulder of design in circumference；Second joint rotating shaft
Linkage section inserts in the installing hole offered on left socle 201, is realized by shoulder and location between left socle 201；Second joint
It is socketed deep groove ball bearing on rotating shaft construction section, is arranged on the second joint link 206 of U-shaped shifting fork structure by deep groove ball bearing
In the installing hole offered on left end, realized the location of deep groove ball bearing inner ring by shoulder.Power transmission shaft 204 is by the upper design of circumference
Shoulder be divided into power transmission shaft construction section and power transmission shaft linkage section；It is cased with two deep groove ball bearings on power transmission shaft linkage section, passes through
Two deep groove ball bearings are arranged on right support 202 in the installing hole offered, and make power transmission shaft 204 and second joint rotating shaft 203
It is coaxially disposed；And in two deep groove ball bearings, appeared on the stage by power transmission shaft 204 respectively in the deep groove ball bearing inner ring two ends being positioned at outside
The blowout patche location of socket between two deep groove ball bearings on shoulder and power transmission shaft linkage section, outer ring is by installing hole on right support 202
The shoulder location of design in inwall circumference；It is positioned at the deep groove ball bearing two ends of inner side respectively by blowout patche and right support 202
The end cap location installed at side wall mounting holes.A deep groove ball bearing it is socketed with on power transmission shaft construction section；Pass through deep groove ball bearing
It is arranged in the installing hole that second joint link 206 right-hand member is offered, realizes deep groove ball bearing by the shoulder on power transmission shaft 204
The location of inner ring.Big arm link 205 bottom is fixedly mounted on second joint link 206 top.
In 3rd joint, the 3rd joint link 301 is U-shaped shifting fork structure, and bottom is fixed with big arm link 205 top；
3rd joint link 301 two ends are provided with the 3rd joint rotating shaft 303 by deep groove ball bearing, two the 3rd joint rotating shafts 303
It is connected with rocking arm 302 both sides respectively.
In above-mentioned second joint drive mechanism 207 and the 3rd joint driving mechanism 304, it is respectively provided with and the first joint drive machine
Structure 103 component part, and the connected mode between each several part is also identical with the first joint driving mechanism 103, i.e. second joint drives
Motivation structure 207 includes that second joint drives motor 207a, second joint sector drive plate 207b, drive 207c, second joint
Drive steel wire rope 207d and second joint strainer 207e；3rd joint driving mechanism 304 includes the 3rd joint drive motor
304a, the 3rd joint sector drive plate 304b, the 3rd joint drive drive 304c, the 3rd joint drive steel wire rope 304d and
Three joint strainer 304e；Differ only in second joint sector connection dish 207b's and the 3rd joint sector connection dish 304b
Two sides intersection location is designed with the mounting flange of integration.Meanwhile, the 3rd joint driving mechanism 304 also has crank 304f
With little arm link 304g, contiguous block 304h, drive connection frame 304i and drive shaft 304j.
Wherein, in second joint drive mechanism 207, second joint sector drive plate 207b is vertically arranged, mounting flange
It is fixedly mounted on outside second joint link 206 left end, realizes the second pass by the shoulder of design in mounting flange circumference
The location of deep groove ball bearing outer ring on joint rotating shaft installation end, and realize second by mounting flange and left socle 201 lateral surface
The location of joint link 206 left end.Second joint drives motor 207a to be arranged on rotation dish 101 upper surface by bracing frame.
In 3rd joint driving mechanism 304, the 3rd joint sector drive plate 304b is vertically arranged, and connection dish is fixedly mounted on
Power transmission shaft 204 outer end, realizes the deep groove ball bearing outer ring on power transmission shaft construction section by the shoulder of design in connection dish circumference
Location.Crank 304f one end is inner with power transmission shaft 204 fixing；The other end has connecting shaft 304k of integrative-structure, connecting shaft
304k axis and plane-parallel；Connecting shaft 304k inserts contiguous block 304h, is connected by deep groove ball bearing with between contiguous block.Little
Arm link 304g bottom is fixed with contiguous block 304h, and top is fixed with U-shaped shifting fork structure drive connection frame 304i bottom.The company of driving
Connect frame 304i two ends, by deep groove ball bearing, drive shaft 304j be installed, two drive shafts 304j respectively with 302 liang of rocking arm
Side is connected；And ensure that little arm link 304g is parallel with big arm link 205 axis.Above-mentioned rocking arm 302 is as the installation in the 4th joint 4
Main body, is on the one hand used for installing the 4th joint drive motor and the 4th joint rotating shaft in the 4th joint 4, on the other hand with large arm even
Parallel-crank mechanism is constituted between bar 205 and little arm link 304g.
