CN109955284A - Two turn of one shift three degrees of freedom device for force feedback - Google Patents
Two turn of one shift three degrees of freedom device for force feedback Download PDFInfo
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- CN109955284A CN109955284A CN201910181874.4A CN201910181874A CN109955284A CN 109955284 A CN109955284 A CN 109955284A CN 201910181874 A CN201910181874 A CN 201910181874A CN 109955284 A CN109955284 A CN 109955284A
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- 239000000203 mixture Substances 0.000 claims description 4
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- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000004880 explosion Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear-Shifting Mechanisms (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of two turn of one shift three degrees of freedom device for force feedback, including pedestal, fixed platform connector, corner bracket, fixed platform, three SPR branches and moving platform component, the first end of pedestal is fixedly installed with corner bracket, the first end face of corner bracket is equipped with fixed platform connector, fixed platform includes fixed platform pedestal and the flexural pivot adjustment block for being laid in fixed platform circumferencial direction, and fixed platform connector is fixedly connected by fixed platform pedestal with fixed platform；Moving platform component includes moving platform, moving platform branched connection members and control stick, and SPR branch includes flexural pivot, gear unit, rail unit, driving unit and flexible cable.The present invention provides a kind of two turn of one shift three degrees of freedom device for force feedback, have many advantages, such as working space greatly, High power output, be driven in the reverse direction that performance is good, rigidity is high, can be widely applied to the field of virtual reality such as dynamic sensing interexchanging technology.
Description
Technical field
The invention belongs to robotic technology fields, anti-more particularly to a kind of two turn of one shift three degrees of freedom power of flexural pivot biasing
Present device.
Background technique
With the development of computer technology, the mankind can be interacted by vision and the sense of hearing with computer.Power is felt
Interaction technique is the important research content of field of virtual reality, and power feels the addition of perception, so that virtual reality user can not only be seen
To dummy object, and the information such as gravity, elasticity, friction that can feel dummy object, to realize complicated with virtual environment
With accurate interaction.Perception is felt in order to provide the user with power, it is necessary to by means of various dynamic sensing interexchanging apparatus.Existing dynamic sensing interexchanging
Device is broadly divided into structure type in parallel or in series, and wherein cascaded structure can provide biggish working space, but can be real
Existing virtual rigidity is smaller, i.e., cannot feed back too big power/torque.And parallel institution rigidity is high, can be realized big power output/power
Square, but the working space of parallel institution is smaller, restricts parallel institution always and preferably develops.So guaranteeing parallel institution
While existing advantage, further promotes its working space and force feedback performance is of great significance.
Summary of the invention
For above situation, the present invention provides a kind of two turn of one shift three degrees of freedom device for force feedback, overcomes in the prior art
The small disadvantage of parallel institution working space, so that Three Degree Of Freedom device for force feedback has big working space, High power output, reversed drive
Dynamic the advantages that performance is good, rigidity is high and power sense is clear, it can be widely applied to the field of virtual reality such as dynamic sensing interexchanging technology.
The technical solution adopted by the present invention is that a kind of two turn of one shift three degrees of freedom device for force feedback, including pedestal, fixed platform
Connector, corner bracket, fixed platform, three SPR branches and moving platform component, the first end of the pedestal are fixedly installed with the angle
The first end face of frame, the corner bracket is equipped with the fixed platform connector, and the fixed platform includes fixed platform pedestal and is laid in
The flexural pivot adjustment block of the fixed platform circumferencial direction, the fixed platform connector pass through the fixed platform pedestal and the fixed platform
It is fixedly connected；The moving platform component includes moving platform, moving platform branched connection members and control stick, the centre bit of the moving platform
The control stick is installed, and its first end face is laid with the moving platform branched connection members；And each SPR branch
Including flexural pivot, gear unit, rail unit, driving unit and flexible cable, the first end of the SPR branch passes through the flexural pivot and institute
The connection of flexural pivot adjustment block S pair is stated, and the ball pin and the cover board of the gear unit are connected through a screw thread, the gear unit
The sliding rail of sliding block and the rail unit is slidably matched, and composition P pair connection, the driving unit passes through the splined shaft and spline
Axis deep groove ball bearing is installed in the U-shaped frame of the gear unit, and the guide rail top of the SPR branch second end is turned by described
Moving axis and rotation axis deep groove ball bearing are connect with the moving platform branched connection members R pair, and the SPR branch is driven by P pair, described
P pair is driven using flexible cable, and it is thick that the flexible cable successively bypasses the bottom end pulley, splined sleeve taper end, top pulley, splined sleeve
Closed loop is completed with bottom end pulley and is connected in end.
