CN105710865A - Three-dimensional flat power feedback device - Google Patents

Three-dimensional flat power feedback device Download PDF

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Publication number
CN105710865A
CN105710865A CN201610235880.XA CN201610235880A CN105710865A CN 105710865 A CN105710865 A CN 105710865A CN 201610235880 A CN201610235880 A CN 201610235880A CN 105710865 A CN105710865 A CN 105710865A
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CN
China
Prior art keywords
assembly
direct current
shell
rope sheave
current generator
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CN201610235880.XA
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Chinese (zh)
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CN105710865B (en
Inventor
刘冠阳
陈伟
张玉茹
陈逸农
刘沅起
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北京航空航天大学
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Priority to CN201610235880.XA priority Critical patent/CN105710865B/en
Publication of CN105710865A publication Critical patent/CN105710865A/en
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Publication of CN105710865B publication Critical patent/CN105710865B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture

Abstract

A three-dimensional flat power feedback device comprises two major parts including a mechanical system and a control system. The mechanical system is composed of a machine body and a shell and limiting device. The machine body of the power feedback device is arranged in the shell and limiting device and is fixedly connected with the shell and limiting device through an installing hole in a base, and the protecting and limiting functions of the machine body are achieved through the shell and limiting device. The machine body of the feedback device comprises a base assembly, a rope transmission assembly, a connecting rod assembly and a movable platform operation lever assembly. The shell and limiting device comprises a shell, a limiting frame and a limiting rod. The control system is composed of an upper computer, a control card and a driver. The three-dimensional flat power feedback device is compact in inner structure and stable in transmission without return difference and has large continuous output force and high position precision, high structural strength and virtual rigidity are achieved, the high position resolution ratio is achieved, and the reverse driving performance is excellent.

Description

A kind of three-dimensional translating force feedback equipment
Technical field
The present invention relates to a kind of three-dimensional translating force feedback equipment, it is based on the force feedback equipment of the impedance control pattern of modified model delta mechanism, belongs to robotics.
Background technology
Traditional force sense interactive device is all applied under free space, and the structural parameters of equipment can be designed adjusting according to the needs of performance parameter, till meeting performance requirement.At present, force feedback equipment is widely used under the special environment such as space, seabed, and now the dimensional parameters of force feedback equipment is due to the restriction of using area, then be subject to the constraint of the structural parameters such as space, quality.Design and be adapted to certain space size, quality constraint and the force feedback equipment that various performance parameters reaches optimum can be made to become the problem needing to solve.
Summary of the invention
1, purpose: it is an object of the invention to provide a kind of three-dimensional translating force feedback equipment, this force feedback equipment adopts modified model delta mechanism as machine configurations, internal structure is compact, mechanism's length parameters is optimum, under the premise that bulk and quality retrain, realize the good equipment performances such as work space is big, virtual rigidity is high, and position resolution is high, reverse drive performance is good, isotropism degree is good.
2, technical scheme: the present invention is achieved through the following technical solutions.
One three-dimensional translating force feedback equipment of the present invention.This three-dimensional translating force feedback equipment includes mechanical system and controls system two large divisions.Control the motion of system control machine tool each component of system.
Described mechanical system is made up of basic machine (1) and shell and stopping means (2).The basic machine (1) of this force feedback equipment is installed on shell and stopping means (2) is internal; being connected by the installing hole on base (301), shell and stopping means (2) realize the protection to basic machine (1) and position-limiting action.
The basic machine (1) of described force feedback equipment comprises following functional unit: base assembly (3), rope drive assembly (4), link assembly (5) and moving platform lever assembly (6).They annexations each other are: base assembly (3) is threaded connection and is installed on shell and stopping means (2), rope drive assembly (4) is installed on the bracing frame (303) of base assembly (3), link assembly (5) is connected by driving lever (413) with rope drive assembly (4), article three, the link assembly (5) of side chain is all connected with moving platform lever assembly (6), forms parallel institution configuration.
