CN111618886A - Force feedback teleoperation master hand of mechanical arm with six degrees of freedom - Google Patents
Force feedback teleoperation master hand of mechanical arm with six degrees of freedom Download PDFInfo
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- CN111618886A CN111618886A CN202010511573.6A CN202010511573A CN111618886A CN 111618886 A CN111618886 A CN 111618886A CN 202010511573 A CN202010511573 A CN 202010511573A CN 111618886 A CN111618886 A CN 111618886A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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Abstract
The invention discloses a force feedback teleoperation master hand of a mechanical arm with six degrees of freedom, which comprises a first connecting rod part, a second connecting rod part, a third connecting rod part, a fourth connecting rod part, a fifth connecting rod part, a rotating part and a button switch, wherein the output end of the first connecting rod part is an output disc rotating in the horizontal plane, the second connecting rod part and the third connecting rod part are arranged on the output disc, the output shaft of the second connecting rod part drives a second connecting rod to swing in the vertical plane, the output shaft of the third connecting rod part is horizontally arranged, and the third connecting rod part drives a third connecting rod part follow-up shaft to rotate through a synchronous belt so as to drive the third connecting rod to swing in the vertical plane; the fourth connecting rod part is rotationally connected above the third connecting rod and rotates relatively by taking the fourth connecting rod as an axis; the fifth connecting rod part is rotatably connected above the fourth connecting rod and swings in a vertical plane; the rotating part is rotationally connected above the fifth connecting rod part and rotates relative to the fifth connecting rod part by taking the vertical fifth connecting rod part as an axis; the push button switch is installed at an outer side of the fifth link member.
Description
Technical Field
The invention relates to the technical field of teleoperation of robots, in particular to a six-degree-of-freedom mechanical arm force feedback teleoperation master hand.
Background
With the development of industrial and automation technologies, industrial robots achieve automation operation in the industries of assembly, welding, carrying and the like, but in unstable safe environment and diversified task operation such as high-voltage live, underwater, high-risk rescue, chemical and radioactive pollution and the like, the robot automation operation is difficult to achieve, personnel are still required to participate in control, and master-slave teleoperation is a control method which not only ensures safety, but also enables the personnel to participate in control.
Teleoperation technology is mainly applied to the working environment which can not be reached by human or is restricted by objective safety conditions. The master-slave robot teleoperation system can perform complex operation telepresence technology under a non-determined environment to create a harmonious multi-dimensional information interaction environment between a human and a robot and between the robot and the environment, and the force telepresence technology is widely adopted in a higher-level master-slave system, so that an operator has real force feeling on the operation process.
The teleoperation master hand is a device for man-machine interaction and position measurement. In recent years, force feedback function is added to advanced teleoperation master hands, and high force telepresence can be provided. The remote operation master hand can be widely applied to the fields of electric power, nuclear industry, aerospace, ocean exploration, biomedicine and the like.
Chinese patent document CN103170961B discloses a "modular master-slave manipulator control master hand", which has a large structural size and mass, can only be used fixedly, and cannot provide force feedback to an operator during operation.
Chinese patent document CN 105690386B discloses a "teleoperation system and teleoperation method for a robot arm", which has a complex structure, can only be used fixedly, and has no feedback function.
At present, teleoperation main hands with force sense feedback have large overall structure size and mass, overlarge gravity compensation moment at joints and unreasonable overall structure of the main hands, and the main hands can only be fixedly used, the visual angle of an operator is fixed during operation, even blind spots exist, the operator needs to operate by means of a multi-visual-angle image display system, and the transparency of the main teleoperation and the slave teleoperation is low; in addition, the existing teleoperation master hand generally has no redundant control switch, and a control device is required to be additionally added to a controllable tool attached to the tail end of the slave end mechanical arm.
Disclosure of Invention
The invention aims to provide a force feedback teleoperation master hand of a mechanical arm with six degrees of freedom, and solves the technical problem.
