CN104690708B - A kind of power operator balanced controls - Google Patents
A kind of power operator balanced controls Download PDFInfo
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- CN104690708B CN104690708B CN201510024449.6A CN201510024449A CN104690708B CN 104690708 B CN104690708 B CN 104690708B CN 201510024449 A CN201510024449 A CN 201510024449A CN 104690708 B CN104690708 B CN 104690708B
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Abstract
The invention discloses a kind of power operator balanced controls, 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 tensioning apparatus, it is ensured that in the case of gapless, it is provided that big force feedback ability；Three joints above use direct-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 one power operator balanced controls.
Background technology
Along with the 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 working 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 working 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 working 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.
Power operator balanced controls of the present invention, comprise six cradle heads, and therefore it has six-freedom degree.Use similar
The series connection connecting rod mode of industrial machine 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, the 3rd joint motor is positioned on rotating disk, but angle sensor is had a high regard for and is placed on
In joints axes, while ensure that positional precision and the rigidity of structure, also reduce the rotary inertia of structure.Three passes below
In joint, use the rope transmission mechanism with tensioning apparatus, it is ensured that in the case of gapless, it is provided that big force feedback ability；On
Three joints in face use direct-drive to drive.From the first joint to being all the U-shaped shift fork used at the joint shaft in the 5th joint
Connected mode, it is ensured that structural strength and precision；It is designed with static balance structure based on stretching spring simultaneously and realizes aforementioned the
Two～the 6th joint static balance of optional position in working space.
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 free degree 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 operator balanced controls of the present invention use the cascaded structure of six degree of freedom so that be provided with the position of the total space
The perception of attitude, is assembled with motor on each joint simultaneously, it is achieved that the power feel feedback energy of total space position and attitude
Power；
2, in power operator balanced controls of the present invention, second joint and the 3rd joint use the knot of parallel rod form
Structure mode is arranged so that operator is not in the case of reducing working space, it is thus achieved that the bigger rigidity of structure and more flexible
Driver arrangement；
3, the advantage that power operator balanced controls of the present invention use rope to drive can also while being to increase transmission moment of torsion
Eliminate the gap of structure, it is achieved real gapless driving；And the mode directly driven is especially by complete for the error of transmission link
Eliminate, the precision of the equipment further improved.
4, power operator balanced controls of the present invention make the power of equipment end feel that perception is truer by static balance mechanism
Reliably, eliminating the impact that gravity brings, this advantage also reduces the complexity of the design of control system.
Accompanying drawing explanation
Fig. 1 is power operator balanced controls overall structure figure schematic diagram of the present invention；
Fig. 2 is the first articulation structure schematic diagram in power operator balanced controls of the present invention；
Fig. 3 is power operator balanced controls transfer Moving plate bottom surface institute of the present invention mounting structure schematic diagram；
Fig. 4 is the first joint strainer structural representation；
Fig. 5 is second joint structural representation in power operator balanced controls of the present invention；
Fig. 6 is the 3rd joint and the 4th articulation structure schematic diagram in power operator balanced controls of the present invention；
Fig. 7 is the 5th joint and the 6th articulation structure schematic diagram in power operator balanced controls of the present invention；
Fig. 8 is positioning regulating mechanism structural representation；
Fig. 9 is the structural representation after shell installed by power operator balanced controls of the present invention.
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-connector 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 angles sensor
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 701a-balancing spring
701b-spring gathering sill 701c-shackle line 701d-leading block
701e-angle pulley 701f-positioning regulating mechanism 701f1-support
701f2-slide block 701f3-balance adjustment bolt 701f4-hangs termination
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Power operator balanced controls of the present invention have six joints and static balance mechanism, and overall structure is with parallel company
The series connection bar linkage structure of bar, each joint control the one degree of freedom of robot arm end effector.As it is shown in figure 1, six passes
In joint, the first joint 1, second joint 2 and the 3rd joint 3 are joint, bottom three；First joint 1 is used for controlling controlled mechanical arm
End effector horizontally rotates, and second joint 2 is used for controlling the end effector swing of controlled mechanical arm, the 3rd joint 3
The end effector being used for controlling controlled mechanical arm swings up and down.4th joint, joint the 4, the 5th 5 and the 6th joint 6 are end three
Joint；4th joint 4 is used for controlling the end effector rolling of controlled mechanical arm；5th joint 5 controls the end of controlled mechanical arm
End actuator 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 connector 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 connector 103e1, passes through connector
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 tractive force positional symmetry, therefore by the first joint sector drive plate 103b
On two sides on the first joint strainer 103e in connector 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 tractive force.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 connector 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 intersects with tensioning regulation bolt 103e3 axis；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 connector 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 the 3rd pass
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 angles sensor 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,
Realize the static balance in the 6th joint 6.