Described base assembly (3) comprises a base (301) and three bracing frames (303).Annexation between them is: three bracing frames (303) are accurately located on base (301) respectively through seam cooperation and three alignment pins (302), and base (301) is connected with moving platform lever assembly (6).Three bracing frames (303) relative to the center hole of base (301) be 120 ° symmetrical, positioning precision is ensured by alignment pin (302).Base (301) is a hexagonal base platform, base (301) has installing hole and hole, location, bracing frame (303) is used for installing direct current generator (412) and rope drive assembly (4), play a supporting role, being main load-carrying construction, therefore processing has the installing hole of direct current generator (412) and the dead eye of the big rope sheave of installation (403) and the installing hole for bearing (ball) cover (410).
Described rope drive assembly (4) is made up of little rope sheave (401), steel wire rope (402), big rope sheave (403), driving lever (413), pretension thread spindle (404), disc spring (406) and pre-load nut (405).Rope drive assembly (4) is a part critically important in mechanical system, the key component of transmission direct current generator (412) power that exports and motion.Annexation between them is: big rope sheave (403) is connected by steel wire rope (402) with little rope sheave (401), and driving lever (413), pretension thread spindle (404), disc spring (406) and pre-load nut (405) are mounted on big rope sheave (403).Having two top wire holes (417), two lacing holes (416) and some circle groovings (418) on little rope sheave (401), little rope sheave (401) is affixed on direct current generator (412) output shaft.Grooving (418) semicircular in shape of little rope sheave (401), grooving (418) is distributed in the shape of a spiral, article one, the two ends of steel wire rope (402) pass from two lacing holes (416) and intersect after two-way winding in grooving (418), it is wound on big rope sheave (403) again, forms the form that " 8 " word is wound around.Big rope sheave (403) adopts integral structure, the groove structure that only one of which is wider with its rotating shaft, can plant two steel wire ropes (402) and non-interference, and the axle of big rope sheave (403) stretches out from its center.Steel wire rope (402) is the finished product bought, and comparatively submissive, its two ends are then tied on two pretension thread spindle (404) axle heads respectively with certain initial pretightning force, are fixed together with two thread spindles (404).The initial pretightning force installed often does not reach the requirement of precision drive, in addition it is also necessary to regulates pre-load nut (405) compression and organizes the pretightning force needed for disc spring (406) produces more.
Described rope drive assembly (4) is installed on bracing frame (303), realizes supporting and connecting by rational shafting structure.Two No. one deep groove ball bearing (407) is installed in bracing frame (303) dead eye, the axle of big rope sheave (403) and the inner ring of a deep groove ball bearing (407) coordinate, axial one end of inner ring of a number deep groove ball bearing (407) adopts shaft shoulder structure location, and the other end adopts axial clearance regulation nut (408) to fix.One end, location, outer ring of a number deep groove ball bearing (407) is by the boss location on bracing frame (303), and the other end adopts bearing (ball) cover (410) to realize location.Bearing (ball) cover (410) is installed on bracing frame (303), and it is reserved with the mechanical interface installing axle head encoder (409), axle head encoder (409) is connected with the axle head of big rope sheave (403), can directly record the corner information of big rope sheave (403).Direct current generator (412) is then directly mounted on bracing frame (303), and direct current generator (412) afterbody installs motor side encoder (411).Direct current generator (412) is 24V brush direct current motor, and what motor side encoder (411) adopted is rotary angular displacement sensor.Driving lever (413) and big rope sheave (403) are coordinated by seam and alignment pin (414) realizes being accurately positioned of spacing, again through housing screw (415), both are connected, form rigid structure, rope drive assembly (4) is connected with link assembly (5) by driving lever (413), transmits power and motion.
