CN110440742A - Outer corner measurement component, serial mechanism and device for force feedback - Google Patents
Outer corner measurement component, serial mechanism and device for force feedback Download PDFInfo
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- CN110440742A CN110440742A CN201910863487.9A CN201910863487A CN110440742A CN 110440742 A CN110440742 A CN 110440742A CN 201910863487 A CN201910863487 A CN 201910863487A CN 110440742 A CN110440742 A CN 110440742A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 238000005259 measurement Methods 0.000 title claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 39
- 238000013519 translation Methods 0.000 claims description 7
- 125000004122 cyclic group Chemical group 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 7
- 230000008713 feedback mechanism Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 241000287828 Gallus gallus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000012447 hatching Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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Abstract
The present invention relates to force feedback equipment technical field more particularly to a kind of outer corner measurement components, serial mechanism and device for force feedback.The outer corner measurement component includes the second articulated part, second angle sensor, the first support, the second support, first connecting rod and second connecting rod；First support is connect by the second articulated part with the second support, and first connecting rod and second connecting rod sequentially pass through auxiliary articulated part and be connected between the first support and the second support；The axis of each articulated part is parallel, second articulated part is equal to the first auxiliary articulated part at a distance from the second auxiliary articulated part at a distance from third auxiliary articulated part, and the second articulated part is equal to the second auxiliary articulated part at a distance from third auxiliary articulated part at a distance from the first auxiliary articulated part.The corner that the second articulated part can be obtained at third auxiliary articulated part is arranged in second angle sensor by outer corner measurement component, serial mechanism and the force feedback equipment, can be excessive to avoid structure size, keeps self structure more exquisite rationally.
Description
Technical field
The present invention relates to force feedback equipment technical field more particularly to a kind of outer corner measurement component, serial mechanism and power are anti-
Present device.
Background technique
Dynamic sensing interexchanging technology belongs to emerging technology, and foreign countries have more research team and commercialization toad piece, and the country exists
The field is still in infancy, and also without commercialized force feedback equipment.Dynamic sensing interexchanging technology and force feedback
Equipment has important application value in fields such as virtual reality, remote operating, operating robot, surgery training, scientific research, industry.
Existing force feedback equipment generally includes tandem type, parallel connection type and serial-parallel mirror type equipment.Existing serial-parallel mirror
Equipment is made of delta mechanism and cascaded structure, and wherein delta mechanism can realize that D translation, rotating mechanism may be implemented three
Dimension rotation, so that whole equipment has six degrees of freedom of motion.
The rotating part structure size of existing force feedback equipment is big, can not be suitable for the fields such as fine analog operation, main
It wants reason to be to measure the corner of the articulated part of force feedback equipment and angular transducer is set, around some of them articulated part
Installation space it is narrower or the volume of two components itself that is connected by the articulated part is with regard to larger, installed at articulated part
After angular transducer, result in that rotational structure size of the force snesor at the articulated part is larger, structure is not exquisite enough to ask
Topic.
Summary of the invention
The first object of the present invention is to provide a kind of outer corner measurement mechanism, to solve to a certain extent in the prior art
The force snesor that is arranged at certain articulated parts to will cause structure size at this excessive, and then cause structure not exquisite reasonable enough
Technical problem.
The second object of the present invention is to provide a kind of serial mechanism, to improve the serial mechanism itself to a certain extent
The elegance and reasonability of structure.
The third object of the present invention is to provide a kind of device for force feedback, whole to improve device for force feedback to a certain extent
The elegance and reasonability of body structure.
To achieve the goals above, the present invention provides following technical schemes；
Based on above-mentioned first purpose, outer corner measurement component provided by the invention, including the second articulated part, second angle sensing
Device, the first support, the second support, first connecting rod and second connecting rod；
First support is connect by second articulated part with second support, and one end of the first connecting rod is logical
It crosses the first auxiliary articulated part to connect with first support, the other end of the first connecting rod passes through the second auxiliary articulated part and institute
One end connection of second connecting rod is stated, the other end of the second connecting rod assists articulated part and second support to connect by third
It connects；
Second articulated part, the first auxiliary articulated part, the second auxiliary articulated part and the third assist pivot
The axis of fitting is parallel to each other, the distance between axis of the axis of second articulated part and third auxiliary articulated part etc.
In the axis of the first auxiliary articulated part and the distance between the axis of the second auxiliary articulated part, second articulated part
Axis and the first auxiliary articulated part the distance between axis be equal to the axis of the second auxiliary articulated part with it is described
The distance between the axis of third auxiliary articulated part；
The third that corresponds to that second support is arranged in the second angle sensor assists at articulated part, to survey
Measure the rotational angle of the third auxiliary articulated part.In any of the above-described technical solution, optionally, the second angle sensor
For absolute angle sensor.
Based on above-mentioned second purpose, serial mechanism provided by the invention, including tool piece, moving platform, the first articulated part,
Three articulated parts and the outer corner measurement component as described in any of the above-described technical solution；
The tool piece is connect by first articulated part with first support, and second support passes through described the
Three articulated parts are connect with the moving platform；
The axis of the axis of first articulated part, the axis of second articulated part and the third articulated part is not located at
In same plane.