Further, the rail unit includes guide rail bottom end, bottom end pulley, sliding rail, first pulley pin shaft, guide rail top
End, top pulley, rotation axis deep groove ball bearing, rotation axis and second pulley pin shaft, the guide rail top and guide rail bottom end difference
Set on the first end and second end of the sliding rail, the top pulley and bottom end pulley respectively by the first pulley pin shaft and
Second pulley pin shaft is installed on the guide rail top and guide rail bottom end, and the rotation axis is pacified by the rotation axis deep groove ball bearing
First end loaded on the guide rail top.
Further, the gear unit includes motor flange, U-shaped frame, the first flexible cable leading truck, cover board, the second flexible cable
Leading truck and sliding block, the motor flange are set to the first end face of the U-shaped frame, the first flexible cable leading truck and the second flexible cable
Leading truck is respectively arranged on the first end and second end of the U-shaped frame, and the cover board, which is bolted, is installed on the U-shaped frame
Second end face, the sliding block are set to the middle position of the U-shaped frame third end face, and are slidably connected with the sliding rail.
Further, the driving unit includes encoder, motor, circlip, splined shaft deep groove ball bearing, spline housing
Cylinder and splined shaft, the encoder are installed on the first end of the motor, and the output shaft of the motor sequentially passes through the elasticity
Retaining ring and splined shaft deep groove ball bearing and the spline axis connection, and the splined shaft outer ring passes through spline and the splined sleeve
Connection.
Preferably, the flexural pivot adjustment block is laid in the circumferencial direction of the fixed platform pedestal, and allocates about described
The central axis of platform pedestal is uniformly distributed in 120 degree.
Preferably, the moving platform branched connection members totally 3, are laid in the first end face of the moving platform.
Preferably, the motor is fixedly installed on the motor flange, and its output shaft and the spline axis connection, institute
It states splined shaft outer ring and the splined shaft deep groove ball bearing inner ring cooperates, and the first end of the splined shaft deep groove ball bearing inner ring
Shaft shoulder positioning is respectively adopted with second end and circlip is fixed, splined shaft deep groove ball bearing outer ring and the U-shaped frame
Third end and the 4th end are cooperatively connected.
Preferably, the rotation axis and the rotation axis deep groove ball bearing inner ring cooperate, and the rotation axis deep-groove ball axis
Shaft shoulder positioning is respectively adopted in the first end and second end held and circlip is fixed.
Further, the guide rail bottom end is equipped with flexible cable tensioning apparatus, and the flexible cable tensioning apparatus includes threaded hole and tune
Whole bolt, the threaded hole is set to the first end face of the guide rail bottom end, and the adjustment bolt is set in the threaded hole.
The features of the present invention and beneficial effect are:
1, a kind of two turn of one shift three degrees of freedom device for force feedback provided by the invention, by respectively being moved in device for force feedback
The biasing of branch flexural pivot is arranged, so that mechanism has bigger working space.
2, a kind of two turn of one shift three degrees of freedom device for force feedback provided by the invention is driven using P pair, so that force feedback fills
The rigidity of structure with higher is set, while mechanism is driven in the reverse direction function admirable and power sense is more clear.