In above-mentioned second joint drive mechanism 207, second joint drives motor 207a to drive second joint to drive steel wire rope
207d pulls second joint sector drive plate 207b, transfers a torque in big arm link 205, it is achieved controlled mechanical arm tail end is held
Weave control before and after row device, during little arm link 304g and the big relative invariant position of arm link 205.Second in the present invention
Joint rotating shaft uses hollow rotating shaft, and inside is coaxially arranged with angular surveying axle 208, and angular surveying axle 208 two ends are designed with connection
Flange, wherein fixes outside adpting flange and second joint sector drive plate 207b；The other end is installed with angular transducer,
It is used for realizing second joint outer corner measurement.In 3rd joint driving mechanism 304, the 3rd joint drive motor 304a drives SAN GUAN
Joint drives steel wire rope 304d to pull the 3rd joint sector drive plate 304b to rotate, and transfers torque to power transmission shaft 204, through crank
304f and little arm link 304g are eventually transferred on rocking arm 302, it is achieved controlled robot arm end effector swing up and down control.
The output shaft of the 3rd joint drive motor 304a is connected by shaft coupling the 3rd joint angular transducer 305, is used for realizing the
Three joint 3 outer corner measurements.Above-mentioned left socle 201 is provided with spacer pin, respectively by with second on the lateral surface of right support 202
Joint sector drive plate 207b, the interference of the 3rd sector drive plate 304b side, joint, it is achieved second joint rotating shaft 203 and transmission
The slewing area of wheel 204 limits, and then the swing realizing second joint 2 and the 3rd joint 3 limits.
Described 4th joint 4 includes the 4th joint drive motor the 401, the 4th joint rotating shaft 402 and turning arm 403, such as Fig. 7
Shown in.Wherein, the 4th joint drive motor 401 is coaxially mounted in rocking arm 302, the output shaft of the 4th joint drive motor 401
Being connected with the 4th joint rotating shaft 402 rear end being coaxially disposed in rocking arm 302 by shaft coupling, the 4th rotating shaft front end, joint is by rotation
The coaxially connected turning arm of pivoted arm connector 404 403.4th joint rotating shaft 402 rear and front end is cased with deep groove ball bearing, front end zanjon
Ball bearing inner race realizes location by the shoulder of the 4th joint rotating shaft 402 end design；Outer ring is set by rocking arm 302 front inner wall
The shoulder location of meter.Rear end deep groove ball bearing inner ring is circumferentially positioned by turning arm connector 404 end, and rocking arm 302 is passed through in outer ring
The shoulder location of rear end inwall design.Thus, arm 403 is rotated by the 4th joint drive motor 401, and then realizes controlled
The end effector rolling gesture stability of mechanical arm.The output shaft of above-mentioned 4th joint drive motor 401 is also by shaft coupling even
It is connected to the 4th joint angles sensor 405, is used for measuring the 4th joint 4 anglec of rotation；Meanwhile, rocking arm 302 lateral layout has two
Individual spacing lug A, installs the most spacing lug B in little arm link 304g simultaneously, thus in the 4th joint 4 rotation process, logical
Cross two spacing lug A respectively and to interfere between spacing lug B, limit the angle range in the 4th joint 4.
Described 5th joint the 5, the 6th joint 6 axis and the 4th joints axes intersect at a point, as it is shown in fig. 7, wherein, the
Six joints 6 include the 6th joint drive motor the 601, the 6th joint motor shell 602 and operation handle 603；6th joint drive
Motor 601 is arranged in the 6th joint motor shell 602, the axis hole that output shaft is offered by the 6th joint motor shell 602 top
Stretch out, and fixed by two deep groove ball bearings between axis hole, fixed installation operation handle 603 on output shaft；Thus, by the 6th
Joint drive motor 601 transmits moment of torsion to operation handle 603, it is achieved the end effector driftage of controlled mechanical arm controls.Above-mentioned
The output shaft of the 6th joint drive motor 601 is provided with the 6th joint angles sensor 604 by shaft coupling, is used for measuring the 6th
Articulation angle；Meanwhile, at the 6th joint motor shell 602 upper gland, two limited blocks, two limited blocks it are designed with
Lay respectively in the groove that operation handle base is offered, coordinate restriction operation from there through two limited blocks respectively with groove two ends
The range of movement of handle 603.