The technical problem solved by the invention is realized by the following technical scheme:
the invention provides a force feedback teleoperation master hand of a six-degree-of-freedom mechanical arm, which comprises a first connecting rod part, a second connecting rod part, a third connecting rod part, a fourth connecting rod part, a fifth connecting rod part, a rotating part and a button switch, wherein the first connecting rod part drives an output disc to rotate in a horizontal plane; the second connecting rod part and the third connecting rod part are arranged on the first connecting rod part output disc, the second connecting rod part output shaft drives the second connecting rod to swing in a vertical plane, and the second connecting rod part output shaft is used for driving the third connecting rod part; the third connecting rod component and the second connecting rod component are coaxially arranged, the third connecting rod component drives a third connecting rod component follow-up shaft to rotate through a synchronous belt, and the third connecting rod component follow-up shaft drives a third connecting rod to swing in a vertical plane; the fourth connecting rod part is arranged above the third connecting rod and is in rotary connection with the third connecting rod part, and the fourth connecting rod part rotates relatively by taking the fourth connecting rod as an axis; the fifth connecting rod part is rotationally connected with the fourth connecting rod part and swings in a vertical plane; the rotating part is arranged above the fifth connecting rod part and is in rotating connection with the fifth connecting rod part, and the rotating part rotates relative to the fifth connecting rod part by taking the fifth connecting rod part as an axis; the push button switch is installed at an outer side of the fifth link member.
As a further technical solution, the first connecting rod part includes a first motor, a first speed reducer and a first encoder; an output shaft of the first motor is vertically arranged and is connected with a first speed reducer, and the first speed reducer is connected with the first encoder and the output disc; the first connecting rod member output disc is rotatable in a horizontal plane.
As a further technical scheme, the second connecting rod component comprises a second motor, a second speed reducer, a second encoder and a second connecting rod component output side plate; the output shaft of the second motor is horizontally arranged and connected with a second speed reducer, the second speed reducer is connected with a second encoder and a second connecting rod component output side plate, and the second connecting rod component output side plate is connected with a third connecting rod component through a third connecting rod component fixing side plate.
As a further technical scheme, the third connecting rod part comprises a third motor, a third speed reducer, a third encoder, a third connecting rod part output shaft, a synchronous belt pulley, a third connecting rod part follow-up shaft and a third connecting rod part base; and an output shaft of the third motor is horizontally arranged and is connected with a third speed reducer, the third speed reducer is connected with a third encoder and a third connecting rod part output shaft, and the third connecting rod part output shaft is horizontally arranged.
As a further technical scheme, a synchronous belt wheel is mounted on an output shaft of the third connecting rod part, a synchronous belt is mounted on the synchronous belt wheel and connected with a follow-up shaft of the third connecting rod part in a synchronous belt transmission mode, the follow-up shaft of the third connecting rod part is rotationally connected with a fixed side plate of the third connecting rod part and an output side plate of the second connecting rod part, and the follow-up shaft of the third connecting rod part is rotationally connected with a base of the third connecting rod part.
As a further technical solution, the fourth connecting rod part comprises a fourth potentiometer, a fourth bearing and a fourth connecting rod part base; the fourth potentiometer is installed on the third connecting rod part base through a fourth bearing, the third connecting rod part base and the fourth potentiometer shell rotate relatively, and the angle data of the rotation of the fourth connecting rod part is measured through the fourth potentiometer.
As a further technical solution, the fourth bearing is fixed on the third link component base, the damping of the link rotation is adjusted by means of a fourth damping ring installed on the third link component base, and the fourth link component potentiometer housing is connected with the fourth link component base.
As a further technical solution, the fifth connecting rod part comprises a fifth potentiometer, a fifth bearing, and a fifth connecting rod part potentiometer housing; the fifth potentiometer is fixed on the fourth connecting rod part base, the fourth connecting rod part base is connected with the fifth connecting rod part potentiometer shell and the rotating part base through a fifth bearing to form relative rotation of the fourth connecting rod part base, the fifth connecting rod part potentiometer shell and the rotating part base, the rotating angle data of the fifth connecting rod part is measured through the fifth potentiometer, the fifth bearing is fixed on the fifth connecting rod part potentiometer shell and the rotating part base, the damping of the rotating connecting rod is adjusted by means of a fifth damping ring installed on the fourth connecting rod part base, and the rotating part base is connected with the fourth connecting rod part base.
The rotating component comprises a rotating component potentiometer and a rotating component base; the rotary part potentiometer is fixed on the rotary part base, the rotary part potentiometer knob is connected with the rotary part base through a rotary part easy-grid bearing to form relative rotation of the rotary part potentiometer knob and the rotary part base, the rotary part potentiometer measures the rotary angle data of the rotary part, the button switch is fixed on the button switch base and is used for controlling the opening and closing of electric, hydraulic or pneumatic tools and the like attached to the tail end of the end mechanical arm.