In any of the above-described technical solution, optionally, first angle sensor is provided at first articulated part, it is described
Third angle sensor is provided at third articulated part.
Based on above-mentioned third purpose, device for force feedback provided by the invention, including fixed platform, parallel institution and such as above-mentioned
Serial mechanism described in one technical solution；
The parallel institution is connected between the fixed platform and the moving platform of the serial mechanism, the parallel institution energy
It is enough translated in three-dimensional space with the moving platform or the parallel institution can drive the moving platform in the three-dimensional space
Interior translation.
In any of the above-described technical solution, optionally, the parallel institution includes three branched structures, the branched structure
Including link assembly and driving assembly；
The link assembly include sequentially enclose the third connecting rod connect, fourth link, the 5th connecting rod and, the fourth link
Both ends pass through the 4th auxiliary articulated part respectively and connect the third connecting rod and the 5th connecting rod；
The third connecting rod can around own axis connect the moving platform；5th connecting rod can be around itself
Axis rotationally connects the driving component；The axis of third connecting rod and the 5th connecting rod in the same link assembly is mutual
In parallel, the axis of the 4th auxiliary articulated part is both perpendicular to the axis of the third connecting rod and the axis of the 5th connecting rod
Line；
The driving component be arranged on the fixed platform, the driving component can drive the third connecting rod relative to
The fixed platform is mobile.
In any of the above-described technical solution, optionally, the driving component includes driving motor, motor support base, the first rope
Wheel, the second rope sheave, transmission rope part and fourth angle sensor；
The motor support base is arranged on the fixed platform, and the driving motor is arranged on the motor support base；It is described
The drive shaft of driving motor and first rope sheave are coaxially connected, and second rope sheave can along own axis be arranged in
On the motor support base；
The axis of the axis of first rope sheave, the axis of second rope sheave and the third connecting rod is parallel to each other；Institute
Transmission rope part is stated to be wrapped on first rope sheave and second rope sheave.
In any of the above-described technical solution, optionally, second rope sheave include the second rope sheave ontology, the first fixed part,
Second fixed part, the first guide part, the second guide part and wound portion；
One end of the transmission rope part is fixedly connected by first fixed part with the second rope sheave ontology, the biography
The other end that the other end of running rope part sequentially bypasses one end of the wound portion, first rope sheave and the wound portion passes through again
Second fixed part is fixedly connected with the second rope sheave ontology；One end of the transmission rope part is another with the transmission rope part
One end is formed between first rope sheave and second rope sheave to intersect；
First guide part is located between one end and first fixed part of the wound portion, and first guiding
Portion makes the transmission rope part be adjacent to one end of the wound portion；Second guide part is located at the other end and the institute of the wound portion
It states between the second fixed part, and second guide part makes the transmission rope part be adjacent to the other end of the wound portion.
In any of the above-described technical solution, optionally, it is described 4th auxiliary articulated part include first bearing, second bearing,
Connect bolt and attaching nut；
The third connecting rod and the 5th connecting rod are provided with first through hole, and the both ends of the fourth link are provided with
Second through-hole；First shoulder is provided in second through-hole, the first bearing and the second bearing are arranged at described
The two sides of the first shoulder are located in second through-hole and along the axial direction of second through-hole；
The first through hole and corresponding second through-hole are coaxial superimposed, and the end of thread of the connection bolt sequentially passes through
The inner ring of the first through hole, the inner ring of the first bearing and the second bearing, the attaching nut and the connection spiral shell
The end of thread of bolt and the bearing face for compressing the second bearing.
In any of the above-described technical solution, optionally, the device for force feedback further includes 3rd bearing, fourth bearing and end
Lid；
It is provided with interconnecting piece on the moving platform, it is logical that the third passed through for the third connecting rod is provided on the interconnecting piece
Hole, one end of the third through-hole are provided with cyclic annular stopper section, the second shoulder are provided on the third connecting rod；
The 3rd bearing and the fourth bearing are arranged in the third through-hole and housing is in the third connecting rod
On, the 3rd bearing is located between the cyclic annular stopper section and second shoulder, and it is logical that the end cap is sealed on the third
The other end in hole, for the fourth bearing between second shoulder and the end cap, the end cap can make the described 4th
Bearing compresses second shoulder.
By adopting the above technical scheme, beneficial effects of the present invention:
Outer corner measurement component provided by the invention, by the way that first connecting rod and the are arranged between the first support and the second support
Two connecting rods make the first support, first connecting rod, second connecting rod and the second support limit parallelogram jointly, utilize parallel four
The property of the adjacent angle complementation of side shape obtains the first support relative to the relative to the corner of the second support by measurement second connecting rod
The corner of two supports.So as to be not easy to setting second angle sensor at the second articulated part or set at the second articulated part
When setting second angle sensor to make that structure is complicated huge, by the way that the setting of second angle sensor is assisted being pivotally connected in third
The corner of the second articulated part can be obtained at part, thus the outer corner measurement component can meet basic angle measurement demand
Under the premise of, it avoids structure size at second angle sensor setting excessive, there is more exquisite reasonable mechanism.