5th joint 5 includes the 5th joint link the 501, the 5th joint drive motor the 502, the 5th joint motor shell
503 with connection rotating shaft 504；Wherein, the 5th joint link 501 is similarly U-shaped shifting fork structure link, and deep-groove ball is passed through at two ends
Bearing is provided with connection rotating shaft 504, and two connection rotating shafts 504 are coaxial, respectively with the 6th joint motor shell 602 two ends, wherein
The output shaft of one connection rotating shaft 504 and the 5th joint drive motor 502 is coaxially fixed, and the 5th joint drive motor 502 is installed
In the 5th joint motor shell 503, the 5th joint motor shell 503 is fixedly mounted on the 5th joint link 501.Thus
Moment of torsion is transmitted to operation handle 603, it is achieved the end effector pitch attitude of controlled mechanical arm by the 5th joint drive motor
Control.On another connection rotating shaft 504 above-mentioned, 5th joint angles sensor 505 is installed, is used for realizing the 5th joint 5 and rotates
The measurement of angle.In order to limit the angle range in the 5th joint, install additional spacing in the inner side of the 5th joint link 501 one end
Pin, by spacer pin and the movement interference of the 6th joint motor shell 602, it is achieved the restriction effect of the 5th joint 5 corner.This
In bright, two connection rotating shafts 504 are connected with the adjustable way that is connected by between the 6th joint motor shell 602, particularly as follows:
6th joint motor shell 602 both sides are designed with two connecting plates 605, and two connecting plates 605 are designed with vertical direction
Elongated hole.Two connection rotating shaft 504 ends are designed with through hole, the elongated hole on the most corresponding two connecting plates 605, are worn by screw
Cross, nut fix；Thus, realize the 6th joint 6 very easily and regulate relative to the position of centre of gravity of the 5th joint rotation axis,
Realize the static balance in the 6th joint 6.
From there through said structure power feel operator, it is achieved the position to three directions of end effector of controlled mechanical arm
And attitude, and the angular transducer installed by each joint obtains end effector movement angle；Simultaneously by controlled
The force signal of mechanical arm feedback, controls each joint drive electric machine rotation, it is achieved force feedback.
It is also devised with back to zero location bar 9 on power of the present invention feel operator, is used for the location to each initial attitude (zero-bit).
As it is shown in figure 1, bar 9 one end, back to zero location is fixedly mounted on base 11 marginal position, other end top has locator protrusions, passes through
Design Orientation groove on the 6th joint motor shell 602 bottom face in the 6th joint 6, will be fixed by controlling operation handle 603
Position groove coordinates docking with locator protrusions, and the attitude of now power feel operator is initial attitude.Meanwhile, can be by installing containment vessel additional
10 pairs of each first, second and third joint driving mechanisms are protected as shown in Figure 8.