The working principle of the invention is as follows:
if the slave-end mechanical arm and the master hand are in the same structure, a high-precision encoder or potentiometer at each connecting rod part of the slave-end mechanical arm and a high-precision encoder or potentiometer installed on each connecting rod part of the master hand can form a control closed loop, and when an operator operates the master hand, the motion of each joint of the slave arm completely follows the motion of each joint of the master hand; if the slave-end mechanical arm is different from the master hand in the invention, firstly establishing a mapping relation between a working space of the master hand and a working space of the slave-end mechanical arm, when an operator operates the master hand, mapping the position and the posture of the tail end of the master hand to an end effector of the slave-end mechanical arm, and determining the motion of each joint of the slave-end mechanical arm through inverse solution of the kinematics of the slave-end mechanical arm; the working load of the tail end of the slave end mechanical arm is measured through a force sensor arranged on the slave end mechanical arm, the working load is properly reduced to serve as the force fed back to an operator by the tail end of the master hand, the feedback force is generated by a motor arranged on a joint of the master hand and is obtained by amplifying the feedback force through a speed reducer, and the output force of each joint motor is determined by the feedback force, the gravity of each connecting rod component of the master hand, the joint friction force and the posture of the master hand.
The invention has the advantages that:
1. the invention structurally comprises 5 connecting rod parts and 1 rotating part, which form 6 movable joints, and the invention coaxially arranges a third connecting rod part and a second connecting rod part and drives the third connecting rod part to follow up a shaft to rotate through a synchronous belt, thereby reducing the gravity compensation moment of the second connecting rod part and simultaneously ensuring the overall structure of a master hand to be more reasonable; the invention has the advantages of small volume and light weight, and can be used fixedly and carried by an operator for mobile operation, and the visual angle of the operator is not fixed during operation, so that the transparency of the master-slave teleoperation is high.
2. The feedback torque of the first three connecting rod parts is provided by serially connecting the low-speed large-torque motor with the 1-stage planetary reducer, the total reduction ratio is small, the joint reverse driving torque is obviously reduced, and the transparency of the master-slave teleoperation is improved.
3. According to the invention, a multi-turn high-precision encoder for measuring the displacement of the first three connecting rod components is arranged at the motor end, and the actual displacement of the joint is amplified through the 1-stage planetary reducer, so that the measurement precision of the displacement of the joint is improved.
4. The push button switch installed in the fifth link assembly of the present invention can be used to control an electric, hydraulic or pneumatic tool attached from the end of the end robot arm.
5. The invention has the force feedback function, and can provide corresponding force sense information for an operator in a self-adaptive force compensation mode according to the working load of the slave arm end so as to improve the operation comfort and reduce the fatigue of the operator in long-time operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a three-dimensional schematic diagram of a six-degree-of-freedom mechanical arm force feedback teleoperation master hand.
Fig. 2 is a front view structural view of the first link member a1 in the present invention.
Fig. 3 is a front view of the second link member a2 and the third link member A3 according to the present invention.
Fig. 4 is a front view structural view of the third link member A3, the fourth link member a4, the fifth link member a5, and the rotating member a6 in the present invention.
Fig. 5 is a side view structural view of the fifth link member a5 and the rotation member a6 in the present invention.
In the figure: 101-a first encoder protective cover; 102-a first encoder read head; 103-a first encoder magnet; 104-a first motor side cover; 105-a first bearing; 106-a first motor housing; 107-a first motor stator; 108-a first motor rotor; 109-a first motor rotor shaft; 110-a first bearing; 111-a first sun gear; 112-a first planet; 113-a first planet carrier; 114-a first ring gear; 115-a first bearing; 116-a first connecting rod part reduction housing; 201-a second encoder cover; 202-a second encoder read head; 203-a second encoder magnet; 204-second motor side cover; 205-a second bearing; 206-a second motor rotor shaft; 207-a second motor rotor; 208-a second motor stator; 209-a second motor housing; 210-a second sun gear; 211-a second bearing; 212-a second planet; 213-second ring gear; 214-a second planet carrier; 215-second link component reduction housing; 216-second link member upper platen; 217-a second bearing; 218-left shield; 219-second link member output side plate; 220-first linkage member output disc; 221-a second link member fixing base; 301-a third encoder cover; 302-a third encoder read head; 303-a third encoder magnet; 304-a third motor side cover; 305-a third bearing; 306-a third motor rotor shaft; 307-a third sun gear; 308-a third motor rotor; 309-a third motor stator; 310-a third motor housing; 311-a third bearing; 312-a third planet; 313-third ring gear; 314-third carrier; 315-third link component reduction housing; 316-third bearing; 317-third link member output shaft; 318-third link member fixing side plate; 319-right shield; 320-synchronous pulley; 321-a retainer ring for a shaft; 322-a synchronous belt; 401-a third ygos bearing; 402-a third bearing; 