Serial mechanism provided by the invention can be made by the first articulated part of setting, the second articulated part and third articulated part
Moving platform rotates in three-dimensional space with tool piece or tool piece compliant platform rotates in three-dimensional space.And due to the string
Online structure includes the outer corner measurement component of embodiment one kind, thus before it ensure that the corner that can be measured at the second articulated part
It puts, improves the elegance and reasonability of the serial mechanism self structure.Meanwhile convenient for the setting of second angle sensor is existed
At separate tool piece, and then convenient for reducing manpower interference.
Device for force feedback provided by the invention, including parallel institution and serial mechanism can be realized basic force feedback
Under the premise of function, the elegance and reasonability of the structure due to improving serial mechanism, thus also improve force feedback dress
Set integrally-built elegance and reasonability.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first structure diagram of outer corner measurement component provided by Embodiment 2 of the present invention；
Fig. 2 is the second structural schematic diagram of outer corner measurement component provided by Embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram for the device for force feedback that the embodiment of the present invention three provides；
Fig. 4 is the first structure diagram of the branched structure for the device for force feedback that the embodiment of the present invention three provides；
Fig. 5 is the second structural schematic diagram of the branched structure for the device for force feedback that the embodiment of the present invention three provides；
Fig. 6 is the structural schematic diagram of the transmission component for the device for force feedback that the embodiment of the present invention three provides；
Fig. 7 is the diagrammatic cross-section of the branch chain mechanism for the device for force feedback that the embodiment of the present invention three provides.
Icon: 1- serial mechanism；The first support of 10-；The second support of 11-；12- first connecting rod；13- second connecting rod；14-
Two angular transducers；15- tool piece；16- moving platform；160- interconnecting piece；The second shoulder of 161-；162- ring-type stopper section；20-
One articulated part；The second articulated part of 21-；22- third articulated part；24- first assists articulated part；25- second assists articulated part；26-
Third assists articulated part；27- the 4th assists articulated part；270- first bearing；271- second bearing；272- connection bolt；273-
Attaching nut；3- branched structure；30- link assembly；300- third connecting rod；301- fourth link；The 5th connecting rod of 302-；303-
Six-bar linkage；304- first shoulder；31- driving motor；32- motor support base；The first rope sheave of 33-；The second rope sheave of 34-；340- second
Rope sheave ontology；341- the second rope sheave lid；The first fixed part of 342-；The second fixed part of 343-；The first guide part of 344-；345- second
Guide part；346- wound portion；35- transmission rope part；36- fourth angle sensor；4- device for force feedback；40- fixed platform；41-
Three bearings；42- fourth bearing；43- end cap.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one
In conjunction with shown in Fig. 1 to Fig. 7, outer corner measurement component in the present embodiment, including the second articulated part 21, second angle are passed
Sensor 14, the first support 10, the second support 11, first connecting rod 12 and second connecting rod 13.
First support 10 is connect by the second articulated part 21 with the second support 11, so that the first support 10 and the second support 11
It can be relatively rotated around the axis of the second articulated part 21；One end of first connecting rod 12 passes through the first auxiliary articulated part 24 and first
Seat 10 connects, so that first connecting rod 12 can be rotated relative to the first support 10 around the axis of the second articulated part 21, first connecting rod
12 other end is connect by the second auxiliary articulated part 25 with one end of second connecting rod 13, so that first connecting rod 12 and second connecting rod
13 can be around the axis rotation of the second auxiliary articulated part 25；The other end of second connecting rod 13 assists articulated part 26 and the by third
Two supports 11 connection, so that second connecting rod 13 and the second support 11 can assist the axis rotation of articulated part 26 around third.
Second articulated part 21, first assists the axis that articulated part 24, second assists articulated part 25 and third assists articulated part 26
Line is parallel to each other, so as to make the first support 10, first connecting rod 12, second connecting rod 13 and the second support 11 limit a section
For the cylinder of quadrangle.
Further, the distance between the axis of the axis of the second articulated part 21 and third auxiliary articulated part 26 is equal to first
Assist the axis of articulated part 24 and the distance between the axis of the second auxiliary articulated part 25, the axis and first of the second articulated part 21
The distance between axis of articulated part 24 is assisted to be equal to the axis of the second auxiliary articulated part 25 and the axis of third auxiliary articulated part 26
The distance between line, that is to say, that the first support 10, first connecting rod 12, second connecting rod 13 and the second support 11 limit one
Section is the cylinder of parallelogram.Thus, in use, when the first support 10 is rotated relative to the second support 11, the
One connecting rod 12, second connecting rod 13 rotate simultaneously therewith, and according to the property of the adjacent angle of parallelogram complementation, it is known that first
Angle between support 10 and the second support 11 is consistently equal to the angle between second connecting rod 13 and the first support 10, that is,
The corner of two articulated parts 21 is equal to the corner of third auxiliary articulated part 26.
The third that corresponds to that the second support 11 is arranged in second angle sensor 14 assists at articulated part 26, to measure third
Assist the rotational angle of articulated part 26.Since the corner of the second articulated part 21 is equal to the corner of third auxiliary articulated part 26, pass through
The corner of the second articulated part 21 can be obtained in the corner of measurement third auxiliary articulated part 26.