Claims (1)
1. a power feel operator with mechanical arm, it is characterised in that: comprising six cradle heads, therefore it has six certainly
By spending；Using series connection connecting rod mode to arrange, the first joint is at bottommost, and the 6th joint is at least significant end；Second and third joint uses
The arrangement of parallel linkage, is positioned over the 3rd joint motor on rotating disk, and angular transducer is placed on joints axes
On, while ensure that positional precision and the rigidity of structure, also reduce the rotary inertia of structure；Below in three joints, adopt
With the rope transmission mechanism with tensioner, it is ensured that in the case of gapless, it is provided that big force feedback ability；Three above
Joint uses integral drive to drive；From the first joint to the connection side at the joint shaft in the 5th joint being all the U-shaped shift fork used
Formula, it is ensured that structural strength and precision；
6th joint control of above-mentioned distalmost end the yaw freedom in terminal angle, it by operate handle, torque motor with
And angular transducer is constituted, motor is linked in sequence in rotor shaft direction with angular transducer, and the kind of drive is directly to drive；With
What six joints connected is the 5th joint；
The main body in the 5th joint is a U-shaped shift fork, the two ends of shift fork fixed drive motor and angular transducer respectively；5th closes
The axle of joint is connected by the main part in screw and the 6th joint；6th joint is relative to the position-adjustable in the 5th joint；The
Five joints use the mode directly driven, motor and angular transducer to be respectively arranged the two ends in rotating shaft；5th joint control
The pitch freedom of terminal angle；
4th joint control the rolling degree of freedom of terminal angle, is connected by the shift fork in connecting rod and the 5th joint, the 4th joint
Upper torque motor is linked in sequence in rotor shaft direction with angular transducer, and the kind of drive is directly to drive；
3rd joint and second joint control two position freedoms of end respectively；3rd joint is distributed in second joint
In two rotating shafts of parallel rod structure, the 3rd joint is in top position, close with the 4th joint, and second joint is in lower orientation
Put；The angular transducer in the 3rd joint is fixed on joint shaft upwards, but, drive motor to be positioned on the rotating disk of lower section, motor
Driving force be delivered on the 3rd joint with parallel bar linkage structure by rope transmission mechanism；The angular transducer of second joint is also solid
On the axis in this joint, it is fixed on rotating disk control motor and is also adopted by rope transmission mechanism, driving force is delivered to the second pass
On the axis of joint；
First joint is positioned on nethermost base plate, and it controls the one degree of freedom of terminal position；The joint shaft in the first joint
Fix with the rotating disk of installation second joint, the 3rd joint motor and be connected；During this articulation, whole rotating disk and rotating disk will be driven
Upper each several part rotates together；First joint uses rope drive structure, and motor is fixed on base, and base is propping up of whole equipment
Support；Angular transducer is fixing on the axis of joint shaft；First joint links together closely with base；Base is fixed
There are the main part in the first joint, handle back to zero structure, electrical fitting and control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510024433.5A CN104669299B (en) | 2014-01-16 | 2015-01-16 | A kind of power feel operator with mechanical arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2014100220904 | 2014-01-16 | ||
| CN201410022090 | 2014-01-16 | ||
| CN201510024433.5A CN104669299B (en) | 2014-01-16 | 2015-01-16 | A kind of power feel operator with mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669299A CN104669299A (en) | 2015-06-03 |
| CN104669299B true CN104669299B (en) | 2016-08-24 |
Family
ID=53305142
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510024449.6A Expired - Fee Related CN104690708B (en) | 2014-01-16 | 2015-01-16 | A kind of power operator balanced controls |
| CN201510024433.5A Active CN104669299B (en) | 2014-01-16 | 2015-01-16 | A kind of power feel operator with mechanical arm |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510024449.6A Expired - Fee Related CN104690708B (en) | 2014-01-16 | 2015-01-16 | A kind of power operator balanced controls |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN104690708B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105232153B (en) * | 2015-09-08 | 2019-03-26 | 微创（上海）医疗机器人有限公司 | Mechanical arm |
| CN105280080B (en) * | 2015-11-26 | 2018-05-04 | 中国科学院自动化研究所 | A kind of Three Degree Of Freedom touches haptic interaction system and tactile dynamic sensing interexchanging apparatus |
| CN105965480B (en) * | 2016-06-23 | 2018-04-13 | 王毅龙 | A kind of palletizing mechanical arm for low energy consumption of hovering |