403-synchronous pulley; 404-third link member follower shaft; 405-second link member output side plate cover; 406-axle steel wire retainer rings; 407-third link component base cap; 408-a third link member base; 409-a fourth potentiometer; 410-a fourth internally toothed washer; 411-fourth nut; 412-a fourth bearing; 413-ear-free retainer ring for the fourth shaft; 414-a fourth damping ring; 415-fourth link member potentiometer housing; 501-a fourth link component base; 502-fourth link component base side cap; 503-a fifth potentiometer; 504-fourth link member base top cover; 505-a fifth link member potentiometer housing; 506-a fifth damping ring; 507-fifth axis use no ear retaining ring; 508-a fifth bearing; 509-fifth nut; 510-a fifth internally toothed washer; 601-rotating member base; 602-a push button switch; 603-a sixth nut; 604-button switch internal tooth washer; 605-a push button switch base; 606-rotating part base cover plate; 607-inner tooth washer of rotating part; 608-rotating part of the easy ge bearing; 609-rotating member nut; 610-rotary member potentiometer knob; 611-rotary member potentiometer.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, it indicates the presence of the stated features, steps, operations, devices, components, and/or combinations thereof.
For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background section, the technical problems in the prior art exist, and in order to solve the technical problems in the prior art, the invention provides a six-degree-of-freedom mechanical arm force feedback teleoperation master hand, which has the advantages of small volume, light weight and wide application range, can be used as a mobile teleoperation master hand, has a force feedback function, and can provide corresponding force sense information for an operator in a self-adaptive force compensation mode according to the size of a working load at a slave arm end so as to improve the operation comfort and reduce the fatigue of the operator in long-time operation. The push button switch a7 installed in the fifth link part a5 of the present invention can be used to control an electric, hydraulic or pneumatic tool attached from the end of the end robot arm; the invention has higher precision for measuring the information such as the rotation angle, the rotation speed and the like of the motor, thereby leading the controller to more accurately remotely operate the slave end mechanical arm.
Referring to fig. 1, 2, 3, 4 and 5, a six-degree-of-freedom manipulator arm force feedback teleoperation master hand includes a first link member a1, a second link member a2, a third link member A3, a fourth link member a4, a fifth link member a5, a knob member A6 and a push button switch a7, wherein the first link member a1, the second link member a2, the third link member A3, the fourth link member a4, the fifth link member a5 and the knob member A6 are sequentially connected; the connecting rod parts are connected through rotary joints, wherein the rotary joints at the joints among the connecting rod parts are provided with motors, the rotary joints at the joints among the first connecting rod part A1, the second connecting rod part A2 and the third connecting rod part A3 are provided with speed reducers, the motors of the first connecting rod part A1 and the second connecting rod part A2 are respectively connected with the input ends of the speed reducers, the motor in the third connecting rod part A3 is in transmission connection with the speed reducers through synchronous belts, each rotary joint is provided with a high-precision encoder or potentiometer, and the output end of each speed reducer is connected with a corresponding potentiometer or encoder; the knob member a6 is mounted above the fifth link member a 5; the button switch a7 is mounted on the side of the fifth link member a 5.
Further, the first link member a1 includes: the motor comprises a first encoder protective cover 101, a first encoder reading head 102, a first encoder magnet 103, a first motor side cover 104, a first bearing 105, a first motor shell 106, a first motor stator 107, a first motor rotor 108, a first motor rotor shaft 109, a first bearing 110, a first sun gear 111, a first planet gear 112, a first planet carrier 113, a first inner gear ring 114, a first bearing 115 and a first connecting rod part speed reduction shell 116; the first motor stator 107 and the first motor rotor 108 are installed in the first motor housing 106 and the first motor side cover 104, the first encoder is installed in the first encoder protective cover 101, the first motor stator 107 is fixed on the first motor housing 106 by gluing, the first motor rotor 108 is fixed on the first motor rotor shaft 109 by gluing, the first encoder magnet 103 is fixed on the first motor rotor shaft 109 by gluing, the first encoder reading head 102 is installed on the first motor side cover 104, and the first motor rotor shaft 109 is further connected with the first motor housing 106 and the first motor side cover 104 through the first bearing 110 and the first bearing 105; the first motor is connected to a first sun gear 111 of a first speed reducer through a first motor rotor shaft 109, the first sun gear 111 is meshed with a first planet gear 112, the first planet gear 112 is meshed with a first inner gear ring 114, the first planet gear 112 is installed on a first planet carrier 113, and the first sun gear 111, the first planet gear 112, the first inner gear ring 114 and the first planet carrier 113 form the first speed reducer; the first planet carrier 113 is further connected with a first connecting rod part reduction housing 116 through a first bearing 115, and the first ring gear 114 is fixed on the first connecting rod part reduction housing 116 by gluing; the first reduction gear is covered on the outside by a first link reduction housing 116, and the first carrier 113 of the first reduction gear is connected by a first link output disc 220 in a second link member a 2.