Outer corner measurement component in the present embodiment, by the way that first connecting rod is arranged between the first support 10 and the second support 11
12 and second connecting rod 13, so that the first support 10, first connecting rod 12, second connecting rod 13 is limited parallel four jointly with the second support 11
Side shape, the corner using the property of the adjacent angle complementation of parallelogram, by measurement second connecting rod 13 relative to the second support 11
Obtain corner of first support 10 relative to the second support 11.So as to be not easy to second jiao of setting at the second articulated part 21
Degree sensor 14 or when second angle sensor 14 is set at the second articulated part 21 to make that structure is complicated huge, pass through by
The corner that the second articulated part 21 can be obtained at third auxiliary articulated part 26, thus the corner is arranged in second angle sensor 14
Measurement component can avoid structure ruler at 14 setting of second angle sensor under the premise of meeting basic angle measurement demand
It is very little excessive, there is more exquisite reasonable mechanism.
In the optinal plan of the present embodiment, second angle sensor 14 is absolute angle sensor.Wherein absolute angle passes
Sensor in the case where not needing power supply, can realize the information record of absolute angular position, to guarantee absolute position when power is off
The accuracy of confidence breath.Common angle measurement tool does not use absolute angle sensor, and booting is caused to need to return to zero school
Standard brings inconvenience to user.And in the technical solution, absolute angle sensor is set by second angle sensor 14,
The corner of the second articulated part 21 can be recorded and shown in real time, and will not be zeroed due to power-off, starting corner survey every time
Measure component when without think initialize articulated part corner, improve the convenience used.
Optionally, absolute angle sensor can be blast photoelectric encoder, absolute encoder, potentiometer, Hall angle
Sensor etc..
Embodiment two
Embodiment two provides a kind of serial mechanism, which includes the outer corner measurement component in embodiment one, implements
The technical characteristic of outer corner measurement component disclosed in example one is also applied for the embodiment, the published outer corner measurement group of embodiment one
The technical characteristic of part is not repeated to describe.
Referring to Fig. 1 and Fig. 2, Fig. 1 is the first structure diagram of serial mechanism provided in this embodiment；Fig. 2 is this implementation
Second structural scheme of mechanism of the serial mechanism that example provides.
Serial mechanism provided in this embodiment is used for device for force feedback, especially series-parallel type device for force feedback.It is logical
Normal series-parallel type force feedback equipment is made of parallel institution and serial mechanism, and wherein parallel institution can be realized three-dimensional space
Interior translational motion, and cascaded structure can be realized the rotational motion in three-dimensional space.
It referring to Fig. 1 and Fig. 2 and combines shown in Fig. 3 to Fig. 7, the serial mechanism 1 in the present embodiment, including tool piece 15, dynamic
The outer corner measurement component of platform 16, the first articulated part 20 and third articulated part 22 and embodiment one kind.Wherein, tool piece 15 is used for
It is hand-held, to exert a force to serial mechanism 1；First articulated part 20, the second articulated part 21 and third articulated part 22 are common pivot joint
Part for example, includes the articulated part of bearing.
Optionally, tool piece 15 is in the shape of a rod, hand-held convenient for operator.
Tool piece 15 connect by the first articulated part 20 with the first support 10, the second support 11 pass through third articulated part 22 and
Moving platform 16 connects；The axis of the axis of first articulated part 20, the axis of the second articulated part 21 and third articulated part 22 is not located at
In same plane.The rotation that the first dimension of serial mechanism 1 in three-dimensional space may be implemented by the first articulated part 20, passes through
The rotation of the second dimension of serial mechanism 1 in three-dimensional space may be implemented in second articulated part 21, can by third articulated part 22
To realize the rotation of the third dimension of cascaded structure in three-dimensional space.Optionally, the extended line of the axis of the first articulated part 20,
The extended line of the axis of the extended line and third articulated part 22 of the axis of second articulated part 21 can be met at a bit.
Serial mechanism 1 in the present embodiment passes through the first articulated part 20 of setting, the second articulated part 21 and third articulated part
22, it can make that moving platform 16 rotates in three-dimensional space with tool piece 15 or 15 compliant platform 16 of tool piece is in three-dimensional space
Interior rotation.And since the serial mechanism 1 includes the outer corner measurement component of embodiment one kind, thus second can be measured ensure that
Under the premise of corner at articulated part 21, the elegance and reasonability of 1 self structure of serial mechanism is improved.Meanwhile being convenient for
Second angle sensor 14 is arranged far from tool piece 15, and then convenient for reducing manpower interference.
In the optinal plan of the present embodiment, first angle sensor, third articulated part 22 are provided at the first articulated part 20
Place is provided with third angle sensor.It is total by first angle sensor, second angle sensor 14 and third angle sensor
Same-action can determine the angle rotated respectively in three dimensions of the tool piece 15 in three-dimensional space, so as to obtain
The rotation posture of the tool piece 15 in three-dimensional space.
Optionally, first angle sensor and third angle sensor also use absolute angle sensor.
Serial mechanism 1 in the present embodiment has the advantages that the outer corner measurement component in embodiment one, and one institute of embodiment is public
The advantages of outer corner measurement component opened, is not repeated to describe herein.