Described link assembly (5) is the pith of each side chain of the delta mechanism that this equipment adopts, and it is made up of principal and subordinate link bar (501), spring (503), elastic collar (504), bearing pin (505), follower lever (508), No. two deep groove ball bearings (502), No. three deep groove ball bearings (506) and clamp nut (507).They annexations each other are: principal and subordinate link bar (501) and follower lever (508) are connecting rod, two principal and subordinate link bars (501) are connected to form the link assembly (5) of parallelogram respectively from beginning to end with two follower levers (508) by revolute pair, the structure of four revolute pairs is identical, being formed by connecting by bearing pin (505), two No. three deep groove ball bearings (506) and clamp nut (507), axially location relies on clamp nut (507).Follower lever (508) mid portion is square, and principal and subordinate link bar (501) mid portion is circular, circular surface coordinates with No. two deep groove ball bearings (502), form revolute pair, this revolute pair also has two places in link assembly (5), one place connects rope drive assembly (4) and link assembly (5), and another place connects link assembly (5) and moving platform lever assembly (6).The axially location of this revolute pair relies on elastic collar (504) to block, withstand spring (503), the other end is shaft shoulder structure, compression thereby through spring (503) produces enough axial pressing forces, realizing the axial location of No. two deep groove ball bearings (502), spring (503), No. two deep groove ball bearings (502), No. three deep groove ball bearings (506), elastic collar (504) and clamp nut (507) are standard component.
Described moving platform lever assembly (6) is connected by revolute pair with link assembly (5), belonging to motion and the end of power transmission, moving platform lever assembly (6) is made up of moving platform (601), compression sheet (602) and stick (603).They annexations each other are: moving platform (601) is the part that three lobe types are symmetrical, the link assembly (5) of three lobes stretched out and three side chains is connected, its center is reserved with semicircular vertical groove structure, stick (603) is circular carbon fiber bar, stick (603) is placed in groove, compressing sheet (602) is and the compressing component of the vertical groove respective outer side edges formation full circle of semicircle, it is threaded connection and tightens compression sheet (602) thus locking stick (603), realize fixing connection of stick (603) and moving platform (601).
Shell and stopping means (2) are made up of shell (201), limitting casing (202), gag lever post (203).They relations each other are: shell (201) is by the threaded cuboid shell become of six pieces of flat boards, shell and stopping means (2) are reserved with the interface of control system and the window of action bars (603), limitting casing (202) is installed on the top of shell (201), limitting casing (202) is square framework, gag lever post (203) is connected with stick (603), it is three-dimensional mobile that gag lever post (203) limited frame is limited in foursquare region, thus realizing the restriction to this equipment square work space.
Described control system is made up of host computer (PC), control card, driver three part.They relations each other are: host computer is connected with controlling card, control card and are connected with driver, and driver then produces to drive electric current, drives direct current generator work (412).
Host computer (PC) in described control system is one and is mainly used to read sensor information and completes motion and the software of power calculating, realization calculates the output torque of direct current generator (412), collecting of each road signal, and the function such as graphical interfaces is mutual.The described card that controls is a common panel, its effect is to carry out the communication of data with host computer and handle respectively, directly reads the data of the feedback on equipment, provides driving signal, completing the data with host computer and exchange of direct current generator (412).Control card and include STM32 embedded microprocessor, DAC D/A converter module, I/O interface, ethernet communication module etc..Control card and carry out communication with host computer by Ethernet.Described driver is the finished product driver of Copley company, it effect be that direct current generator (412) is carried out direct torque.This force feedback equipment controls system and selects the servo-driver of brush direct current motor, well can mate with the direct current generator (412) selected by equipment, it is connected with little rope sheave (401) by direct current generator (412) output shaft, then realize the connection of control system and basic machine (1), export regular feedback force to operating side.
3. compared to existing technology, the invention have the advantages that and effect:
1) present invention is by rational Machine Design, makes full use of space, and internal structure is compact, and overall dimensions meets space constraint, it is achieved dexterous workspace maximum under constraint premise.
2) in dexterous workspace, stable drive, without return difference, has bigger continuous power output and higher positional precision.
3) adopting follow-on delta mechanism configuration, length parameters is optimum, and the same sex degree of three moving directions is good.
4) under the premise of quality constraint, Design of Mechanical Structure optimization, it is achieved higher structural strength and virtual rigidity, reverse drive function admirable.