From there through said structure power operator balanced controls, it is achieved three directions of end effector to controlled mechanical arm
Position and attitude, and the angular transducer installed by each joint obtains end effector movement angle；Lead to simultaneously
Cross the force signal of controlled mechanical arm feedback, control each joint drive electric machine rotation, it is achieved force feedback.
Also having static balance mechanism 7 in power operator balanced controls of the present invention, described static balance mechanism 7 includes that two nooses lead
Draw assembly 701, as shown in Fig. 3, Fig. 5；Second joint drive mechanism 207 and the 3rd each corresponding noose of joint driving mechanism 304
Traction component 701；Wire saws assembly 701 includes balancing spring 701a, spring gathering sill 701b, shackle line 701c, guiding
Pulley 701d, angle pulley 701e and positioning regulating mechanism 701f.Two noose traction components 701 are respectively arranged at second joint fan
Outside shape drive plate 207b and the 3rd joint sector drive plate 304b；Wherein, spring gathering sill 701b is arranged on rotation dish 101 end
Face, spring gathering sill 701b is arc, and arc core is concentric with rotation dish 101, and balancing spring 701a is arranged on spring gathering sill 701b
In, fixing end hook hangs on the stand installed on rotation dish 101 bottom surface, and the other end is solid with the connection end of shackle line 701c
Fixed；Shackle line 701c and plane-parallel, walk around the leading block 701d installed on rotation dish 101 bottom surface；Pass through spring
Gathering sill 701b and the guiding of leading block 701d, make balancing spring 701a elastic force direction along rotation dish 101 circumferencial direction.Pass
Dynamic steel wire rope 701c walks around the angle pulley 701c that rotation dish 101 bottom surface is installed, and shackle line 701c is converted to vertical side
To.In the most a set of wire saws assembly 701, the connection end of shackle line 701c hangs on second joint sector drive plate 207b
On the positioning regulating mechanism 701f installed, the hanging point of shackle line 701c is as big arm link 205 equilibrant force hanging point, and makes biography
Vertical one section of covering of the fan being parallel to second joint sector drive plate 207b of dynamic steel wire rope 701c；Another set of wire saws assembly 701
In, the end that connects of shackle line 701c hangs over the positioning regulating mechanism 701f installed on the 3rd joint sector drive plate 304b
On, the hanging point of shackle line 701c, as little arm link 304g equilibrant force hanging point, makes that shackle line 701c's is vertical equally
Section is parallel to the covering of the fan of the 3rd joint sector drive plate 304b.Above-mentioned two set positioning regulating mechanism 701f mounting means are identical, bag
Include support 701f1, slide block 701f2, balance adjustment bolt 701f3, as shown in Figure 8；Wherein, support 701f1 installs balance to adjust
The axis of joint bolt 701f3, balance adjustment bolt 701f3 is arranged along fan-shaped connection dish radius, spiral shell on balance adjustment bolt 701f3
Line connects, and slide block 701f2 is designed with suspension termination 701f4, is used for connecting shackle line 701c.By turn balance adjustment
Bolt 701f3, band movable slider 701f2 strain shackle line 701c, it is achieved regulate shackle line 701c tensile force.Above-mentioned
Structure also needs meet: the equilibrant force hanging point position of big arm link 205 is along the axis direction of big arm link 205, and is positioned at the
Below two joint rotating shafts 203；The equilibrant force hanging point of little arm link 304g is parallel to crank 304f with the line of power transmission shaft 204 axis
Axis.By above-mentioned static balance mechanism 7, second joint and the 3rd joint the quiet of optional position in working space can be realized and put down
Weighing apparatus；Simultaneously the fourth, fifth of end, six joints, can be by reasonably arranging motor and sensor, it is achieved static balance；Again because
The most straight up, the operator level of normal work is upwards installed, it is not necessary to gravity compensation in the first joint, therefore, and this operation
Device achieves the gravity that can be completely counterbalanced by structure self at an arbitrary position.