Embodiment three
Embodiment three provides a kind of device for force feedback, which includes the serial mechanism in embodiment two, embodiment
The technical characteristic of serial mechanism disclosed in two is also applied for the embodiment, and the technology of the published serial mechanism of embodiment two is special
Sign is not repeated to describe.
Referring to Fig. 3 to Fig. 7, Fig. 3 is the structural schematic diagram of device for force feedback provided in this embodiment；Fig. 4 is the present embodiment
The first structure diagram of the branched structure of the device for force feedback of offer；Fig. 5 is the branch of device for force feedback provided in this embodiment
Second structural schematic diagram of chain structure；Fig. 6 is the structural schematic diagram of the transmission component of device for force feedback provided in this embodiment；Figure
7 are omitted for the diagrammatic cross-section of the branch chain mechanism of device for force feedback provided in this embodiment for more clearly expression structure
Hatching.
In conjunction with Fig. 1 and Fig. 2 and referring to shown in Fig. 3 to Fig. 7, device for force feedback 4 in the present embodiment, including fixed platform 40,
The serial mechanism 1 of parallel institution and embodiment one kind.Wherein, fixed platform 40 is for smoothly preventing device for force feedback 4 in table
On the support surfaces such as face.
Parallel institution is connected between fixed platform 40 and the moving platform 16 of serial mechanism 1, and parallel institution being capable of compliant platform
16 translate or parallel institution can drive moving platform 16 to translate in three-dimensional space in three-dimensional space.
The working principle of device for force feedback 4 are as follows: device for force feedback 4 usually has existing force feedback mechanism, passes through tool
Part 15 exerts a force to the device for force feedback 4, and under the action of serial mechanism 1, moving platform 16 can be relative to fixed platform 40 in three-dimensional
It is rotated in space, moving platform 16 translates in three-dimensional space under the drive of cascaded structure, so that parallel institution can compliant platform
16 translate in three-dimensional space.The translation gesture of parallel institution and the rotation posture of serial mechanism 1 are as the device for force feedback 4
The input quantity of force feedback mechanism provides certain feedback force to tool piece 15, and specifically, parallel institution changes according to force feedback mechanism
Become translation gesture, so that moving platform 16 be driven to translate in three-dimensional space, cascaded structure is under the driving of moving platform 16 in three-dimensional
It is rotated in space, provides certain feedback force to tool piece 15 to realize.
The device for force feedback 4 in the present embodiment, including parallel institution and serial mechanism 1, can be realized basic power
Under the premise of feedback function, the elegance and reasonability of the structure due to improving serial mechanism 1, thus it is anti-to also improve the power
Present that device 4 is integrally-built elegance and reasonability.
In the optinal plan of the present embodiment, parallel institution includes three branched structures 3, and branched structure 3 includes link assembly
30 and driving assembly.
Link assembly 30 includes sequentially enclosing the third connecting rod 300 connect, fourth link 301, the 5th connecting rod 302 and six-bar linkage
303, per two adjacent connecting rods by the in third connecting rod 300, fourth link 301, the 5th connecting rod 302 and six-bar linkage 303
Four auxiliary articulated parts 27 connect.
Optionally, the first auxiliary articulated part 24, second assists articulated part 25, third auxiliary articulated part 26 and the 4th auxiliary pivot
Fitting 27 uses identical structure.
Optionally, in order to simplify the structure of the link assembly 30, it is convenient to omit six-bar linkage 303 and be connected to second connecting rod
The 4th auxiliary articulated part 27 at 13 both ends.
Third connecting rod 300 can around own axis connect moving platform 16, and the 5th connecting rod 302 can be around own axes
Rotationally connect driving assembly.Specifically, the axis extended line of the third connecting rod 300 of three link assemblies 30 intersects two-by-two,
That is any two are not parallel for the axis of three third connecting rods 300；The axis of 5th connecting rod 302 of three link assemblies 30 prolongs
Long line intersects two-by-two, that is to say, that any two in the axis of three the 5th connecting rods 302 are not parallel.
By three third connecting rods 300 of setting and three the 5th connecting rods 302, on the one hand by the way that quantity is limited to three,
Be conducive to improve the transmission stability and accuracy of parallel institution；On the other hand, pass through third connecting rod 300 and the 5th connecting rod 302
Cooperation, so as to make moving platform 16 realize the translation of two dimensions in three-dimensional space.
The axis of third connecting rod 300 and the 5th connecting rod 302 in the same link assembly 30 is parallel to each other, the 4th auxiliary pivot
The axis of fitting 27 is both perpendicular to the axis of third connecting rod 300 and the axis of the 5th connecting rod 302, so as to connect by the 4th
The collective effect of bar 301 and the 5th connecting rod 302 enables moving platform 16 relative in three-dimensional space another of fixed platform 40
Dimension translation.
Driving assembly is arranged on fixed platform 40, and driving assembly can drive third connecting rod 300 to move relative to fixed platform 40
It is dynamic, that is to say, that under the driving effect of driving assembly, second connecting rod 13 can be relative to own axes fixed-axis rotation, and energy
It is enough to be translated relative to fixed platform 40.Driving assembly is as the power source under force feedback state, according to force feedback mechanism
Determine the driving method of driving assembly.It, can be real by driving third connecting rod 300 when driving assembly is in driving condition
Existing drive link component 30, and then realize to tool piece 15 and transmit feedback force, realize force feedback.