5) end adopts not decoupling space spacing, it is achieved the square work space of work requirements is spacing.
Accompanying drawing explanation
Fig. 1 is the monnolithic case schematic diagram of a kind of three-dimensional translating force feedback equipment of the present invention.
Fig. 2 is the schematic diagram of basic machine the adopted modified model delta mechanism of the present invention a kind of three-dimensional translating force feedback equipment.
Fig. 3 is the assembling schematic diagram of a kind of three-dimensional translating force feedback equipment basic machine of the present invention.
Fig. 4 (a) is the assembled shaft mapping of a kind of three-dimensional translating force feedback equipment pedestal of the present invention.
Fig. 4 (b) is the assembling plan view of a kind of three-dimensional translating force feedback equipment pedestal of the present invention.
Fig. 5 is one three-dimensional translating force feedback equipment wire rope gearing component diagram of the present invention.
Fig. 6 is the invention little rope sheave schematic diagram of one three-dimensional translating force feedback equipment.
Fig. 7 is one three-dimensional translating force feedback equipment sheave shaft architecture sectional view of the present invention.
Fig. 8 is invention one three-dimensional translating force feedback equipment delta mechanism wall scroll side chain assembling schematic diagram.
Fig. 9 is the invention big rope wheel component schematic diagram of one three-dimensional translating force feedback equipment.
Figure 10 is invention one three-dimensional translating force feedback equipment link assembly schematic diagram.
Figure 11 is invention one three-dimensional translating force feedback equipment action bars and stopping means schematic diagram.
Figure 12 is that invention one three-dimensional translating force feedback equipment controls system integrated stand composition.
Wherein, each accompanying drawing labelling implication is as follows:
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of three-dimensional translating force feedback equipment.This force feedback equipment can be divided into mechanical system and control system two large divisions.Mechanical system being described in detail the structure chart utilizing each component of machine below, control system is then introduced with the form of system architecture block diagram.
As it is shown in figure 1, the mechanical system of this equipment is made up of basic machine 1 and shell and stopping means 2.The basic machine 1 of this force feedback equipment is installed on shell and stopping means 2 is internal, is connected by the installing hole on base 301, and shell and stopping means 2 realize the protection to basic machine 1 and position-limiting action.Basic machine 1 mainly adopts modified model delta mechanism configuration to realize, and the schematic diagram of this mechanism is as shown in Figure 2.
As it is shown on figure 3, basic machine 1 mainly comprises following functional unit: base assembly 3, rope drive assembly 4, link assembly 5 and moving platform lever assembly 6.They annexations each other are: base assembly 3 is threaded connection and is installed on shell and stopping means 2, rope drive assembly 4 is installed on the bracing frame 303 of base assembly 3, link assembly 5 is connected by driving lever 413 with rope drive assembly 4, article three, the link assembly 5 of side chain is all connected with moving platform lever assembly 6, forms parallel institution configuration.
Described base assembly 3 comprises a base 301 and three bracing frames 303.As shown in Fig. 4 (a), three bracing frames 303 are accurately located on base 301 respectively through seam cooperation and three alignment pins 302, and base 301 is connected with shell and stopping means 2 again through three uniform hexagon socket head cap screws.The top view of base assembly 3 as shown in Fig. 4 (b), in figure three bracing frames 303 of main presentation relative to the center hole of base 301 be 120 ° symmetrical, positioning precision is ensured by alignment pin 301.Bracing frame 303 is used for installing direct current generator 412 and rope drive assembly 4, plays a supporting role, is main load-carrying construction.