3, a kind of two turn of one shift three degrees of freedom device for force feedback provided by the invention, movement flexibly, stable drive, have compared with
Big lasting power output and higher position precision.
Detailed description of the invention
Fig. 1 is the overall structure diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 2 is the 3-SPR parallel institution structure diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 3 is the 3-SPR parallel institution assembling schematic diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 4 is the fixed platform structural schematic diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 5 is the whole assembling schematic diagram of the SPR branch of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 6 is SPR branch each unit assembly relation schematic diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 7 is that the SPR branch flexible cable of two turn of one shift three degrees of freedom device for force feedback of the present invention is driven assembling schematic diagram；
Fig. 8 is the moving platform components perspective view of the explosion of two turn of one shift three degrees of freedom device for force feedback of the invention；
Fig. 9 is the rail unit assembling schematic diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；
Figure 10 is guide rail bottom end partial sectional view in the rail unit of two turn of one shift three degrees of freedom device for force feedback of the invention；
Figure 11 is the gear unit assembling schematic diagram of two turn of one shift three degrees of freedom device for force feedback of the invention；And
Figure 12 is the driving unit assembling schematic diagram of two turn of one shift three degrees of freedom device for force feedback of the invention.
Main appended drawing reference:
Pedestal 1；Fixed platform connector 2；Corner bracket 3；Fixed platform 4；Fixed platform pedestal 401；Flexural pivot adjustment block 402；SPR branch
5；Flexural pivot 50；Gear unit 51；Bolt 510；Motor flange 511；U-shaped frame 512；First flexible cable leading truck 513；Cover board 514；The
Two flexible cable leading trucks 515；Flexible cable 516；Sliding block 517；Rail unit 52；Guide rail bottom end 521；Bottom end pulley 522；Sliding rail 523；The
One pulley pin shaft 524；Guide rail top 525；Top pulley 526；Rotation axis deep groove ball bearing 527；Rotation axis 528；Second pulley
Pin shaft 529；Driving unit 53；Encoder 531；Motor 532；Circlip 533；Splined shaft deep groove ball bearing 534；Splined sleeve
535；Splined shaft 536；Moving platform component 6；Moving platform 601；Moving platform branched connection members 602；Control stick 603；Ball pin 501；It is soft
Rope tensioning apparatus 7；Adjustment bolt 71；Threaded hole 72.
Specific embodiment
By the technology contents of the detailed present invention, structure feature, reach purpose and efficacy, below with reference to Figure of description
It is described in detail.
The present invention provides a kind of two turn of one shift three degrees of freedom device for force feedback, as shown in Fig. 1~8, including pedestal 1, allocates
Platform connector 2, corner bracket 3,4, three SPR branches 5 of fixed platform and moving platform component 6, the first end of pedestal 1 are fixedly installed with corner bracket
3, the first end face of corner bracket 3 is equipped with fixed platform connector 2, and fixed platform 4 is including fixed platform pedestal 401 and is laid in fixed platform 4
The flexural pivot adjustment block 402 of circumferencial direction, flexural pivot adjustment block 402 are uniformly divided about the central axis of fixed platform pedestal 401 in 120 degree
Cloth, fixed platform connector 2 are fixedly connected by fixed platform pedestal 401 with fixed platform 4；Moving platform component 6 include moving platform 601,
Moving platform branched connection members 602 and control stick 603, the center of moving platform 601 are equipped with control stick 603, and its first end face
It is laid with moving platform branched connection members 602；And each SPR branch 5 include flexural pivot 50, gear unit 51, rail unit 52,
The first end of driving unit 53 and flexible cable 516, SPR branch 5 is connect by flexural pivot 50 with the S pair of flexural pivot adjustment block 402, and ball pin
501 are connected through a screw thread with the cover board 514 of gear unit 51, the sliding block 517 of gear unit 51 and the sliding rail 523 of rail unit 52
It is slidably matched, composition P pair connection, driving unit 53 is installed on transmission list by splined shaft 536 and splined shaft deep groove ball bearing 534
In the U-shaped frame 512 of member 51, for gear unit 51 and driving unit 53 to be constituted a motion module, 5 second end of SPR branch
Guide rail top 525 connected by the R pair of rotation axis 528 and rotation axis deep groove ball bearing 527 and moving platform branched connection members 602
It connects, due to the arrangement form using flexural pivot biasing, so that SPR branch 5 has very big motion range, thus Three Degree Of Freedom force feedback
Device has bigger working space, and SPR branch 5 is driven by P pair, and P pair is driven using flexible cable 516, and flexible cable 516 successively bypasses bottom
Head sheave 522,535 taper end of splined sleeve, top pulley 526,535 butt end of splined sleeve and bottom end pulley 522 are completed closed loop and are connected
It connects, the main operational principle of P pair driving is wound around in the flexible cable 516 on 535 butt end of splined sleeve and is wound in splined sleeve
516 screw-in length of flexible cable in 535 taper ends is unequal, and differential displacement is consequently formed, so that gear unit 51 and driving unit 53
Straight reciprocating can be formed on the sliding rail 523 of rail unit 52, generate the transmission effect for being similar to rack-and-pinion.