Further, the second link member a2 includes: a second encoder protective cover 201, a second encoder reading head 202, a second encoder magnet 203, a second motor side cover 204, a second bearing 205, a second motor rotor shaft 206, a second motor rotor 207, a second motor stator 208, a second motor housing 209, a second sun gear 210, a second bearing 211, a second planet gear 212, a second inner gear ring 213, a second planet carrier 214, a second link component reduction housing 215, a second link component upper pressure plate 216, a second bearing 217, a left protective cover 218, a second link component output side plate 219, a first link component output disc 220, a second link component fixing base 221, and a second link component output side plate cover 405;
the method is characterized in that: the second motor stator 208 and the second motor rotor 207 are installed in a second motor housing 209 and a second motor side cover 204, the second encoder is installed in a second encoder protective cover 201, the second motor stator 208 is fixed on the second motor housing 209 through an adhesive manner, the second motor rotor 207 is fixed on a second motor rotor shaft 206 through an adhesive manner, the second encoder magnet 203 is fixed on the second motor rotor shaft 206 through an adhesive manner, the second encoder reading head 202 is installed on the second motor side cover 204, and the second motor rotor shaft 206 is further connected with the second motor housing 209 and the second motor side cover 204 through a second bearing 217 and a second bearing 205; the second motor is connected to a second sun gear 210 of a second speed reducer through a second motor rotor shaft 206, the second sun gear 210 is meshed with a second planet gear 212, the second planet gear 212 is meshed with a second inner gear ring 213, the second planet gear 212 is mounted on a second planet carrier 214, and the second sun gear 210, the second planet gear 212, the second inner gear ring 213 and the second planet gear 212 form the second speed reducer; the second planet carrier 214 is also connected to a second link member reduction housing 215 through a second bearing 115, and the second ring gear 213 is fixed to the second link member reduction housing 215 by gluing; the outside of the second speed reducer is covered by a second link member speed reduction housing 215, a second carrier 214 of the second speed reducer is connected to a second link member output side plate 219, and the second link member output side plate 219 is connected to a third link member a3 through a third link member fixed side plate 318, so that the outputs of the second motor and the second speed reducer are used as the drive of the third link member; and the output axis of the second reducer is perpendicular to the output axis of the first reducer; the outside of the second link member a2 is shielded by a left guard 218; the bottom of the second link member is supported by a second link member fixing base 221; the second link is composed of a second link member output side plate 219 and a third link member fixed side plate 318.