In the optinal plan of the present embodiment, driving assembly includes driving motor 31, motor support base 32, the first rope sheave 33,
Two rope sheaves 34, transmission rope part 35 and fourth angle sensor 36.
Motor support base 32 is arranged on fixed platform 40, and driving motor 31 is arranged on motor support base 32.By the way that motor is arranged
Support 32 is conducive to the stability for improving driving motor 31, and convenient for the second rope sheave 34 of connection.
The drive shaft of driving motor 31 and the first rope sheave 33 are coaxially connected, and the second rope sheave 34 can along own axis
It is arranged on motor support base 32；The axis of first rope sheave 33, the axis of the second rope sheave 34 and the axis of third connecting rod 300 are mutually equal
Row；Transmission rope part 35 is wrapped on the first rope sheave 33 and the second rope sheave 34.
When the drive shaft turns of driving motor 31, the first rope sheave 33 is rotated synchronously with driving motor 31, due to passing
Running rope part 35 is wrapped on the first rope sheave 33 and the second rope sheave 34, thus the second rope sheave 34 can edge under the pulling of transmission rope part 35
Own axes are rotated relative to motor support base 32.
Shown in Figure 1, in the optinal plan of the present embodiment, the second rope sheave 34 is restricted including the second rope sheave ontology 340, second
Wheel cap 341, the first fixed part 342, the second fixed part 343, the first guide part 344, the second guide part 345 and wound portion 346.
One end of transmission rope part 35 is fixedly connected by the first fixed part 342 with the second rope sheave ontology 340, transmission rope part 35
The other end sequentially bypass the other end of one end of wound portion 346, the first rope sheave 33 and wound portion 346 and pass through the second fixed part again
343 are fixedly connected with the second rope sheave ontology 340；One end of transmission rope part 35 and the other end of transmission rope part 35 are in the first rope sheave 33
It is formed and is intersected between the second rope sheave 34.That is, the both ends of transmission rope part 35 pass through the first fixed part 342 and second respectively
Fixed part 343 is fixedly connected with the second rope sheave ontology 340；And the middle part of transmission rope part 35 is sequentially wrapped in wound portion 346, guiding
In portion and the first rope sheave 33, when the first rope sheave 33 is rotated to 342 place side of the first fixed part, transmission rope part 35 pulls the
One fixed part 342, so as to rotate the second rope sheave ontology 340 to 342 place side of the first fixed part, when the first rope sheave 33 is to the
When two fixed parts, 343 place side rotates, transmission rope part 35 pulls the second fixed part 343, so as to make the second rope sheave ontology
340 rotate to 343 place side of the second fixed part.
First guide part 344 is located between one end of wound portion 346 and the first fixed part 342, and the first guide part 344 makes
Transmission rope part 35 is adjacent to one end of wound portion 346；Second guide part 345 is located at the other end and the second fixed part of wound portion 346
Between 343, and the second guide part 345 makes transmission rope part 35 be adjacent to the other end of wound portion 346.By the way that the first guide part is arranged
344 and second guide part 345, on the one hand, buffer function can be played, avoid transmission rope part 35 for the second rope sheave ontology 340
Pulling impact it is excessive, play the role of limit the second rope sheave ontology 340 corner, it is another face to face, pass through the first guide part 344
Make part shape of the transmission rope part 35 between 346 to the second fixed part 343 of 346 to the first fixed part 342 of wound portion or wound portion
Into a bent shape, to be conducive to improve the precision that transmission rope part 35 pulls the second rope sheave ontology 340, and then it can be improved this
The stationarity and fine degree of driving assembly driving.
Optionally, the second rope sheave lid 341 lid is located on the second rope sheave 34, thus by the first fixed part 342, the second fixed part
343, the first guide part 344, the second guide part 345 and wound portion 346 are located at the inside of the second rope sheave 34.
Optionally, 340 semicircular in shape of the second rope sheave ontology, wound portion 346 are along the arc-shaped side edge of the second rope sheave ontology 340
The turnup structure of setting；First guide part 344 and the second guide part 345 are guide post.
Optionally, the first fixed part 342 and the second fixed part 343 are fixing bolt structure, can be by adjusting bolt
Tightening degree and adjust the tensioning degree of transmission rope part 35 to transmission rope part 35, and then convenient for improving the rigid of the transmission component
Degree.
Optionally, absolute position transducer is contactless absolute position transducer, and then can be subtracted in use
The small friction generated by assembly.
Optionally, multiple circumferential thread grooves are provided on the first rope sheave 33, to make transmission rope part 35 in the first rope sheave 33
Upper winding multi-turn.Transmission rope part 35 is wear-resisting wirerope.
In the optinal plan of the present embodiment, the 4th auxiliary articulated part 27 includes first bearing 270, second bearing 271, connection
Bolt 272 and attaching nut 273.
The both ends of third connecting rod 300 and the both ends of the 5th connecting rod 302 are provided with first through hole, and the two of fourth link 301
End and the both ends of six-bar linkage 303 are provided with the second through-hole；First shoulder 304, first bearing 270 are provided in second through-hole
The two sides of first shoulder 304 are arranged in the second through-hole and are located at along the axial direction of the second through-hole with second bearing 271.