Described rope drive assembly 4 is made up of little rope sheave 401, steel wire rope 402, big rope sheave 403, driving lever 413, pretension thread spindle 404, disc spring 406 and pre-load nut 405.As shown in Figure 5, rope drive assembly 4 is a part critically important in mechanical system, the power of transmission direct current generator 412 output and the key component of motion, annexation between them is: big rope sheave 403 is connected by steel wire rope 402 with little rope sheave 401, and driving lever 413, pretension thread spindle 404, disc spring 406 and pre-load nut 405 are mounted on big rope sheave 403.Being the structure chart of little rope sheave 401 as shown in Figure 6, little rope sheave 401 has 417, two lacing holes 416 of two top wire holes and about 8 circle groovings 418, little rope sheave 401 is affixed on direct current generator 412 output shaft.Grooving 418 semicircular in shape of little rope sheave 401, grooving 418 is distributed in the shape of a spiral, and the two ends of the steel wire rope 402 of a diameter 0.8mm pass from two lacing holes 416 and intersect after two-way winding in grooving 418, then are wound on big rope sheave 403, forming the form that " 8 " word is wound around, its gear ratio is 8:1.The two ends of steel wire rope 402 are then tied on two pretension thread spindle 404 axle heads respectively with certain initial pretightning force, are fixed together with two thread spindles 404.The initial pretightning force installed often does not reach the requirement of accurate rope drive, in addition it is also necessary to adjustment pre-load nut 405 compresses 14 groups of disc springs 406 and produces required pretightning force.Rope drive assembly 4 is installed on bracing frame 303, the shafting structure figure of its installation is as shown in Figure 7, big rope sheave 402 adopts integral structure with its rotating shaft, two deep groove ball bearings 407 are installed in bracing frame 303 dead eye, the axle of big rope sheave 403 and the inner ring of a deep groove ball bearing 407 coordinate, axial one end of inner ring of a number deep groove ball bearing 407 adopts shaft shoulder structure location, and the other end adopts axial clearance regulation nut 408 to fix.One end, location, outer ring of a number deep groove ball bearing 407 is by the boss location on bracing frame 303, and the other end adopts bearing (ball) cover 410 to realize location.Bearing (ball) cover 410 is installed on bracing frame 303, and is reserved with the mechanical interface installing axle head encoder 409, and axle head encoder 409 is connected with the axle head of big rope sheave 403, can directly record the corner information of big rope sheave 403.Direct current generator 412 is then directly mounted on bracing frame 303, and direct current generator 412 afterbody installs motor side encoder 411.
This equipment adopts modified model delta mechanism is the parallel institution that three side chains are full symmetric, is illustrated in figure 8 a side chain of delta mechanism, and it includes big rope sheave 402, driving lever 413, link assembly 5 and moving platform 601.As it is shown in figure 9, big rope sheave 402 and driving lever 413 are connected, connect rope drive assembly 4 and link assembly 5.Driving lever 413 one end is connected with big rope sheave 403, and one end forms revolute pair by No. two deep groove ball bearings 502 and link assembly 5.For ensureing equipment precision, then need the distance between accurate each rotating shaft, the rotating shaft of big rope sheave 403 is coordinated with the seam of big rope sheave 403 to the distance of the rotating shaft of driving lever 413 by driving lever 413 and alignment pin 414 realizes being accurately positioned of spacing, again through housing screw 415, both are connected, form rigid structure.
Described link assembly 5 is the pith of each side chain of the delta mechanism that this equipment adopts, and it is made up of principal and subordinate link bar 501, spring 503, elastic collar 504, bearing pin 505, follower lever 502, No. three deep groove ball bearings 506 of 508, No. two deep groove ball bearings and clamp nut 507.As shown in Figure 10, link assembly 5 parallelogram structure, the driving lever 413 of link assembly 5 and rope drive assembly 4 forms revolute pair by two No. two deep groove ball bearings 502 and principal and subordinate link bar 501, axial one end of inner ring of No. two deep groove ball bearings 502 is positioned by the shaft shoulder structure on principal and subordinate link bar 501, the other end then relies on spring 503 and elastic collar 504 to provide axial pressing force, withstands the inner ring of No. two deep groove ball bearings 502.The other both sides of link assembly 5 parallelogram sturcutre are follower lever 508, and the connection between follower lever 508 and principal and subordinate's connecting rod 501 is also revolute pair, and this revolute pair is made up of 505, two No. three deep groove ball bearings 506 of bearing pin and clamp nut 507.Another connecting rod of link assembly 5 is connected with moving platform 601.