Further, the third link member a3 includes: a third encoder protective cover 301, a third encoder reading head 302, a third encoder magnet 303, a third motor side cover 304, a third bearing 305, a third motor rotor shaft 306, a third sun gear 307, a third motor rotor 308, a third motor stator 309, a third motor housing 310, a third bearing 311, a third planet gear 312, a third ring gear 313, a third planet carrier 314, a third link part reduction housing 315, a third bearing 316, a third link part output shaft 317, a third link part fixed side plate 318, a right protective cover 319, a synchronous pulley 320, a shaft retainer ring 321, a synchronous belt 322, a third hags bearing 401, a third bearing 402, a synchronous pulley 403, a third link part follower shaft 404, a shaft steel wire retainer ring 406, a third link part base cover 407, and a third link part base 408;
the method is characterized in that: the third motor stator 309 and the third motor rotor 308 are installed in the third motor housing 310 and the third motor side cover 304, the third encoder is installed in the third encoder protective cover 301, the third motor stator 309 is fixed on the third motor housing 310 by gluing, the third motor rotor 308 is fixed on the third motor rotor shaft 306 by gluing, the third encoder magnet 303 is fixed on the third motor rotor shaft 306 by gluing, the third encoder reading head 302 is installed on the third motor side cover 304, and the third motor rotor shaft 306 is further connected with the third motor housing 310 and the third motor side cover 304 through the third bearing 311 and the third bearing 305; the third motor is connected to a third sun gear 307 of a third speed reducer through a third motor rotor shaft 306, the third sun gear 307 is meshed with a third planet gear 312, the third planet gear 312 is meshed with a third ring gear 313, the third planet gear 312 is installed on a third planet carrier 314, and the third sun gear 307, the third planet gear 312, the third ring gear 313 and the third planet gear 312 form the third speed reducer; the third planet wheel 312 is also connected with a third connecting rod part speed reducing shell 315 through a third bearing 316, and the third ring gear 313 is fixed on the third connecting rod part speed reducing shell 315 through an adhesive manner; the outside of the third speed reducer is covered by a third link member speed reduction housing 315, the third link member speed reduction housing 315 is connected to a third link member fixed side plate 318, a third motor, a third speed reducer and a third encoder of the third connecting rod part are arranged at the axis of the second joint, the third planet carrier 314 of the third speed reducer is connected with a third connecting rod output shaft 317, a synchronous pulley 320 is arranged on the third connecting rod output shaft 317, the synchronous pulley 320 is fixed on the third connecting rod output shaft 317 through a shaft retainer ring 321, a synchronous belt 322 is arranged on the synchronous pulley 320, is connected with a third connecting rod part follow-up shaft 404 in a synchronous belt transmission way, a synchronous belt wheel 403 is arranged on the third connecting rod part follow-up shaft 404, when the third link member output shaft 317 rotates, the third link member follower shaft 404 is driven to rotate by the timing belt 322; the third link member follower shaft 404 is rotatably connected to the third link member base 408 of the fourth link member a 4; the timing pulley 403 is fixed to a third link member follower shaft 404 through a shaft steel retainer 406, the third link member follower shaft 404 is connected to a third link member fixing side plate 318 and a second link member output side plate 219 through a third bearing 402, the third link member follower shaft 404 is connected to a third link member base 408 through a third easy bearing 401, and the second link member output side plate cover 405 is fixed to the second link member output side plate 219; the outside of the third link component a3 is shielded by a right shield 319; third link member base cap 407 is fixed to third link member base 408, and the third link is formed by fourth link member base cap 407 being fixed to fourth link member base 408.
Further, the fourth link member a4 includes: a fourth potentiometer 409, a fourth internal tooth washer 410, a fourth nut 411, a fourth bearing 412, a fourth shaft ear-free retainer ring 413, a fourth damping ring 414, a fourth link member potentiometer housing 415, a fourth link member base 501, a fourth link member base side cover 502, and a fourth link member base top cover 504;
the method is characterized in that: the fourth potentiometer 409 is fixed to the third connecting rod part base 408 through a fourth nut 411 and a fourth internal tooth washer 410, the third connecting rod part base 408 is connected to a fourth connecting rod part potentiometer housing 415 through a fourth bearing (20 × 27 × 4)412 to form relative rotation between the third connecting rod part base 408 and the fourth connecting rod part potentiometer housing 415, angle data of rotation of the fourth connecting rod part is measured through the fourth potentiometer 409, the fourth bearing 412 is fixed to the third connecting rod part base 408 through a fourth earless retainer ring 413, damping of rotation of the connecting rod is adjusted by means of a fourth damping ring 414 mounted on the third connecting rod part base 408, and the fourth connecting rod part potentiometer housing 415 is connected to the fourth connecting rod part base 501; the fourth link component base side cap 502 and the fourth link component base top cap 504 are fixed on the fourth link component base 501, and the fourth link is composed of a fourth link component potentiometer housing 415, the fourth link component base 501, the fourth link component base side cap 502 and the fourth link component base top cap 504; the rotation axis of the fourth connecting rod part is perpendicular to the rotation axis of the third connecting rod part follow-up shaft, so that linkage can be well avoided.