First through hole and corresponding second through-hole are coaxial superimposed.Specifically, one end of third connecting rod 300 and fourth link
301 one end is stacked, and the first through hole of third connecting rod 300 is docked with the second through-hole of fourth link 301；Third connecting rod 300
The other end and six-bar linkage 303 first end it is stacked, and another first through hole of third connecting rod 300 and six-bar linkage 303
The second through-hole docking；One end of 5th connecting rod 302 and one end of fourth link 301 are stacked, and the first of the 5th connecting rod 302 is logical
It is docked with another second through-hole of fourth link 301 in hole；The other end of 5th connecting rod 302 and the other end of six-bar linkage 303
It is stacked, and another first through hole of the 5th connecting rod 302 is docked with another second through-hole of six-bar linkage 303.
In the prior art, auxiliary articulated part, after being long-time service, the elastic property of spring are usually pre-tightened by tension spring
It can decline, thus be easy to appear the insecure problem of axially position for the bearing in auxiliary articulated part, and then axis can occur
It holds along itself axial play.And the technical solution in the application, it is logical that the end of thread of connection bolt 272 sequentially passes through first
Hole, the inner ring of first bearing 270 and second bearing 271 inner ring, attaching nut 273 and the end of thread and pressure that connect bolt 272
The bearing face of tight second bearing 271, so that second bearing 271 is pressed on shoulder by attaching nut 273, and in attaching nut
273, under the collective effect of connection bolt 272, make shoulder compress first bearing 270, and then make 270 company of being pressed on of first bearing
The head of connecting bolt 272.By attaching nut 273 and connection bolt 272 by first bearing 270 and second bearing 271 along its axis
To fixation, the axial location between first bearing 270 and second bearing 271 can be eliminated, chicken improves positioning and pre-tightens essence
Degree, and improve the radial rigidity of the 4th auxiliary articulated part 27.
In the optinal plan of the present embodiment, device for force feedback 4 further includes 3rd bearing 41, fourth bearing 42 and end cap 43.
It is provided with interconnecting piece 160 on moving platform 16, it is logical that the third passed through for third connecting rod 300 is provided on interconnecting piece 160
Hole, one end of third through-hole are provided with cyclic annular stopper section 162, the second shoulder 161 are provided on third connecting rod 300.Optionally, even
Socket part 160 be and the integrally formed hollow rod structure of moving platform 16.
3rd bearing 41 and fourth bearing 42 are arranged in third through-hole and housing is on third connecting rod 300, third axis
It holds 41 to be located between cyclic annular stopper section 162 and the second shoulder 161, end cap 43 is sealed on the other end of third through-hole, fourth bearing
42 between the second shoulder 161 and end cap 43, and end cap 43 can make fourth bearing 42 compress the second shoulder 161.
In the technical solution, stop part is filled by end cap 43 and ring and compresses 3rd bearing 41 and fourth bearing 42 jointly, no
Only structure is simple, and can reduce the fit-up gap between 3rd bearing and fourth bearing, increases the rigidity of equipment.
Optionally, end cap 43 passes through threaded closure caps in the other end of third through-hole；Alternatively, end cap 43 is solid by attachment screw
It is scheduled on third connecting rod 300, so that end cap 43 covers the other end of third through-hole.
Optionally, the place's of being rotatably connected use between the 5th connecting rod 302 and the second rope sheave ontology 340 and third connecting rod
Being rotatably connected between 300 and interconnecting piece 160 locates identical structure.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other implementations
Certain features rather than other feature included by example, but the combination of the feature of different embodiments means in the present invention
Within the scope of and form different embodiments.For example, the one of any of embodiment claimed can be with any
Combination come using.The information disclosed in the background technology section is intended only to deepen to general background technology of the invention
Understanding, and it is known to those skilled in the art to be not construed as recognizing or imply that the information is constituted in any form
The prior art.
Claims (10)
1. a kind of outer corner measurement component, which is characterized in that including the second articulated part, second angle sensor, the first support, second
Support, first connecting rod and second connecting rod；
First support is connect by second articulated part with second support, and one end of the first connecting rod passes through the
One auxiliary articulated part connect with first support, and the other end of the first connecting rod assists articulated part and described the by second
One end of two connecting rods connects, and the other end of the second connecting rod assists articulated part to connect with second support by third；
Second articulated part, the first auxiliary articulated part, the second auxiliary articulated part and the third assist articulated part
Axis it is parallel to each other, the distance between axis of the axis of second articulated part and third auxiliary articulated part is equal to institute
State the axis of the first auxiliary articulated part and the distance between the axis of the second auxiliary articulated part, the axis of second articulated part
The distance between the axis of line and the first auxiliary articulated part is equal to the axis and the third that described second assists articulated part
Assist the distance between the axis of articulated part；
The third that corresponds to that second support is arranged in the second angle sensor assists at articulated part, to measure
State the rotational angle of third auxiliary articulated part.
2. outer corner measurement component according to claim 1, which is characterized in that
The second angle sensor is absolute angle sensor.