As shown in Figure 9 and Figure 10, rail unit 52 is sliding including guide rail bottom end 521, bottom end pulley 522, sliding rail 523, first
Take turns pin shaft 524, guide rail top 525, top pulley 526, rotation axis deep groove ball bearing 527, rotation axis 528 and second pulley pin shaft
529, guide rail top 525 and guide rail bottom end 521 are respectively arranged on the first end and second end of sliding rail 523, top pulley 526 and bottom end
Pulley 522 is installed on guide rail top 525 and guide rail bottom end by first pulley pin shaft 524 and second pulley pin shaft 529 respectively
521, rotation axis 528 is installed on the first end on guide rail top 525, rotation axis 528 and rotation by rotation axis deep groove ball bearing 527
The cooperation of 527 inner ring of axis deep groove ball bearing, and shaft shoulder positioning is respectively adopted in the first end and second end of rotation axis deep groove ball bearing 527
It is fixed with circlip, guide rail bottom end 521 is equipped with flexible cable tensioning apparatus 7, and flexible cable tensioning apparatus 7 includes threaded hole 72 and adjustment spiral shell
Bolt 71, threaded hole 72 is set to the first end face of guide rail bottom end 521, and adjustment bolt 71 is set in threaded hole 72, is adjusted by adjusting
The screw-in depth of whole bolt 71 realizes the tensioning of flexible cable, guarantees transmission accuracy, while realizing using counterweight in guide rail bottom end 521
Part gravity compensation.
As shown in figure 11, gear unit 51 includes motor flange 511, U-shaped frame 512, the first flexible cable leading truck 513, cover board
514, the second flexible cable leading truck 515 and sliding block 517, motor flange 511 are set to the first end face of U-shaped frame 512, the first flexible cable guiding
Frame 513 and the second flexible cable leading truck 515 are respectively arranged on the first end and second end of U-shaped frame 512, and cover board 514 is solid by bolt 510
Dingan County be loaded on U-shaped frame 512 second end face, sliding block 517 be set to U-shaped 512 third end face of frame middle position, and with sliding rail 523
It is slidably connected.
As shown in figure 12, driving unit 53 includes encoder 531, motor 532, circlip 533, splined shaft deep-groove ball axis
Hold 534, splined sleeve 535 and splined shaft 536, encoder 531 is installed on the first end of motor 532, the output shaft of motor 532 according to
It is secondary to be connect across circlip 533 and splined shaft deep groove ball bearing 534 with splined shaft 536, and 536 outer ring of splined shaft passes through spline
It is connect with splined sleeve 535,536 outer ring of splined shaft and 534 inner ring of splined shaft deep groove ball bearing cooperate, and splined shaft deep-groove ball axis
Shaft shoulder positioning is respectively adopted for the first end and second end for holding 534 inner rings and circlip 533 is fixed, splined shaft deep groove ball bearing
The third end and the 4th end of 534 outer rings and U-shaped frame 512 are cooperatively connected.