Further, the fifth link member a5 and the rotation member a6, include: a fifth potentiometer 503, a fifth link member potentiometer housing 505, a fifth damping ring 506, a fifth-axis earless retainer ring 507, a fifth bearing 508, a fifth nut 509, a fifth internal tooth washer 510, a rotary member base 601, a push button switch 602, a sixth nut 603, a push button switch internal tooth washer 604, a push button switch base 605, a rotary member base cover 606, a rotary member internal tooth washer 607, a rotary member hages bearing 608, a rotary member nut 609, a rotary member potentiometer knob 610, and a rotary member potentiometer 611;
the method is characterized in that: a fifth potentiometer 503 is fixed on a fourth connecting rod component base 501 through a fifth nut 509 and a fifth internal tooth washer 510, the fourth connecting rod component base 501 is connected with a fifth connecting rod component potentiometer casing 505 and a rotating component base 601 through a fifth bearing 508 to form relative rotation of the fourth connecting rod component base 501, the fifth connecting rod component potentiometer casing 505 and the rotating component base 601, the fifth potentiometer 503 is used for measuring the angle data of the rotation of the fifth connecting rod component, the fifth bearing 508 is fixed on the fifth connecting rod component potentiometer casing 505 and the rotating component base 601 through a fifth shaft earless retainer ring 507, the fifth damping of the rotation of the connecting rod is adjusted through a fifth damping ring 506 arranged on the fourth connecting rod component base 501, and the rotating component base 601 is connected with the fourth connecting rod component base 501 of the fifth connecting rod component A5;
the rotary member potentiometer 611 is fixed to the rotary member base 601 through a rotary member nut 609 and a rotary member internal tooth washer 607, the rotary member potentiometer knob 610 is connected to the rotary member base 601 through a rotary member easy ge bearing 608, the rotary member potentiometer knob 610 and the rotary member base 601 are formed to rotate relative to each other, angle data of rotation of the rotary member is measured by the rotary member potentiometer 611, the rotary member base cover 606 is fixed to the rotary member base 601, and the push button switch base 605 is fixed to the rotary member base 601.
The button switch a7 is fixed to a button switch base 605 by a sixth nut 603 and a button switch internal tooth washer 604, and functions to control opening and closing of an electric, hydraulic, or pneumatic tool attached to the end of the end robot arm.
The motion of the six-degree-of-freedom mechanical arm force feedback teleoperation master hand is composed of six degrees of freedom and comprises the following steps: a horizontal rotation motion of the first link member a1, a vertical pitch motion of the second link member a2, a vertical pitch motion of the third link member A3, a horizontal rotation motion of the fourth link member a4, a vertical pitch motion of the fifth link member a5, and a horizontal rotation motion of the knob member a 6; since the six degrees of freedom of the six-degree-of-freedom mechanical arm force feedback teleoperation master hand are connected in series, the motion of the previous joint in the motion process drives the motion of the next joint, namely, the motion of the first link component A1 drives the motion of the second link component A2, the motion of the second link component A2 drives the motion of the third link component A3, the motion of the third link component A3 drives the motion of the fourth link component A4, the motion of the fourth link component A4 drives the motion of the fifth link component A5, and the motion of the fifth link component A5 drives the motion of the knob component A6.
Furthermore, the force feedback teleoperation master hand of the mechanical arm with six degrees of freedom has the main function that the slave arm is driven to move in a teleoperation mode, and when an operator operates the master hand, the movement of each joint of the slave arm completely follows the movement of each joint of the master hand; movement of the first link member a1 drives the same movement from the first link member of the arm, movement of the second link member a2 drives the same movement from the second link member of the arm, movement of the third link member A3 drives the same movement from the third link member of the arm, movement of the fourth link member a4 drives the same movement from the fourth link member of the arm, movement of the fifth link member a5 drives the same movement from the fifth link member of the arm, and movement of the knob member a6 drives the same movement from the knob member of the arm.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A force feedback teleoperation master hand of a six-degree-of-freedom mechanical arm is characterized by comprising a first connecting rod component, a second connecting rod component, a third connecting rod component, a fourth connecting rod component, a fifth connecting rod component, a rotating component and a button switch; the output end of the first connecting rod part is an output disc which rotates in the horizontal plane; the second connecting rod part and the third connecting rod part are arranged on the output disc of the first connecting rod part, the output shaft of the second connecting rod part drives the second connecting rod to swing in a vertical plane, and the output shaft of the second connecting rod part is used for driving the third connecting rod part; the third connecting rod component and the second connecting rod component are coaxially arranged, the third connecting rod component drives a third connecting rod component follow-up shaft to rotate through a synchronous belt, and the third connecting rod component follow-up shaft drives a third connecting rod to swing in a vertical plane; the fourth connecting rod part is arranged above the third connecting rod and is in rotary connection with the third connecting rod part, and the fourth connecting rod part rotates relatively by taking the fourth connecting rod as an axis; the fifth connecting rod part is rotationally connected with the fourth connecting rod part and swings in a vertical plane; the rotating part is arranged above the fifth connecting rod part and is in rotating connection with the fifth connecting rod part, and the rotating part rotates relative to the fifth connecting rod part by taking the fifth connecting rod part as an axis; the push button switch is installed at an outer side of the fifth link member.