Described moving platform lever assembly 6 is connected by revolute pair with link assembly 5, belongs to motion and the end of power transmission, and moving platform lever assembly 6 is made up of moving platform 601, compression sheet 602 and stick 603.It is moving platform lever assembly 6 as shown in figure 11, moving platform 601 and link assembly 5 are connected to form revolute pair, stick 603 is fixed on moving platform 601 by compressing sheet 602, therefore whole mechanism kinematic can be driven when operator holds stick 603 end, thus realizing the forms of motion of the Three Degree Of Freedom translation of follow-on delta mechanism.Owing to the space of delta mechanism is not the three dimensions of rule, through the analysis optimizing analysis and work space of bar length, it is necessary to the three-dimensional translating work space of stick 603 is limited.
The shell of this force feedback equipment and stopping means 2 are made up of shell 201, limitting casing 202, gag lever post 203.They relations each other are: shell 201 is by the threaded cuboid shell become of six pieces of flat boards, shell and stopping means 2 are reserved with the interface of control system and the window of action bars 603, limitting casing 202 is installed on the top of shell 201, limitting casing 202 is square framework, gag lever post 203 is connected with stick 603, it is three-dimensional mobile that the limited frame of gag lever post 203 is limited in foursquare region, thus realizing the restriction to this equipment square work space.
Described control system is made up of host computer (PC), control card, driver three part.They relations each other are: host computer is connected with controlling card, control card and are connected with driver, and driver then produces to drive electric current, drives direct current generator work 412.As shown in figure 12, the control system of this force feedback equipment has been shown by the form of system architecture diagram.Host computer (PC) in described control system is one and is mainly used to read sensor information and completes motion and software that power calculates, it is achieved calculate the functions such as the output torque of direct current generator 412, collecting of each road signal, and graphical interfaces be mutual.The described card that controls is a common panel, and its effect is to carry out the communication of data with host computer and handle respectively, directly reads the data of the feedback on equipment, provides driving signal, completing the data with host computer and exchange of direct current generator 412.Control card and include STM32 embedded microprocessor, DAC D/A converter module, I/O interface, ethernet communication module etc..Control card and carry out communication with host computer by Ethernet.Described driver is the finished product driver of Copley company, it effect be that direct current generator 412 is carried out direct torque.This force feedback equipment controls system and selects the servo-driver of brush direct current motor, well can mate with the direct current generator 412 selected by equipment, it is connected with little rope sheave 401 by direct current generator 412 output shaft, then realize the connection of control system and basic machine 1, export regular feedback force to operating side.
The work process of this force feedback equipment is as follows: first run upper computer software, then powers on direct current generator 412 to controlling to block, and upper computer software detects whether successful ethernet communication connects automatically.Ethernet successful connection under normal operation, otherwise equipment needs repairing and can not carry out follow-up work.After Ethernet successful connection, operator holds stick 603 and is operated, driving each rotating shaft generation transmission of delta mechanism, axle head encoder 409 gathers staff information and passes to host computer by controlling card, thus the instrument controlled in virtual environment carries out corresponding operating.When the object in the instrument in virtual environment with virtual environment collides, power Rendering algorithms in upper computer software calculates the information of reciprocal force, it is delivered to slave computer and controls the signal of card generation drive motor, driver produces to drive electric current to drive direct current generator 412 to produce corresponding moment again, thus being similar to real reciprocal force to staff.This interaction carries out in real time, and the refreshing frequency of dynamic sensing interexchanging is significantly high, it is ensured that the seriality of power output.