It is of the invention specific steps are as follows:
As shown in Fig. 1~12, two turn of one shift three degrees of freedom device for force feedback of one kind of the invention, including pedestal 1, fixed platform
Connector 2, corner bracket 3,4, three SPR branches 5 of fixed platform and moving platform component 6, the first end of pedestal 1 are fixedly installed with corner bracket 3,
The first end face of corner bracket 3 is equipped with fixed platform connector 2, and fixed platform connector 2 is fixed by fixed platform pedestal 401 and fixed platform 4
Connection, moving platform component 6 include moving platform 601, moving platform branched connection members 602 and control stick 603, and SPR branch 5 includes flexural pivot
50, the first end of SPR branch 5 is passed through flexural pivot 50 and ball by gear unit 51, rail unit 52, driving unit 53 and flexible cable 516
The S pair connection of adjustment block 402 is cut with scissors, the sliding block 517 of gear unit 51 is slidably matched with the sliding rail 523 of rail unit 52, forms P pair
The guide rail top 525 of connection, 5 second end of SPR branch passes through rotation axis 528 and rotation axis deep groove ball bearing 527 and moving platform point
The R pair of branch connector 602 connects, and SPR branch 5 is driven by P pair, drives flexible cable 516 to be driven by driving motor 523, to make
Obtaining device for force feedback has two turn of one shifting three degree of freedom.
Specifically, rail unit 52 includes by guide rail bottom end 521, bottom end pulley 522, sliding rail 523, first pulley pin shaft
524, guide rail top 525, top pulley 526, rotation axis deep groove ball bearing 527, rotation axis 528 and second pulley pin shaft 529, together
When guide rail bottom end 521 be equipped with flexible cable tensioning apparatus 7, flexible cable tensioning apparatus 7 include threaded hole 72 and adjustment bolt 71, spiral shell will be adjusted
Bolt 71 is set in threaded hole 72, by adjusting the screw-in depth of adjustment bolt 71, the tensioning of flexible cable may be implemented, guarantee transmission essence
Degree.
Specifically, gear unit 51 include motor flange 511, U-shaped frame 512, the first flexible cable leading truck 513, cover board 514,
Second flexible cable leading truck 515 and sliding block 517, driving unit 53 include encoder 531, motor 532, circlip 533, splined shaft
The output shaft of motor 532 is sequentially passed through circlip 533 and flower by deep groove ball bearing 534, splined sleeve 535 and splined shaft 536
Key axis deep groove ball bearing 534 is connect with splined shaft 536, and flexible cable 516 is successively thin around bottom end pulley 522, splined sleeve 535
End, top pulley 526,535 butt end of splined sleeve and bottom end pulley 522 are completed closed loop and are connected, and are driven by driving motor 532 soft
Rope 516 makes sliding block 517 move along a straight line on sliding rail 523.
The present invention provides a kind of two turn of one shift three degrees of freedom device for force feedback, and three SPR branches 5 are in parallel set on fixed platform
On connector 2 and moving platform component 6, the first end of SPR branch 5 is connect by flexural pivot 50 with the S pair of flexural pivot adjustment block 402, is passed
The sliding block 517 of moving cell 51 is slidably matched with the sliding rail 523 of rail unit 52, and composition P pair connection, 5 second end of SPR branch is led
Rail top 525 is connect by rotation axis 528 and rotation axis deep groove ball bearing 527 with the R pair of moving platform branched connection members 602, SPR
Branch 5 is driven by P pair, by driving motor 523 to drive flexible cable 516 to be driven, so that sliding block 517 is done directly on sliding rail 523
Bidimensional rotation and one-dimensional movement of the device for force feedback in space may be implemented in line movement, while SPR branch 5 is inclined using flexural pivot
The arrangement form set, so that Three Degree Of Freedom device for force feedback has bigger working space.