3. a kind of serial mechanism, which is characterized in that including tool piece, moving platform, the first articulated part, third articulated part and such as right
It is required that outer corner measurement component described in 1 or 2；
The tool piece is connect by first articulated part with first support, and second support passes through the third pivot
Fitting is connect with the moving platform；
The axis of the axis of first articulated part, the axis of second articulated part and the third articulated part is not located at same
In plane.
4. serial mechanism according to claim 3, which is characterized in that further include:
It is provided with first angle sensor at first articulated part, third angle sensing is provided at the third articulated part
Device.
5. a kind of device for force feedback, which is characterized in that including fixed platform, parallel institution and series connection as described in claim 3 or 4
Mechanism；
The parallel institution is connected between the fixed platform and the moving platform of the serial mechanism, and the parallel institution can be with
The moving platform translates in three-dimensional space or the parallel institution can drive the moving platform in the three-dimensional space
Translation.
6. device for force feedback according to claim 5, which is characterized in that the parallel institution includes three branched structures,
The branched structure includes link assembly and driving assembly；
The link assembly includes sequentially enclosing the third connecting rod connect, fourth link, the 5th connecting rod, the both ends point of the fourth link
It Tong Guo not the 4th auxiliary articulated part connection third connecting rod and the 5th connecting rod；
The third connecting rod can around own axis connect the moving platform；5th connecting rod can be around own axes
Rotationally connect the driving component；The axis of third connecting rod and the 5th connecting rod in the same link assembly is mutually equal
Row, the axis of the 4th auxiliary articulated part is both perpendicular to the axis of the third connecting rod and the axis of the 5th connecting rod；
The driving component is arranged on the fixed platform, and the driving component can drive the third connecting rod relative to described
Fixed platform is mobile.
7. device for force feedback according to claim 6, which is characterized in that the driving component includes driving motor, motor
Support, the first rope sheave, the second rope sheave, transmission rope part and fourth angle sensor；
The motor support base is arranged on the fixed platform, and the driving motor is arranged on the motor support base；The driving
The drive shaft of motor and first rope sheave are coaxially connected, and second rope sheave can along own axis be arranged in described
On motor support base；
The axis of the axis of first rope sheave, the axis of second rope sheave and the third connecting rod is parallel to each other；The biography
Running rope part is wrapped on first rope sheave and second rope sheave.
8. device for force feedback according to claim 7, which is characterized in that
Second rope sheave includes the second rope sheave ontology, the first fixed part, the second fixed part, the first guide part, the second guide part
And wound portion；
One end of the transmission rope part is fixedly connected by first fixed part with the second rope sheave ontology, the transmission rope
The other end that the other end of part sequentially bypasses one end of the wound portion, first rope sheave and the wound portion passes through described again
Second fixed part is fixedly connected with the second rope sheave ontology；The other end of one end of the transmission rope part and the transmission rope part
It is formed and is intersected between first rope sheave and second rope sheave；
First guide part is located between one end and first fixed part of the wound portion, and first guide part makes
The transmission rope part is adjacent to one end of the wound portion；Second guide part is located at the other end and described the of the wound portion
Between two fixed parts, and second guide part makes the transmission rope part be adjacent to the other end of the wound portion.
9. device for force feedback according to claim 6, which is characterized in that
The 4th auxiliary articulated part includes first bearing, second bearing, connection bolt and attaching nut；
The third connecting rod and the 5th connecting rod are provided with first through hole, and the both ends of the fourth link are provided with second
Through-hole；First shoulder is provided in second through-hole, the first bearing and the second bearing are arranged at described second
The two sides of the first shoulder are located in through-hole and along the axial direction of second through-hole；
The first through hole and corresponding second through-hole are coaxial superimposed, and the end of thread of the connection bolt sequentially passes through described
The inner ring of first through hole, the inner ring of the first bearing and the second bearing, the attaching nut and the connection bolt
The end of thread and the bearing face for compressing the second bearing.
10. device for force feedback according to claim 6, which is characterized in that further include 3rd bearing, fourth bearing and end
Lid；
It is provided with interconnecting piece on the moving platform, the third through-hole passed through for the third connecting rod is provided on the interconnecting piece,
One end of the third through-hole is provided with cyclic annular stopper section, and the second shoulder is provided on the third connecting rod；
The 3rd bearing and the fourth bearing are arranged in the third through-hole and housing is on the third connecting rod, institute
It states 3rd bearing to be located between the cyclic annular stopper section and second shoulder, the end cap is sealed on the another of the third through-hole
One end, for the fourth bearing between second shoulder and the end cap, the end cap can make the fourth bearing pressure
Tight second shoulder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910863487.9A CN110440742A (en) | 2019-09-09 | 2019-09-09 | Outer corner measurement component, serial mechanism and device for force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910863487.9A CN110440742A (en) | 2019-09-09 | 2019-09-09 | Outer corner measurement component, serial mechanism and device for force feedback |
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| CN110440742A true CN110440742A (en) | 2019-11-12 |
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ID=68440018
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910863487.9A Pending CN110440742A (en) | 2019-09-09 | 2019-09-09 | Outer corner measurement component, serial mechanism and device for force feedback |
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| CN112621737A (en) * | 2020-12-04 | 2021-04-09 | 沈阳通用机器人技术股份有限公司 | Seven-axis force feedback handle |
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