Claims (1)

1. a three-dimensional translating force feedback equipment, it is characterised in that: this three-dimensional translating force feedback equipment includes mechanical system and controls system two large divisions, controls the motion of system control machine tool each component of system;
Described mechanical system is made up of basic machine (1) and shell and stopping means (2);The basic machine (1) of this force feedback equipment is installed on shell and stopping means (2) is internal; being connected by the installing hole on base (301), shell and stopping means (2) realize the protection to basic machine (1) and position-limiting action;
The basic machine (1) of described force feedback equipment comprises following assembly: base assembly (3), rope drive assembly (4), link assembly (5) and moving platform lever assembly (6);They annexations each other are: this base assembly (3) is threaded connection and is installed on shell and stopping means (2), rope drive assembly (4) is installed on the bracing frame (303) of base assembly (3), link assembly (5) is connected by driving lever (413) with rope drive assembly (4), article three, the link assembly (5) of side chain is all connected with moving platform lever assembly (6), forms parallel institution configuration;
Described base assembly (3) comprises a base (301) and three bracing frames (303);Annexation between them is: three bracing frames (303) are accurately located on base (301) respectively through seam cooperation and three alignment pins (302), and this base (301) is connected with moving platform lever assembly (6);Three bracing frames (303) relative to the center hole of base (301) be 120 ° symmetrical, positioning precision is ensured by alignment pin (302);Base (301) is a hexagonal base platform, base (301) has installing hole and hole, location, bracing frame (303) is used for installing direct current generator (412) and rope drive assembly (4), play a supporting role, being main load-carrying construction, therefore processing has the installing hole of direct current generator (412) and the dead eye of the big rope sheave of installation (403) and the installing hole for bearing (ball) cover (410);
Described rope drive assembly (4) is made up of little rope sheave (401), steel wire rope (402), big rope sheave (403), driving lever (413), pretension thread spindle (404), disc spring (406) and pre-load nut (405);This rope drive assembly (4) is a part critically important in mechanical system, the key component of transmission direct current generator (412) power that exports and motion;Annexation between them is: this big rope sheave (403) is connected by steel wire rope (402) with little rope sheave (401), and this driving lever (413), pretension thread spindle (404), disc spring (406) and pre-load nut (405) are mounted on big rope sheave (403);Having two top wire holes (417), two lacing holes (416) and some circle groovings (418) on this little rope sheave (401), this little rope sheave (401) is affixed on direct current generator (412) output shaft;Grooving (418) semicircular in shape of this little rope sheave (401), grooving (418) is distributed in the shape of a spiral, article one, the two ends of steel wire rope (402) pass from two lacing holes (416) and intersect after two-way winding in grooving (418), it is wound on big rope sheave (403) again, forms the form that " 8 " word is wound around;This big rope sheave (403) adopts integral structure, the groove structure that only one of which is wider with its rotating shaft, can plant two steel wire ropes (402) and non-interference, and the axle of this big rope sheave (403) stretches out from its center;This steel wire rope (402) is the finished product chosen, submissive, and its two ends are then tied on two pretension thread spindle (404) axle heads respectively with initial pretightning force, are fixed together with two thread spindles (404);The initial pretightning force installed often does not reach the requirement of precision drive, in addition it is also necessary to regulates pre-load nut (405) compression and organizes the pretightning force needed for disc spring (406) produces more;
Described rope drive assembly (4) is installed on bracing frame (303), realizes supporting and connecting by rational shafting structure;Two No. one deep groove ball bearing (407) is installed in this bracing frame (303) dead eye, the axle of big rope sheave (403) and the inner ring of a deep groove ball bearing (407) coordinate, axial one end of inner ring of a number deep groove ball bearing (407) adopts shaft shoulder structure location, and the other end adopts axial clearance regulation nut (408) to fix;One end, location, outer ring of a number deep groove ball bearing (407) is by the boss location on bracing frame (303), and the other end adopts bearing (ball) cover (410) to realize location;Bearing (ball) cover (410) is installed on bracing frame (303), and it is reserved with the mechanical interface installing axle head encoder (409), axle head encoder (409) is connected with the axle head of big rope sheave (403), can directly record the corner information of big rope sheave (403);Direct current generator (412) is then directly mounted on bracing frame (303), and direct current generator (412) afterbody installs motor side encoder (411);This direct current generator (412) is 24V brush direct current motor, and what motor side encoder (411) adopted is rotary angular displacement sensor;Driving lever (413) and big rope sheave (403) are coordinated by seam and alignment pin (414) realizes being accurately positioned of spacing, again through housing screw (415), both are connected, form rigid structure, rope drive assembly (4) is connected with link assembly (5) by driving lever (413), transmits power and motion;