Concrete operations mode are as follows: operator holds control stick 603 and operates, and drives each kinematic pair fortune of device for force feedback
Dynamic, the P pair in each SPR branch is driven in the reverse direction splined sleeve 535 by flexible cable 516 and splined shaft 536 rotates, and then drives
The motor 532 being connected with splined shaft 536 rotates, then the acquisition movement letter of encoder 531 by exporting axis connection with motor 532
Breath, passes to host computer, host computer combination concrete application calculates interactive force information by software and passes it to slave computer
Driver generates the signal of driving motor, so that driving motor 532 generates corresponding torque, thus approximate true to operator
Reciprocal force realizes real-time dynamic sensing interexchanging.
Meanwhile the present invention overcomes the disadvantage that parallel institution working space is small, precision is low in the prior art, so that Three Degree Of Freedom
Device for force feedback has many advantages, such as working space big, High power output, is driven in the reverse direction that performance is good, rigidity is high and power sense is clear, can be with
It is widely used in the modern industries such as the field of virtual reality such as dynamic sensing interexchanging technology and automobile, electronics, nuclear industry, aerospace
Field.
The above is the preferred embodiment of the application, is not limited the scope of protection of the present invention with this, it is noted that right
For those skilled in the art, under the premise of not departing from this technology principle, can also make it is several improvement and
Retouching, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (9)
1. a kind of two turn of one shift three degrees of freedom device for force feedback, which is characterized in that including pedestal, fixed platform connector, corner bracket, determine
Platform, three SPR branches and moving platform component,
The first end of the pedestal is fixedly installed with the corner bracket, and the first end face of the corner bracket is connected equipped with the fixed platform
Part, the fixed platform includes fixed platform pedestal and is laid in the flexural pivot adjustment block of the fixed platform circumferencial direction, described to allocate
Platform connector is fixedly connected by the fixed platform pedestal with the fixed platform；
The moving platform component includes moving platform, moving platform branched connection members and control stick, and the centre bit of the moving platform installs
There is the control stick, and its first end face is laid with the moving platform branched connection members；And
Each SPR branch includes flexural pivot, gear unit, rail unit, driving unit and flexible cable, and the of the SPR branch
One end is connect by the flexural pivot with the flexural pivot adjustment block S pair, and the cover board of the ball pin and the gear unit passes through spiral shell
Line connection, the sliding block of the gear unit and the sliding rail of the rail unit are slidably matched, composition P pair connection, and the driving is single
Member is installed in the U-shaped frame of the gear unit by the splined shaft and splined shaft deep groove ball bearing, the SPR branch second
The guide rail top at end is connect by the rotation axis and rotation axis deep groove ball bearing with the moving platform branched connection members R pair, institute
It states SPR branch to be driven by P pair, the P pair is driven using flexible cable, and the flexible cable successively bypasses the bottom end pulley, splined sleeve
Taper end, top pulley, splined sleeve butt end and bottom end pulley are completed closed loop and are connected.
2. two turn of one shift three degrees of freedom device for force feedback according to claim 1, which is characterized in that the rail unit packet
Include guide rail bottom end, bottom end pulley, sliding rail, first pulley pin shaft, guide rail top, top pulley, rotation axis deep groove ball bearing, rotation
Axis and second pulley pin shaft, the guide rail top and guide rail bottom end are respectively arranged on the first end and second end of the sliding rail, described
Top pulley and bottom end pulley respectively by the first pulley pin shaft and second pulley pin shaft be installed on the guide rail top and
Guide rail bottom end, the rotation axis are installed on the first end on the guide rail top by the rotation axis deep groove ball bearing.