It is also devised with back to zero location bar 9 on power operator balanced controls of the present invention, is used for each initial attitude (zero-bit)
Location.As it is shown in figure 1, bar 9 one end, back to zero location is fixedly mounted on base 11 marginal position, it is prominent that other end top has location
Rise, by Design Orientation groove on the 6th joint motor shell 602 bottom face in the 6th joint 6, by controlling operation handle
Detent is coordinated docking by 603 with locator protrusions, and the attitude of now power feel operator is initial attitude.Meanwhile, can be by adding
Each first, second and third joint driving mechanism is protected, as shown in Figure 9 by dress containment vessel 10.
Claims (1)
1. power operator balanced controls, it is characterised in that: comprising six cradle heads, 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；The second,
Three joints have employed the arrangement of parallel linkage, is positioned on rotating disk by the 3rd joint motor, but angular transducer
Appoint and be placed in joints axes, while ensure that positional precision and the rigidity of structure, also reduce the rotary inertia of structure；Under
In joint, three, face, use the rope transmission mechanism with tensioning apparatus, it is ensured that in the case of gapless, it is provided that big force feedback
Ability；Three joints above use direct-drive to drive；From the first joint to being all the U used at the joint shaft in the 5th joint
The connected mode of type shift fork, it is ensured that structural strength and precision；It is designed with static balance structure based on stretching spring to realize simultaneously
Aforementioned second～the 6th joint static balance of optional position in working space；
6th joint control of distalmost end the yaw freedom in terminal angle, and it is by operating handle, torque motor and angle
Degree sensor is constituted, and motor is linked in sequence in rotor shaft direction with angular transducer, and the kind of drive is directly to drive；Close with the 6th
What joint 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；The relative position-adjustable with the 5th joint in 6th 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 free degree 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 |
|---|---|---|---|
| CN201510024449.6A CN104690708B (en) | 2014-01-16 | 2015-01-16 | A kind of power operator balanced controls |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410022090 | 2014-01-16 | ||
| CN2014100220904 | 2014-01-16 | ||
| CN201510024449.6A CN104690708B (en) | 2014-01-16 | 2015-01-16 | A kind of power operator balanced controls |
Publications (2)
| Publication Number | Publication Date |
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| CN104690708A CN104690708A (en) | 2015-06-10 |
| CN104690708B true CN104690708B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510024433.5A Active CN104669299B (en) | 2014-01-16 | 2015-01-16 | A kind of power feel operator with mechanical arm |
| CN201510024449.6A Expired - Fee Related CN104690708B (en) | 2014-01-16 | 2015-01-16 | A kind of power operator balanced controls |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510024433.5A Active CN104669299B (en) | 2014-01-16 | 2015-01-16 | A kind of power feel operator with mechanical arm |
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| CN (2) | CN104669299B (en) |
Families Citing this family (14)
| 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 |
| CN106003046B (en) * | 2016-06-23 | 2017-12-19 | 哈工大机器人集团（哈尔滨）资产经营管理有限公司 | A kind of palletizing mechanical arm |
| CN105965480B (en) * | 2016-06-23 | 2018-04-13 | 王毅龙 | A kind of palletizing mechanical arm for low energy consumption of hovering |
| 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 |
| EP4272684A4 (en) * | 2021-02-01 | 2024-09-11 | Wuhan United Imaging Healthcare Surgical Tech Co Ltd | Master arm control device for robot, and robot |
| EP4272683A4 (en) * | 2021-02-01 | 2024-06-12 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | Master hand control apparatus for use in 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 |
| 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 |
| 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 |
| 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 |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
| 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 |
| 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 |
| 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 |
| CN201960562U (en) * | 2011-02-23 | 2011-09-07 | 福建省鲤东精密机械有限公司 | Mechanical hand |
| CN102794766B (en) * | 2012-09-11 | 2015-03-11 | 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 |
-
2015
- 2015-01-16 CN CN201510024433.5A patent/CN104669299B/en active Active
- 2015-01-16 CN CN201510024449.6A patent/CN104690708B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104669299A (en) | 2015-06-03 |
| CN104669299B (en) | 2016-08-24 |
| CN104690708A (en) | 2015-06-10 |
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