2. The six-degree-of-freedom manipulator force feedback teleoperation master hand of claim 1, wherein the first connecting rod component comprises a first motor, a first speed reducer and a first encoder; the output shaft of the first motor is vertically arranged and connected with a first speed reducer and a first encoder, and the first speed reducer is connected with the output disc.
3. The six-degree-of-freedom manipulator arm force feedback teleoperation master hand as claimed in claim 1, wherein the second connecting rod component comprises a second motor, a second speed reducer, a second encoder and a second connecting rod component output side plate; the output shaft of the second motor is horizontally arranged and connected with a second speed reducer and a second encoder, the second speed reducer is connected with the output side plate of the second connecting rod component, and the output side plate of the second connecting rod component is connected with the third connecting rod component through the fixed side plate of the third connecting rod component.
4. The six-degree-of-freedom manipulator arm force feedback teleoperation master hand as claimed in claim 1, wherein the third connecting rod component comprises a third motor, a third speed reducer, a third encoder, a third connecting rod component output shaft, a synchronous belt wheel, a third connecting rod component follower shaft and a third connecting rod component base; and an output shaft of the third motor is horizontally arranged and is connected with a third speed reducer and a third encoder, the third speed reducer is connected with an output shaft of a third connecting rod part, and the output shaft of the third connecting rod part is horizontally arranged.
5. The six-degree-of-freedom mechanical arm force feedback teleoperation master hand as claimed in claim 4, wherein a synchronous pulley is mounted on the output shaft of the third connecting rod part, a synchronous belt is mounted on the synchronous pulley and connected with a third connecting rod part follower shaft in a synchronous belt transmission mode, the third connecting rod part follower shaft is rotatably connected with a third connecting rod part fixing side plate and a second connecting rod part output side plate, and the third connecting rod part follower shaft is rotatably connected with a third connecting rod part base.
6. The six-degree-of-freedom manipulator arm force feedback teleoperation master hand of claim 1, wherein the fourth connecting rod part comprises a fourth potentiometer, a fourth bearing and a fourth connecting rod part base; the fourth potentiometer is installed on the third connecting rod part base through a fourth bearing, the third connecting rod part base and the fourth connecting rod part potentiometer shell rotate relatively, and the fourth connecting rod part rotation angle data are measured through the fourth potentiometer.
7. The six-degree-of-freedom manipulator arm force-feedback teleoperation master hand of claim 6, wherein the fourth bearing is fixed to the third link assembly base, and the damping of the link rotation is adjusted by means of a fourth damping ring mounted on the third link assembly base, and the fourth link assembly potentiometer housing is connected to the fourth link assembly base.
8. The six-degree-of-freedom manipulator arm force feedback teleoperation master hand of claim 6, wherein the fifth link part comprises a fifth potentiometer, a fifth bearing, a fifth link part potentiometer housing; the fifth potentiometer is fixed on the fourth connecting rod part base, the fourth connecting rod part base is connected with the fifth connecting rod part potentiometer shell and the rotating part base through a fifth bearing to form relative rotation of the fourth connecting rod part base, the fifth connecting rod part potentiometer shell and the rotating part base, the fifth potentiometer measures the rotating angle of the fifth connecting rod part, the fifth bearing is fixed on the fifth connecting rod part potentiometer shell and the rotating part base, the rotating damping of the connecting rod is adjusted by means of a fifth damping ring installed on the fourth connecting rod part base, and the rotating part base is connected with the fourth connecting rod part base of the fifth connecting rod part.
9. The six-degree-of-freedom manipulator arm force feedback teleoperation master hand of claim 1, wherein the rotating component comprises a rotating component potentiometer, a rotating component base; the rotary part potentiometer is fixed on the rotary part base, the rotary part potentiometer knob is connected with the rotary part base through the rotary part to form relative rotation of the rotary part potentiometer knob and the rotary part base, and the rotary part potentiometer is used for measuring the rotary angle data of the rotary part.
10. The six-degree-of-freedom manipulator arm force feedback teleoperation master hand of claim 9, wherein the button switch is fixed on a button switch base, and the button switch controls opening and closing of an additional tool at the tail end of the slave manipulator.
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| CN202010511573.6A CN111618886A (en) | 2020-06-08 | 2020-06-08 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
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