3. two turn of one shift three degrees of freedom device for force feedback according to claim 2, which is characterized in that the gear unit packet
Motor flange, U-shaped frame, the first flexible cable leading truck, cover board, the second flexible cable leading truck and sliding block are included, the motor flange is set to institute
The first end face of U-shaped frame is stated, the first flexible cable leading truck and the second flexible cable leading truck are respectively arranged on the first end of the U-shaped frame
And second end, the cover board are bolted the second end face for being installed on the U-shaped frame, the sliding block is set to the U-shaped frame
The middle position of third end face, and be slidably connected with the sliding rail.
4. two turn of one shift three degrees of freedom device for force feedback according to claim 3, which is characterized in that the driving unit packet
Encoder, motor, circlip, splined shaft deep groove ball bearing, splined sleeve and splined shaft are included, the encoder is installed on described
The first end of motor, the output shaft of the motor sequentially pass through the circlip and splined shaft deep groove ball bearing and the spline
Axis connection, and the splined shaft outer ring is connect by spline with the splined sleeve.
5. two turn of one shift three degrees of freedom device for force feedback according to claim 3, which is characterized in that the flexural pivot adjustment block
It is laid in the circumferencial direction of the fixed platform pedestal, and is uniformly divided about the central axis of the fixed platform pedestal in 120 degree
Cloth.
6. two turn of one shift three degrees of freedom device for force feedback according to claim 3, which is characterized in that the moving platform branch
Connector totally 3, it is laid in the first end face of the moving platform.
7. two turn of one shift three degrees of freedom device for force feedback according to claim 4, which is characterized in that the fixed peace of the motor
Loaded on the motor flange, and its output shaft and the spline axis connection, the splined shaft outer ring and the splined shaft zanjon
Ball bearing inner race cooperation, and shaft shoulder positioning and bullet is respectively adopted in the first end and second end of the splined shaft deep groove ball bearing inner ring
Property retaining ring fix, the third end and the 4th end of splined shaft deep groove ball bearing outer ring and the U-shaped frame are cooperatively connected.
8. two turn of one shift three degrees of freedom device for force feedback according to claim 3, which is characterized in that the rotation axis and institute
The cooperation of rotation axis deep groove ball bearing inner ring is stated, and the shaft shoulder is respectively adopted in the first end and second end of the rotation axis deep groove ball bearing
Positioning and circlip are fixed.
9. two turn of one shift three degrees of freedom device for force feedback according to claim 3, which is characterized in that the guide rail bottom end is set
There is flexible cable tensioning apparatus, the flexible cable tensioning apparatus includes threaded hole and adjustment bolt, and the threaded hole is set to the guide rail bottom
The first end face at end, and the adjustment bolt is set in the threaded hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181874.4A CN109955284B (en) | 2019-03-11 | 2019-03-11 | Force feedback device with two rotations and one movement and three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181874.4A CN109955284B (en) | 2019-03-11 | 2019-03-11 | Force feedback device with two rotations and one movement and three degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109955284A true CN109955284A (en) | 2019-07-02 |
| CN109955284B CN109955284B (en) | 2020-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910181874.4A Active CN109955284B (en) | 2019-03-11 | 2019-03-11 | Force feedback device with two rotations and one movement and three degrees of freedom |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114377381A (en) * | 2022-03-23 | 2022-04-22 | 广州奇境科技有限公司 | Three-phase linear magnetic axis force feedback device applied to VR equipment |
| WO2023169306A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Driving force acquisition method and apparatus for main manipulator, and storage medium |
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| EP2148629A2 (en) * | 2007-04-16 | 2010-02-03 | Neuroarm Surgical Ltd. | Frame mapping and force feedback methods, devices and systems |
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| WO2023169306A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Driving force acquisition method and apparatus for main manipulator, and storage medium |
| CN114377381A (en) * | 2022-03-23 | 2022-04-22 | 广州奇境科技有限公司 | Three-phase linear magnetic axis force feedback device applied to VR equipment |
| CN114377381B (en) * | 2022-03-23 | 2022-06-07 | 广州奇境科技有限公司 | Three-phase linear magnetic axis force feedback device applied to VR equipment |
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