Described link assembly (5) is the pith of each side chain of the delta mechanism that this equipment adopts, and it is made up of principal and subordinate link bar (501), spring (503), elastic collar (504), bearing pin (505), follower lever (508), No. two deep groove ball bearings (502), No. three deep groove ball bearings (506) and clamp nut (507);They annexations each other are: principal and subordinate link bar (501) and follower lever (508) are connecting rod, two principal and subordinate link bars (501) are connected to form the link assembly (5) of parallelogram respectively from beginning to end with two follower levers (508) by revolute pair, the structure of four revolute pairs is identical, being formed by connecting by bearing pin (505), two No. three deep groove ball bearings (506) and clamp nut (507), axially location relies on clamp nut (507);This follower lever (508) mid portion is square, and principal and subordinate link bar (501) mid portion is circular, circular surface coordinates with No. two deep groove ball bearings (502), form revolute pair, this revolute pair also has two places in link assembly (5), one place connects rope drive assembly (4) and link assembly (5), and another place connects link assembly (5) and moving platform lever assembly (6);The axially location of this revolute pair relies on elastic collar (504) to block, withstand spring (503), the other end is shaft shoulder structure, compression thereby through spring (503) produces enough axial pressing forces, it is achieved the axial location of No. two deep groove ball bearings (502);
Described moving platform lever assembly (6) is connected by revolute pair with link assembly (5), belonging to motion and the end of power transmission, moving platform lever assembly (6) is made up of moving platform (601), compression sheet (602) and stick (603);They annexations each other are: moving platform (601) is the part that three lobe types are symmetrical, the link assembly (5) of three lobes stretched out and three side chains is connected, its center is reserved with semicircular vertical groove structure, this stick (603) is circular carbon fiber bar, stick (603) is placed in groove, compressing sheet (602) is and the compressing component of the vertical groove respective outer side edges formation full circle of semicircle, it is threaded connection and tightens compression sheet (602) thus locking stick (603), realize fixing connection of stick (603) and moving platform (601);
Described shell and stopping means (2) are made up of shell (201), limitting casing (202), gag lever post (203);They relations each other are: shell (201) is by the threaded cuboid shell become of six pieces of flat boards, shell and stopping means (2) are reserved with the interface of control system and the window of action bars (603), limitting casing (202) is installed on the top of shell (201), this limitting casing (202) is square framework, gag lever post (203) is connected with stick (603), it is three-dimensional mobile that gag lever post (203) limited frame is limited in foursquare region, thus realizing the restriction to this equipment square work space;
Described control system is made up of host computer (PC), control card, driver three part;They relations each other are: this host computer is connected with controlling card, control card and are connected with driver, and driver then produces to drive electric current, drives direct current generator work (412);
Host computer (PC) in described control system is one and for read sensor information and completes motion and the equipment of power calculating, realization calculates the output torque of direct current generator (412), collecting of each road signal, and graphical interfaces is mutual;This control card is a common panel, its effect is to carry out the communication of data with host computer and handle respectively, the data, the driving signal providing direct current generator (412) that directly read the feedback on equipment, completes the data with host computer (PC) and exchanges;This control card includes STM32 embedded microprocessor, DAC D/A converter module, I/O interface, ethernet communication module;This control card and host computer carry out communication by Ethernet;This driver be select existing finished product, it effect be that direct current generator (412) is carried out direct torque;This force feedback equipment controls system and selects the servo-driver of brush direct current motor, well can mate with the direct current generator (412) selected by equipment;It is connected with little rope sheave (401) by direct current generator (412) output shaft, then realizes the connection of control system and basic machine (1), export regular feedback force to operating side.
CN201610235880.XA 2016-04-15 2016-04-15 A kind of three-dimensional translating force feedback equipment CN105710865B (en)

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