| CN108189035B (en) * | 2016-06-23 | 2020-12-29 | 海宁哈工我耀机器人有限公司 | Mechanical arm and working method thereof |
| CN107233133B (en) * | 2017-06-29 | 2019-12-10 | 华中科技大学鄂州工业技术研究院 | Force feedback system for virtual laparoscopic surgery |
| CN111434473A (en) * | 2019-01-15 | 2020-07-21 | 上海哲开自动化科技有限公司 | Multifunctional industrial robot manipulator |
| CN110142802A (en) * | 2019-07-02 | 2019-08-20 | 哈尔滨工业大学 | A kind of driven type four-bar mechanism |
| EP4272684A1 (en) * | 2021-02-01 | 2023-11-08 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | Master arm control device for robot, and robot |
| CN113180830B (en) * | 2021-04-15 | 2022-09-06 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
| CN113618701B (en) * | 2021-10-12 | 2022-11-29 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
| CN113618698B (en) * | 2021-10-12 | 2022-03-18 | 深圳市越疆科技有限公司 | Teleoperation manipulator and main shaft and teleoperation equipment thereof |
| CN113618700B (en) * | 2021-10-12 | 2022-08-26 | 深圳市越疆科技有限公司 | Teleoperation manipulator, handle transmission structure thereof and teleoperation equipment |
| CN113618699B (en) * | 2021-10-12 | 2022-09-30 | 深圳市越疆科技有限公司 | Teleoperation manipulator, transmission structure thereof and teleoperation equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| JPH11262889A (en) * | 1998-03-17 | 1999-09-28 | Mitsubishi Heavy Ind Ltd | Industrial articulated robot |
| CN201960562U (en) * | 2011-02-23 | 2011-09-07 | 福建省鲤东精密机械有限公司 | Mechanical hand |
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN202878312U (en) * | 2012-11-13 | 2013-04-17 | 庄德胜 | Cable-driven multi-joint robot |
| CN103144104A (en) * | 2013-03-04 | 2013-06-12 | 北京邮电大学 | 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method |
| CN203317423U (en) * | 2013-06-25 | 2013-12-04 | 王常勇 | Six-axis DOF (degree of freedom) mechanical arm |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
| CN201824353U (en) * | 2010-01-02 | 2011-05-11 | 华南理工大学 | Tie-line type serial manipulator |
| GB2481249A (en) * | 2010-06-20 | 2011-12-21 | Innovations Ltd M | Three dimensional selective compliant robot |
-
2015
- 2015-01-16 CN CN201510024449.6A patent/CN104690708B/en not_active Expired - Fee Related
- 2015-01-16 CN CN201510024433.5A patent/CN104669299B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| JPH11262889A (en) * | 1998-03-17 | 1999-09-28 | Mitsubishi Heavy Ind Ltd | Industrial articulated robot |
| CN201960562U (en) * | 2011-02-23 | 2011-09-07 | 福建省鲤东精密机械有限公司 | Mechanical hand |
| CN102794766A (en) * | 2012-09-11 | 2012-11-28 | 浙江理工大学 | Underwater flexible and smart manipulator |
| CN202878312U (en) * | 2012-11-13 | 2013-04-17 | 庄德胜 | Cable-driven multi-joint robot |
| CN103144104A (en) * | 2013-03-04 | 2013-06-12 | 北京邮电大学 | 7-DOF (degree of freedom) space manipulator ground microgravity hybrid simulation method |
| CN203317423U (en) * | 2013-06-25 | 2013-12-04 | 王常勇 | Six-axis DOF (degree of freedom) mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104690708B (en) | 2016-08-17 |
| CN104669299A (en) | 2015-06-03 |
| CN104690708A (en) | 2015-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104669299B (en) | A kind of power feel operator with mechanical arm | |
| CN202895235U (en) | Subordinate hand arm control device with bi-directional force feedback | |
| CN101623864B (en) | Force feedback type master manipulator with deadweight balance property | |
| JP5945009B2 (en) | 6-legged walking robot with a leg-arm robot arm and multiple joints | |
| CN102152299B (en) | (6 plus 1)-dimension force feedback sensing device | |
| CN103831832A (en) | Two-way force feedback slave manipulator arm control device | |
| CN102975783B (en) | Single-wheel type pipe climbing robot outside pipes | |
| CN104162892A (en) | Hand-shaped manipulator | |
| CN103128744A (en) | Humanoid flexible mechanical arm device | |
| CN104440921A (en) | Multi-translational-degree-of-freedom parallelogram complex kinematic pair | |
| JP2018521870A (en) | Robot arm | |
| CN105992677B (en) | Compact parallel kinematic robot | |
| CN103170961B (en) | Master control arm of modular master-slave mechanical arm | |
| CN104635915A (en) | Far knuckle force feedback device | |
| CN203117889U (en) | Data glove shoulder joint detection device | |
| CN103902020B (en) | Data glove wrist joint detection device | |
| CN202351029U (en) | Test device of operating lever service life | |
| CN104669233A (en) | Little finger force feedback device | |
| CN104742146A (en) | Human hand far knuckle joint force feedback unit | |
| CN202903222U (en) | Three-dimensional motion test device | |
| CN108744500B (en) | Handlebar transmission device convenient for measuring angle | |
| CN104669232A (en) | Middle finger force feedback device | |
| CN107248365A (en) | A kind of robot teaching aid of 3D printing | |
| CN104626193A (en) | Little finger joint force feedback device | |
| CN104552313A (en) | Human hand upper arm rotating movement detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |